Function co

Syntax	i32 co_robj (stru_co_obj stru)
stru	Structure name of type stru_co_obj
Result	Variable of type i32 containing the result. See pass-through mode and/or blocking mode management
Validity	Task, Rule (pass-through only)
Note

•Set stru.phase = 1 to initialize the read

•The read command is sent to the remote device and a response is expected. The variable stru.phase is changed.
The function returns 0

•Waiting for response.
The function continues to return 0

•Receives response with a positive result. The value read is written to stru.data. RTE changes stru.phase = 4.
Function returns 1

•Receive response with negative result. RTE changes stru.phase = 0.
Function returns error code:

o-1, illegal parameters(alarm 9900)

o-2, communication handler busy

o-3, communication handler crash (restart)

o-4, blocking mode not allowed in current task(stru.phase = 1) (rule, ladder). Command not accepted

o-5, command to a device not present(stru.rid)

o-6, no task running. stru.phase not initialized

o2, command already responded to positively, value available on date

o>2, SDO error code, see table below

•Set stru.phase = -1 to initialize the read

•The read command is sent to the remote device and a response is expected. The variable stru.phase is changed

•Waiting for response. If the response does not arrive within a maximum of 3 seconds, the function exits with an error (timeout)

•Receiving response with a positive result. The value read is written to stru.data. RTE changes stru.phase = 4.
The function returns 1

•Receive response with negative result. RTE changes stru.phase = 0.
Function returns error code:

o-1, illegal parameters (alarm 9900)

o-2, communication handler busy

o-3, communication handler crash (restart)

o-4, blocking mode not allowed in current task(stru.phase = 1) (rule, ladder). Command not accepted

o-5, command to a device not present(stru.rid)

o-6, no task running. stru.phase not initialized

o2, command already responded to positively, value available in stru.data

o>2, SDO error code, see table below

SDO error code	Description
0x0503 0000	Toggle bit not toggled
0x0504 0000	SDO protocol timeout
0x0504 0001	Invalid or unknown client/server command identifier
0x0504 0002	Invalid block size (blocking mode only)
0x0504 0003	Invalid sequence number (blocking mode only)
0x0504 0004	CRC error (blocking mode only)
0x0504 0005	Memory overflow
0x0601 0000	Unsupported access to an object
0x0601 0001	Attempt to read a write-only object
0x0601 0002	Attempt to write a read-only object
0x0602 0000	Object does not exist in the object dictionary
0x0604 0041	Unable to map the object to the PDO
0x0604 0042	The number and length of objects to be mapped would exceed the length of the PDO
0x0604 0043	Incompatibility of parameters
0x0604 0047	Incompatibility internal to the device
0x0606 0000	Access failed due to hardware error
0x0607 0010	Data type does not match, length of service parameter does not match
0x0607 0012	Data type does not match, length of service parameter is too high
0x0607 0013	Data type does not match, service duration parameter is too low
0x0609 0011	Subindex does not exist
0x0609 0030	Field of parameter values exceeded (write access only)
0x0609 0031	Parameter value written too high
0x0609 0032	Parameter value written too low
0x0609 0036	Maximum value is less than minimum value
0x0800 0000	General error
0x0800 0020	Data cannot be transferred or stored in the application
0x0800 0021	Data cannot be transferred or stored in the application due to local control
0x0800 0022	Data cannot be transferred or stored in the application due to the current state of the device
0x0800 0023	Dynamic object dictionary generation fails or no object dictionary is present (e.g., object dictionary is generated from a file and generation fails due to a file error)

Example of use:

; SAMPLE CODE

; Global Storage definition

;--------------------------

real CpuDrive_temp[32+1]

real Heater_temp[32+1]

real ControlBoard_temp[32+1]

real updateTime[32+1]

; storage used only by ReadImdTempPT

int whatTemp[32+1]

stru_co_obj sobj[32+1]

lit PER_UPD_TEMP 1.0

..

; Before the main loop

call InitReadImdTemp()

...

; inside the main loop

if(IWantPassThroughReadTempRoutine) ; test a flag to check if i have to use pass-through

; or blocking routines

result = ReadImdTempPT(k) ; k is the RID of the IMD that I want to question

else

result = ReadImdTempBL(k) ; k is the RID of the IMD that I want to question

endif

...

;<0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0><0>

;~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

FUNCTION InitReadImdTemp()

real tAct

int k

tAct = tfb

; initialize the tome to start reading after 5 seconds

; in sequence way

for(k=1, k <=32 , INC(k))

updateTime[k] = tAct + PER_UPD_TEMP + ((k-1)*PER_UPD_TEMP/32.0)

whatTemp[k] = 0

end_for

ENDFUN

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;~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

FUNCTION int ReadImdTempPT(int rid)

; routine 'PASS_THROUGH' version

; function to update the IMD temperature value each PER_UPD_TEMP seconds.

; the information will be set in global storage.

; the function want the RID of the IMD

; give back:

; <0 error

; >2 error (SDO diagnostic)

; 0 no operation

; 1 operation in progress

; 2 all temperature updated

int ero

; check RID value

if(not range(rid, 1, 32))

return -1 ; return error if illegal value

endif

; check if time to update

if(updateTime[rid] <= tfb)

inc(updateTime[rid], PER_UPD_TEMP)

if(whatTemp[rid] = 0)

whatTemp[rid] = 1

endif

; check what we have to do

select(whatTemp[rid])

case 0

return 0 ; nothing to do

case 1

sObj[rid].rid = rid

sObj[rid].objCode = 0x2101 ; Cpu drive Temp

sObj[rid].subIndex = 2

sObj[rid].type = 5 ; float data

sObj[rid].phase = 1 ; set PASS_THROUGH modality

whatTemp[rid] = 2 ; next step

; break intentionally omitted

case 2

ero = co_robj(sobj[rid])

select(ero)

default

whatTemp[rid] = 0 ; go back

return ero ; return error code

case 0

return 1 ; we have to wait

case -2 ; busy, restart again next loop

sObj[rid].phase = 1 ; set PASS_THROUGH modality for the next call

return 1

case 1 ; we got the answer and we save it

CpuDrive_temp[rid] = sObj[rid].data

break

end_select

; prepare the read next temperature

sObj[rid].objCode = 0x2101 ; Heater Temp

sObj[rid].subIndex = 1

sObj[rid].type = 5 ; float data

sObj[rid].phase = 1 ; set PASS_THROUGH modality

whatTemp[rid] = 3 ; next step

; break intentionally omitted

case 3

ero = co_robj(sobj[rid])

select(ero)

default

whatTemp[rid] = 0 ; go back

return ero ; return error code

case 0

return 1 ; we have to wait

case -2 ; busy, restart again next loop

sObj[rid].phase = 1 ; set PASS_THROUGH modality for the next call

return 1

case 1 ; we got the answer and we save it

Heater_temp[rid] = sObj[rid].data

break

end_select

sObj[rid].objCode = 0x2101 ; Control Board Temp

sObj[rid].subIndex = 0xC

sObj[rid].type = 5 ; float data

sObj[rid].phase = 1 ; set PASS_THROUGH modality

whatTemp[rid] = 4 ; next step

; break intentionally omitted

case 4

ero = co_robj(sobj[rid])

select(ero)

default

whatTemp[rid] = 0 ; go back

return ero ; return error code

case 0

return 1 ; we have to wait

case -2 ; busy, restart again next loop

sObj[rid].phase = 1 ; set PASS_THROUGH modality for the next call

return 1

case 1 ; we got the answer and we save it

ControlBoard_temp[rid] = sObj[rid].data

break

end_select

whatTemp[rid] = 0 ; end of the job ....

break

end_select

return 2 ; all temperature updated

ENDFUN

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;~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

FUNCTION int ReadImdTempBL(int rid)

; routine 'BLOCKING' version

; function to update the IMD temperature value each PER_UPD_TEMP seconds.

; the information will be set in global storage.

; the function want the RID of the IMD

; give back:

; <0 error

; >2 error (SDO diagnostic)

; 0 no operation

; 2 all temperature updated

int ero, timeToRead

stru_co_obj sobj

; check RID value

if(not range(rid, 1, 32))

return -1 ; return error if illegal value

endif

timeToRead = FALSE

; check if time to update

if(updateTime[rid] <= tfb)

inc(updateTime[rid], PER_UPD_TEMP)

timeToRead = TRUE

endif

; check what we have to do

if(not timeToRead)

return 0 ; nothing to do

endif

; we can read

sObj.rid = rid

sObj.objCode = 0x2101 ; Cpu drive Temp

sObj.subIndex = 2

sObj.type = 5 ; float data

sObj.phase = -1 ; set Blocking modality

ero = co_robj(sobj)

if(ero <> 1)

return ero

endif

CpuDrive_temp[rid] = sObj.data

; prepare the read next temperature

sObj.subIndex = 1 ; Heater Temp

sObj.phase = -1 ; set PASS_THROUGH modality

ero = co_robj(sobj)

if(ero <> 1)

return ero

endif

Heater_temp[rid] = sObj.data

; prepare the read next temperature

sObj.subIndex = 0xC ; Control Board Temp

sObj.phase = -1 ; set PASS_THROUGH modality

ero = co_robj(sobj)

if(ero <> 1)

return ero

endif

ControlBoard_temp[rid] = sObj.data

return 2 ; all temperatures updated

ENDFUN

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Function co_robj()

See: Functions/instructions, CANopen/EtherCAT handling (fieldbus), CANopen communication, EtherCAT communication, co_wobj()

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