SMC3_ETC_CO_SdoWrite (FB) ¶ FUNCTION_BLOCK SMC3_ETC_CO_SdoWrite InOut: Scope Name Type Initial Inout Slave SMC3_ETC_SLAVE Input xExecute BOOL xAbort BOOL FALSE wIndex WORD bySubindex BYTE udiTimeOut UDINT pBuffer POINTER TO BYTE szSize CAA.SIZE eMode SMC3_ETC_CO_MODE Output xDone BOOL xBusy BOOL xError BOOL eError SMC3_ETC_CO_ERROR udiSdoAbort UDINT szDataWritten CAA.SIZE
SMC3_ETC_CO_SdoWrite4 (FB) ¶ FUNCTION_BLOCK SMC3_ETC_CO_SdoWrite4 InOut: Scope Name Type Initial Inout Slave SMC3_ETC_SLAVE Input xExecute BOOL xAbort BOOL FALSE wIndex WORD bySubindex BYTE udiTimeOut UDINT abyData ARRAY [1..4] OF BYTE usiDataLength USINT Output xDone BOOL xBusy BOOL xError BOOL eError SMC3_ETC_CO_ERROR udiSdoAbort UDINT
SMC3_ETC_PROTOCOL (ENUM) ¶ TYPE SMC3_ETC_PROTOCOL : InOut: Name Initial SMC3_ETC_Unknown 0 SMC3_ETC_CoE 1 SMC3_ETC_SoE 2
SMC3_ETC_STATE (ENUM) ¶ TYPE SMC3_ETC_STATE : InOut: Name Initial SMC3_ETC_SLAVE_BOOT 3 SMC3_ETC_SLAVE_INIT 1 SMC3_ETC_SLAVE_PREOPERATIONAL 2 SMC3_ETC_SLAVE_SAVEOPERATIONAL 4 SMC3_ETC_SLAVE_OPERATIONAL 8
SMC3_ETC_Slave (FB) ¶ FUNCTION_BLOCK SMC3_ETC_Slave Properties: CanAddSDOs ConfigFinished MasterNumber OutOfSync Protocol State TimeoutForBootup Methods: AddSDOConfig CoE_IsInStartupList GetBusDiagnosis GetDcClockReferenceNs GetPhaseDistance GetSlaveId ReinitAxis SetReferences WaitForDC Structure: AddSDOConfig (Method) CanAddSDOs (Property) CoE_IsInStartupList (Method) ConfigFinished (Property) GetBusDiagnosis (Method) GetDcClockReferenceNs (Method) GetPhaseDistance (Method) GetSlaveId (Method) MasterNumber (Property) OutOfSync (Property) Protocol (Property) ReinitAxis (Method) SetReferences (Method) State (Property) TimeoutForBootup (Property) WaitForDC (Method)
SMC3_ETC_Slave.AddSDOConfig (METH) ¶ METHOD AddSDOConfig : INT Adds a CoE object (wIndex:bySubIndex) to the list of startup SDOs. Only call this method if CanAddSDOs returns TRUE. InOut: Scope Name Type Return AddSDOConfig INT Input wIndex WORD bySubIndex BYTE uiDataLength UINT dwData DWORD udiTimeOut UDINT bAbort BOOL bCompleteAccess BOOL
SMC3_ETC_Slave.CanAddSDOs (PROP) ¶ PROPERTY CanAddSDOs : BOOL Returns whether the stack is ready to accept startup SDOs (method AddSDOConfig ) and query the list of startup SDOs (method CoE_IsInStartupList ).
SMC3_ETC_Slave.CoE_IsInStartupList (METH) ¶ METHOD CoE_IsInStartupList : BOOL Returns whether a CoE object (wIndex:bySubIndex) is already in the list of startup SDOs, e.g. because it has been added by a call of AddSDOConfig . Only call this method if CanAddSDOs returns TRUE. InOut: Scope Name Type Input wIndex WORD bySubIndex BYTE Return CoE_IsInStartupList BOOL
SMC3_ETC_Slave.ConfigFinished (PROP) ¶ PROPERTY ConfigFinished : BOOL
SMC3_ETC_Slave.GetBusDiagnosis (METH) ¶ METHOD GetBusDiagnosis : BOOL Returns diagnosis information of the EtherCAT bus. Returns FALSE if no diagnosis information can be retrieved. This method is intended to be called cyclically. InOut: Scope Name Type Comment Return GetBusDiagnosis BOOL Output sendFrameCount UDINT Total number of frames sent framesPerSecond UDINT Number of frames sent per second lostFrameCount UDINT Number of total lost frames. A frame is lost due to EMC, connection or other hardware problems for example. In addition, if the CRC does not match then this counter is increased as the network driver skips the frame. txErrorCount UDINT Number of Tx errors, sending of the frame failed rxErrorCount UDINT Number of Rx errors, frame was received too late