The CANOpen master of my IMC card loses sometimes slaves and / or the PLC stops without obvious reason
It is not recommended to use CANOpen-related variables in other tasks but MAST because it can create instabilities.
For example here is a typical PDO mapping from an ATV71:
“_” is added at the end of each variable to clearly mark that they come from CANOpen.
Now to be able to use these variables in other tasks (like Freewheel_Task) global variables have to be created. These global variables act as an interface between MAST and Freewheel_Task.
For example it can be:
CMD_Eject : UINT;
LFRD_Eject : INT;
ETA_Eject : UINT;
RFRD_Eject : INT;
LCR_Eject : UINT;
Code has to be added in MAST task to copy from/to these variables:
CMD_Eject_ := CMD_Eject; // RPDO
LFRD_Eject_ := LFRD_Eject; // RPDO
ETA_Eject := ETA_Eject_; // TPDO
RFRD_Eject := RFRD_Eject_; // TPDO
LCR_Eject := LCR_Eject_; // TPDO
Now CANOpen-related variables are used in MAST task only and the machine should run without trouble.
For example here is a typical PDO mapping from an ATV71:
“_” is added at the end of each variable to clearly mark that they come from CANOpen.
Now to be able to use these variables in other tasks (like Freewheel_Task) global variables have to be created. These global variables act as an interface between MAST and Freewheel_Task.
For example it can be:
CMD_Eject : UINT;
LFRD_Eject : INT;
ETA_Eject : UINT;
RFRD_Eject : INT;
LCR_Eject : UINT;
Code has to be added in MAST task to copy from/to these variables:
CMD_Eject_ := CMD_Eject; // RPDO
LFRD_Eject_ := LFRD_Eject; // RPDO
ETA_Eject := ETA_Eject_; // TPDO
RFRD_Eject := RFRD_Eject_; // TPDO
LCR_Eject := LCR_Eject_; // TPDO
Now CANOpen-related variables are used in MAST task only and the machine should run without trouble.
Gepubliceerd voor: Schneider Electric Belgium
Hulp nodig?
Selecteer zelf het juiste product
Vind snel en eenvoudig de juiste producten en toebehoren voor uw toepassingen.
Offerte aanvragen
Dien uw aanvraag online in en een expert zal contact met u opnemen.
Verkooppunten
Vind eenvoudig de dichtstbijzijnde distributeur van Schneider Electric op uw locatie.
Help Center
Vind de antwoorden die u nodig heeft via bladeren door veelgestelde vragen over onderwerpen.