Hello, I use the IF CAN 270268 for a CANbus communication. I could successfully establish a communication via PDOs on a slave and set the slave to operational. The CAN slave has objects which can only be accessed via SDO. Is CAN communication via SDOs possible with the AXL_CAN_COMM block? Thank you for your answer.
Hi bartholomeus, please excuse the late response. I’ve got from the support team the following feedback: The AXL f IF CAN Module is a Transparent CAN interface and therefore different Can protocols can be read or written, such as J1939, NMEA 2000, Canopen, … The FB forms the transparent Can telegram but not the Can protocol. The customer must therefore know in which byte what information is located and thus an SDO is possible. The massage structur is structured as follows CAN_UDT_MESSAGE: STRUCT
xUsed: BOOL; (* Indicates whether a message has already been processed *)
diID: DINT; (* ID of the CAN message *)
iDLC: INT; (* Datalength *)
xFrameFormat: BOOL; (* True = 29 bit ID, False = 11 bit ID *)
xFrameType: BOOL; (* True = RTR *)
arrData: ARR_B_1_8; (* Databytes *)
udiSequence: UDINT; (* How often a message with the same ID received (Receive-Mode 1) *)
END_STRUCT; Take care! Frank