UniStream supports the following Ladder functions:
Use this function to download (write) a segment block of data (bytes) from the controller's Input Buffer to a node.
Download SDO using the required parameters: Index, Sub-Index, value to send, length according to the EDS file of your device.
Notes |
|
|
Parameter |
Type |
Purpose |
A |
Node ID |
UINT |
Enter a constant or tag value to supply the ID of the remote device |
B |
Index |
UINT16 |
The index of the remote device. |
C |
Sub-Index |
UINT16 |
The Sub-Index of the remote device. |
D |
Segment Transfer Type |
Selection |
Select either:
|
E |
Number of Bytes to Download |
UINT |
Data length to write to remote device (bytes) Max=40 bytes |
F |
Input Buffer |
Register |
Assign a register, buffer, or string to contain the data that is transmitted to the remote device. |
Use this function to upload (read) a segment block of data (bytes) from a node to the Output Buffer in the controller.
Upload SDO using the required parameters: Index, Sub-Index, value to send, length according to the EDS file of your device.
Notes |
|
|
Parameter |
Type |
Purpose |
A |
Node ID |
UINT |
Enter a constant or tag value to supply the ID of the remote device |
B |
Index |
UINT16 |
The index of the remote device. |
C |
Sub-Index |
UINT16 |
The Sub-Index of the remote device. |
D |
Segment Transfer Type |
Selection |
Select either:
|
E |
Number of Bytes to Download |
UINT |
Data length to read from the remote device (bytes) Maximum=40 bytes |
F |
Output Buffer |
Register |
Assign a register, buffer, or string to contain the data that is transmitted to the remote device. |
Send NMT ControlSend NMT Control
This function enables you to send NMT Control messages.
Send NMT control
|
Parameter |
Type |
Purpose |
A |
Node ID |
UINT |
Enter a constant or tag value to supply the ID of the remote device. ID 0 in order to broadcast from to all nodes. |
B |
Command |
UINT16 |
Select Command: 1 Start Remote Node 2 Stop Remote Node 128 Enter Preoperational State 129 Reset Node 130 Reset Communication
|
Send NMT Node GuardSend NMT Node Guard
This is sometimes referred to as a 'heartbeat check'.
The Send NMT Node Guard function provides CANopen
Node Guarding, checking node status.
The status returned from the node is stored in the node's NMT struct.
|
Parameter |
Type |
Purpose |
A |
Node ID |
UINT |
Enter a constant or tag value to supply the ID of the remote device |
Send PDO/Send PDO RTRSend PDO/Send PDO RTR
The Send PDO function writes data to the node from the PLC master.
The Send PDO RTR function request data from the node, and reads data from the node to the PLC master.
|
Parameter |
Type |
Purpose |
A |
Node ID |
UINT |
Enter a constant or tag value to supply the ID of the remote device |
B |
PDO ID |
UINT16 |
Select the number of the PDO assigned in the CANopen Configuration. CANopen Configuration. |
Use this function to synchronize tasks across the network.
Use this function to send a time stamp.