CanStatusAll

This function returns the status of all CAN slots for a specified SM-CAN option module.

Arguments

Mod% - 0 to 3

Specifies the Unidrive SP option slot where the SM-CAN module is fitted. A value of 0 sets up the SM-CAN module in the lowest numbered Unidrive SP option slot while 1 to 3 sets up the specific Unidrive SP slot.

Return Values

RxQ%

Bits 0 to 14 indicate the receive status of each slot. If a bit has the value 1, the corresponding CAN slot has received a message which is waiting for retrieval.

TxQ%

Bits 0 to 14 indicate the transmit status of each slot. If a bit has the value 1, the corresponding CAN slot has a message waiting to be transmitted.

SMask%

SMask% will be set to 1 if ANY slots have been configured to receive CAN frames. If the value is 0, no slots have been configured to receive.

Target/ Language Restrictions

Only available on SM-Applications and SM-Applications Lite.

See Also

• CANConfigEvent

• CANGetNodeAddr

• CANReady

• CANSetup

• CANStatus

• EnableCANTrips

• GETCAN

• PUTCAN

• ResetCANTimer

________________________________________________________________________________

Checknode - Check Existence of Node on ctNet

This command can be used to detect the presence of a particular node on a CTNet network. The function sends a request out to the given node number on the network, and waits for the reply.

Arguments

Node%

The address of the node to be checked. The valid range of addresses is in the range 1 to 247.

Return Values

Q%

Target/ Language Restrictions

Only available on SM-Applications and UD75. Return values 3 and above are only returned on SM-Applications.

WARNING: On UD75/ MD29AN the reliability of this command is not guaranteed. The best way to detect the presence of another node is to issue a read request (see RDNET).

See Also

• RDNET

________________________________________________________________________________

CloseSmartCard

This function closes an open smartcard file.

Return Values

Status%

Value	Meaning
0	OK
3	Communications Failure with the smartcard.

Example

See SmartCard Example Program for example program.

Target/ Language Restrictions

Only available on SM-Applications and SM-Applications Lite.

See Also

• OpenReadSmartCard

• OpenWriteSmartCard

• ReadSmartCardByte

• WriteSmartCardByte

• GetNextSmartCardFile

• ReadReadOnlyBit

• WriteReadOnlyBit

________________________________________________________________________________

Cmodexfer

This function block enables the mode to be changed on on Unidrive or Unidrive SP.

Note:

If the mode change is successful, the drive and option modules will be reset causing the DPL program to restart. Also, the drive parameters will be restored to defaults when the mode change occurs APART from menus 15, 16, 17, 18, 19 and 20. The values of parameters in these menus will be preserved through the mode change.

Arguments

Mode%.

Value	Meaning
0	Open Loop
1	Closed Loop Vector
2	Servo
3	Regen

Return Values

Q%.

Value	Meaning
0	Mode change failed.
1	Mode already selected.

Target/ Language Restrictions

Not supported on Mentor.

See Also

• MODEXFER

________________________________________________________________________________