90• Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 Programming the PFC with WAGO-I/O-PRO CAA
3.1.6 Programming the PFC with WAGO-I/O-PRO CAA
Due to the IEC 61131 programming of the CANopen fieldbus controller you have the option to use the functionality of a PLC beyond the functions of fieldbus coupler.
An application program according to IEC 61131-3 is created using the programming tool WAGO-I/O-PRO CAA.
This manual, however, does not include a description of how to program with WAGO-I/O-PRO CAA. In contrast, the following chapters are to describe the special modules for WAGO-I/O-PRO CAA for you to utilize explicitly for programming the CANopen fieldbus controller.
The description also explains transmitting the IEC 61131-3 program into the controller and loading a suitable communication driver.
More Information
For a detailed description of how to use the software, please refer to the
WAGO-I/O-PRO CAA manual (download: www.wago.com).
3.1.6.1 WAGO-I/O-PRO CAA Library Elements for CANopen
You are offered various libraries for different IEC 61131-3 programming applications in WAGO-I/O-PRO CAA. They contain modules for universal use and can, thereby, facilitate and speed up the creation of your program. As standard, the library 'standard.lib' is available to you.
The library described in the following is specifically intended for CANopen projects with WAGO-I/O-PRO CAA:
• "CIA405. LIB"
(contains function blocks for CANopen and CANopen acc. to CiA 405),
This library is loaded on the WAGO-I/O-PRO CD.
Having integrated this library, you have access to its POUs, data types and global variables which can be used in the same manner as those defined by yourself.
More Information
For a detailed description of the POUs and the software operation, please refer to the WAGO-I/O-PRO CAA manual (download: www.wago.com).
WAGO-I/O-SYSTEM 750
CANopen
Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 |
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Programming the PFC with WAGO-I/O-PRO CAA |
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3.1.6.1.1 CIA405.LIB
Element |
Description |
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CIA405_VERSION |
POU returning the current library version number. |
CIA405_GET_KERNEL_STATUS |
Function module returning the status of the CANopen |
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node. |
CIA405_GET_LOCAL_NODE_ID |
POU returning its own module ID. |
CIA405_GET_STATE |
POU returning the CANopen network status of a se- |
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lected or its own module. |
CIA405_RECV_EMY |
POU which checks if an Emergency message has been |
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received. Receipt is only possible from an own module |
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or those that were configured beforehand with |
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NMT_ADDNODE. EXCEPTION_HANDLER indi- |
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cates when the number of Emergency messages re- |
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ceived exceeds the number of messages the system can |
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buffer. |
CIA405_RECV_EMY_DEV |
POU that checks whether an Emergency message was |
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received from the specified module. Receipt is only |
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possible from a module or those that were configured |
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beforehand with NMT_ADDNODE. |
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EXCEPTION_HANDLER indicates when the number |
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of Emergency messages received exceeds the number |
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of messages the system can buffer. |
CIA405_SDO_READ4 |
POU returning the value of an object directory entry |
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(max. data size = 4 bytes). |
CIA405_SDO_READ7 |
POU returning the value of an object directory entry |
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(max. data size = 7 bytes). |
CIA405_SDO_READ21 |
POU returning the value of an object directory entry |
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(max. data size = 21 bytes). |
CIA405_SDO_READ210 |
POU returning the value of an object directory entry |
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(max. data size = 210 bytes). |
CIA405_SDO_WRITE4 |
POU writing the specified data into the object direc- |
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tory of a module |
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(max. data size = 4 bytes). |
CIA405_SDO_WRITE7 |
POU writing the specified data into the object direc- |
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tory of a module |
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(max. data size = 7 bytes). |
CIA405_SDO_WRITE21 |
POU writing the specified data into the object direc- |
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tory of a module |
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(max. data size = 21 bytes). |
CIA405_SDO_WRITE210 |
POU writing the specified data into the object direc- |
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tory of a module |
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(max. data size = 210 bytes). |
WAGO-I/O-SYSTEM 750
CANopen