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WARNING: This function cannot be used in a task if the co_send_sdo()/co_asw_sdo() functions are also present in the task.

This function is used to perform writing of fieldbus objects. Writing can be done in pass-through mode or in blocking mode (blocking mode can be used only in tasks 1-:-8).

Pass-through mode means that the function must be continuously called and this returns the current state of the operation.

Blocking mode means that the function is invoked and returns only when it has completed the write operation.

The function returns a result on the state of execution.

Syntax

i32 co_wobj (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

Validity

Rule, Task

Note

•Set stru.phase = 1 to initialize the write

•The write 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

•Receiving response with 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-5, command to a device not present(stru.rid)

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

o2, command already received positive response, value available in stru.data

o>2, SDO error code, see table below

•Set stru.phase = -1 to execute the write

•The write 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, returns -2)

•Receiving 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 handling 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

; SAMPLE CODE

; Global Storage definition

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

 

stru_co_obj swobj[32+1]

int resW

....

....

....

; version using pass-through routine

if(nm <> 0)

    do

        resW = SetImdTorqueMaxPT(2, nm)

        ...

        ...

    end_do_while(resW = 1)

    nm = 0

endif

....

....

....

; version using blocking routine

if(nm <> 0)

    resW = SetImdTorqueMaxBL (2, nm)

    nm = 0

endif

....

....

....

 

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

FUNCTION int SetImdTorqueMaxPT(int rid, real nm)

 

    ; routine 'PASS_THROUGH' version

    ; function to update the MAX_TORQUE on Imd.

    ; the function want the RID of the IMD, and the value in NM to set

    ; it gives back:

    ; <0 error

    ; >2 error (SDO diagnostic)

    ; 0 no operation

    ; 1 operation in progress

    ; 2 torque has been written

    int ero

    ; check RID value

    if(not range(rid, 1, 32))

        return -1 ; return error if illegal value

    endif

    if((swObj[rid].phase = 0 ) or (swobj[rid].phase = 4) )

        swobj[rid].rid = rid

        swObj[rid].objCode = 0x2050 ; Absolute Torque Limit

        swObj[rid].subIndex = 9

        swObj[rid].type = 5 ; float data

        swObj[rid].data = nm ; value to write

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

    endif

    ; check what we have to do

    ero = co_wobj(swobj[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 that the parameters has been written

            break

    end_select

    return 2 ; the parameters has been written

endfun

 

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

FUNCTION int SetImdTorqueMaxBl(int rid, real nm)

 

    ; routine 'BLOCKING' version

    ; function to update the MAX_TORQUE on Imd.

    ; the function want the RID of the IMD, and the value in NM to set

    ; it gives back:

    ; <0 error

    ; >2 error (SDO diagnostic)

    ; 0 no operation

    ; 1 operation in progress

    ; 2 torque has been written

    int ero

    stru_co_obj swobj

    swobj.rid = rid

    swObj.objCode = 0x2050 ; Absolute Torque Limit

    swObj.subIndex = 9

    swObj.type = 5 ; float data

    swObj.data = nm ; value to write

    swObj.phase = -1 ; set BLOCKING modality

    ; check what we have to do

    ero = co_wobj(swobj)

    if(ero <> 1)

        return ero ; error

    endif

    return 2 ; the parameters has been written

ENDFUN

 
  

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