ETC_CO_SdoInfoGeEntryDescription (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoInfoGeEntryDescription InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT the physical slave address to access the EtherCAT slave wIndex WORD The index of the CoE object bySubIndex BYTE The sub index of the CoE object byValueInfo BYTE The value info include which elements shall be in te response Bit 0: reserved Bit 1: reserved Bit 2: reserved Bit 3: unit type Bit 4: default value Bit 5: minimum value Bit 7: maximum value udiTimeOut UDINT Timeout for operation in ms Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason wDataType WORD Datatype of entry wBitLength WORD Size of entry in bits wObjectAccess WORD access flast of object pData POINTER TO BYTE Pointer to received data szDataLength CAA.SIZE Size of received data in Bytes!
ETC_SDO_INFO_LIST_TYPE (ENUM) ¶ TYPE ETC_SDO_INFO_LIST_TYPE : Enumeration for SDOInfo function blocks Attributes: qualified_only InOut: Name Initial GetNumberOfObjects 0 AllObjects 1 MappableRxPDO 2 MappableTxPDO 3 ReplacementObjects 4 StartupObjects 5
ETC_SDO_INFO_OBJECT_CODE (ENUM) ¶ TYPE ETC_SDO_INFO_OBJECT_CODE : Enumeration for SDOInfo function blocks Attributes: qualified_only InOut: Name Initial ObjectCode_Variable 7 ObjectCode_ARRAY 8 ObjectCode_Record 9
ETC_CO_SdoRead (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoRead This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead4, parameter longer than 4 bytes are also supported. The parameters to be read are specified with Index and Subindex, as used in the object directory. InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms pBuffer CAA.PVOID 0 Pointer to the buffer for reading the data szSize CAA.SIZE 0 Size of buffer to store the data Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device szDataRead CAA.SIZE Number of bytes successfully read
ETC_CO_SdoRead4 (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoRead4 This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead, only parameter that are no longer than 4 bytes are supported. The parameters to be read are specified with Index and Subindex, as used in the object directory. InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device abyData ARRAY [1..4] OF BYTE thje received data usiDataLength USINT Number of bytes successfully read
ETC_CO_SdoReadDWord (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoReadDWord Like ETC_CO_SdoRead4, this function block is for reading EtherCAT slave parameters. However, the data to be read are transferred not as an array, but in a DWORD (dwData). If byte swapping is necessary it is carried out automatically. The read value can thus be reused directly. InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device dwData DWORD The received data usiDataLength USINT Number of bytes successfully read
ETC_CO_SdoRead_Access (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoRead_Access Like ETC_CO_SdoRead, this function block is for reading EtherCAT slave parameters. The additional input xCompleteAccess (BOOL) enables the reading of the complete index with all entries. To do this xCompleteAccess must be set to TRUE and bySubIndex must be 0. InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms pBuffer CAA.PVOID 0 Pointer to the buffer for reading the data szSize CAA.SIZE 0 Size of buffer to store the data xCompleteAccess BOOL FALSE Object should be read with complete access (all subobjects) Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device szDataRead CAA.SIZE Number of bytes successfully read
ETC_CO_SdoRead_Channel (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoRead_Channel Like ETC_CO_SdoRead_Access, this function block is for reading all EtherCAT slave parameters. There is an additional input, byChannelPriority (BYTE), with which the channel and priority can be specified in the CoE mailbox message. The first 6 bits specify the channel, the final 2 bits the priority. InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms pBuffer CAA.PVOID 0 Pointer to the buffer for reading the data szSize CAA.SIZE 0 Size of buffer to store the data xCompleteAccess BOOL FALSE Object should be read with complete access (all subobjects) byChannelPriority BYTE 0 The special channel priority in the mailbox message could be set with this input Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device szDataRead CAA.SIZE Number of bytes successfully read
ReadWriteEEprom (FB) ¶ FUNCTION_BLOCK ReadWriteEEprom Read or write the EEprom of an EtherCAT slave device InOut: Scope Name Type Initial Comment Input xExecute BOOL Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle. usiCom USINT Instance of master uiSlaveAddress UINT Address of slave 1001 + n or Autoincrement address if bAutoIncrementAddress is set pbyData POINTER TO BYTE Pointer to 2048 bytes udiByteSize UDINT 2048 Number of Bytes to write or read xWrite BOOL FALSE True: EEprom should be written uiStartEEpromAddress UINT 16#0 Start of Eeprom address to read or write bAutoIncrementAddress BOOL FALSE True: access should be done with auto increment address, False: Access with physical address bWaitForPackets BOOL TRUE True: The function block should wait for the packets. Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error
WriteAliasAddress (FB) ¶ FUNCTION_BLOCK WriteAliasAddress EXTENDS ETrigA This function block is for writing the memory of EtherCAT slaves. InOut: Scope Name Type Initial Comment Inherited from Input xExecute BOOL Rising edge: Action starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , iError ) are present at the outputs for exactly one cycle. ETrigA xAbort BOOL TRUE : Action is stopped immediately and all outputs are reset to their initial values. ETrigA Output xDone BOOL TRUE : Action successfully completed ETrigA xBusy BOOL TRUE : Function block active ETrigA xError BOOL TRUE : Error occurred, function block aborts action FALSE : No error ETrigA xAborted BOOL TRUE : Action aborted by user ETrigA Input usiCom USINT 1 index of master 1: first Ethercat master wSlaveAddress WORD address either auto increment address or physical address of device xAutoIncAdr BOOL flag that determines which way to use the given address uiAliasAddress UINT the alias address to be written udiTimeOut UDINT Timeout for operation in ms