The CAN_HANDLER Function Block
(Original Document)
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At a Glance
The use of the CAN_HANDLER MFB function block is essential and mandatory in the programming of the axis. The program section with this MFB function block must be associated with the same task of the CANopen bus master.
It allows you to check:
This block uses the two variables that belong to the axis’ directory. The Can_Handler_Z variable must be used as instance and the Axis_Ref_Z variable must be assigned to the block’s AXIS input parameter.
Inserting and Instantiating a Block
This table describes the procedure for inserting and select the instance of a block in a program section:
Step
Action
1
Right click in an empty field in the FBD section to display the contextual menu.
2
Execute the FFB Input Assistant.. command in the contextual menu.
Result: The Function Input Assistant opens.
3
Click on the ... icon on the FFB Type line.
Result: the FFB Type Selection window opens.
4
Expand Libraries → MotionFunctionBlock and click on MFB.
Result: all of the blocks from the MotionFunctionBlock library are displayed on the right-hand side of the FFB Type Selection window.
5
Select the CAN_HANDLER block and confirm your choice by clicking on OK.
Result: The FFB Input Assistant.. window is displayed, set up by the CAN_HANDLER block.
6
Click on the ... icon on the Instance line.
Result: the FB Instance Selection window opens.
7
Select the Can_Handler_Z instance and confirm your choice by clicking on OK.
Result: The Can_Handler_Z variable is displayed in the Instance field:
8
Confirm the block configuration by clicking on OK.
Result: the FBD section is displayed again. A symbol is added to the mouse cursor.
9
Click on an empty field in the FBD section.
Result: the CAN_HANDLER block, instantiated by the Can_Handler_Z variable is inserted in the FBD section.
10
Specify the input and output parameters as defined in the contents.
Contents
The screen below shows the section result:
The input parameter NETWORKOPERATIONAL must be assigned to a bit that validates the correct operation of the CANopen network.
The assignment of this parameter left to the discretion of the developer. It depends on the philosophy of the process and the way the bus is managed.
For example, this parameter may be connected to an object or to a T_COM_CO_BMX-type IODDT equation.