Hello everybody,

I am having some issues communicating with a barcode scanner from Sick through CANopen. Does anybody have any experience with this device?

This is what already works:
I have installed the EDS file and added the scanner to my PLC configuration. Then I mapped several values to PDO's.
Now when I write a value to the scanner I get the correct response back with the current barcode being red.

So far so good, but:
Now I want to get the read data from the scanner with a SDO packet.
Does anyone know how I can make the scanner upload the read results by SDO?
The reading result should be located at address 0x2000.

Can anyone point me in the right direction?
Thanks,
Stefan Roelofs

I got it working eventually.
If anyone needs some advise on this let me know.

Stefan

Hello Stefan,

i'm currently stuck with a similar problem.
A CLV431 transmits data through PDOs (e.g. "length of datastring", "type of datastring") but the result string array is always empty.

Can you please give me a hint where to look into?

Thank you!
Erik

PLC: Moeller XC-CPU101-C128k
Scanner: Sick CLV431-2010

Hi Erik,

I eventually used the function: CanOpenSendSDO (from the libary: 3S_CANopenManager)

With the following parameters:

   sdoTransfer         : CanOpenSendSDO;
   xSdoEnable            : BOOL;
   aSdoDataBuffer         : ARRAY[0..99] OF BYTE;
   aSdoAnswerBytes       : ARRAY[0..7] OF BYTE;
   iSdoAnswerLength      : INT;
   xSdoWaitForAnswer      : BOOL;
   xSdoAnswerRec          : BOOL;
   xSdoToggleUnequal      : BOOL;
   xSdoAbortRec         : BOOL;
   aSdoAbortRec         : ARRAY[0..3] OF BYTE;

(*Do not call this FB while the targetnode is not in state 5.*)
(*Create an instance within your application for the FB, one for each node you want to communicate at the same time.*)
(*There are maximum 64 instances possible.*)
(*Do not change inputparameters, while the FB is waiting for an answer.*)
sdoTransfer(
   Enable         := xSdoEnable,      (*Change from 0->1 will start the transmission.*)
   wDrvNr         := WORD#0,            (*Index of CanMaster, that will send the message. 0 if only one exists*)
   ucNodeId      := BYTE#9,            (*NodeId of targetnode.*)
   wIndex         := 16#2000,         (*Index of ObjectDict.-entry*)
   bySubIndex      := 16#04,         (*SubIndex within the index.*)
   ucModus         := 16#40,         (*SDO-mode, use 16#40 for read-request, use 16#23 for 4-byte-write-request.
                                                               use 16#27 for 3-byte...
                                                              use 16#2B for 2-byte...
                                                              use 16#2F for 1-byte...
                                                        use 16#21 for downloading more than 4 bytes using the segmented transfer.*)
   ucByte0         := 0,            (*The 4 possible databytes.(That's why the FB is called ...light*)
   ucByte1         := ,
   ucByte2         := ,
   ucByte3         := ,
   aAbortCode      := ,
   (*Additional functionality if the segmented transfer should be used.*)
   (*For this mode, use 16#41, 16#40 as an read-request and 16#21 as a write request.
    In this case the following DataLength parameter and DataBuffer-address is used.*)
   dwDataBufferLength:= DWORD#99,
   pDataBuffer      := ADR(aSdoDataBuffer),      (* <--- Output is here *)
   bWaitForAnswer   => xSdoWaitForAnswer,
   bAnswerRec      => xSdoAnswerRec,
   (*The following are written by the CanOpenInterfaceMan.*)
   ucAnswerBytes   => aSdoAnswerBytes,
   iAnswerLength   => iSdoAnswerLength,
   bToggleUnequal   => xSdoToggleUnequal,
   bAbortRec      => xSdoAbortRec,
   aAbortRec      => aSdoAbortRec);

First set an output (over PDO) to the scanner so it starts to scan for a new barcode.
Next check if a counter (over PDO) is increased (counter will increase for each read result)
Now set 'xSdoEnable'
Wait for 'xSdoAnswerRec' is TRUE
The array aSdoDataBuffer now contains the Read Data.

I have attached a CANopen manual. Maybe it helps you.

By the way: I used a Sick CLV650 scanner.

Manual_CANopen_IDpro_V15.pdf [191.89 KiB]

Hi Stefan,

thank you very much for your help, you saved me a lot of time!

By now I got the CLV up and running. The point was "SDO-Transfer" - I always tried PDO-Transfer, which isn't supported by the CLV43x series...
Especially the manual was helpful, because it contains information about the CAN-messages used by SICK. So I was able to monitor communication between CLV and the PLC with a CAN-Sniffer.

Best regards
Erik

Hello!

I'm using your code for recieving SDO "swtroelofs". In CANopen analyzer the remote node/device answer read-Request for SDO, but my BUFFER is empty. Do not have a clue why the buffers are empty?

Another interesting thing is that, when the state of xSDOenable goes from TRUE to FALSE. I got Abort code 0 object SSDO, answer from remote node

There is a picture attached.

Thnx in advance,
Alex

No one? I really do not know where to search the answer...

please help

regards,
Alex

Solved!

I call a FB within PLC_PRG when device state is 5. And the most important I wait for bWaitForAnswer and then xSDOenable=FALSE. I got no error in Analyser.

The data is not in aSDOdataBuffer but in ucAnswerBytes:ARRAY[0..7] OF BYTE. Last 4 BYTES (4..7) presents recieved SDO data.

regards,
Alex