CFBFP Posted December 12, 2014 Report Share Posted December 12, 2014 Hi is there a way to know when a CAN bus command is sent? I'm using the instruction "CANopen SDO download STR", the predefined functionblock to send a command. Cause i want to send multiple commands as fast as possible i need to know when a previous sent command has finished in the servocontroller i am working with. Now I start a timer after each command for which I know the command is certainly processed before sending a next command (in my case in need to set it 40ms, what is to slow) Someone has ideas how to handle this? thanks Quote Link to comment Share on other sites More sharing options...
Eyal Koren Posted December 22, 2014 Report Share Posted December 22, 2014 Hi CFBFP, In general, CANopen has a success bit for NMT, Emergency, TPDO and RPDO commands. However, SDO commands does not have this acknowledgment indication. If you cant use PDO commands in your application, you can try the following: Use SB242 (CANopen SDO in Progress) and SB243 (CANopen SDO transfer failed) to create logic that will resend a command in case it failed to send. Quote Link to comment Share on other sites More sharing options...
CFBFP Posted December 29, 2014 Author Report Share Posted December 29, 2014 Thank you for the valuable information. Quote Link to comment Share on other sites More sharing options...
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