Lenze EtherCAT Controller-based Automation Uživatelský manuál stáhnout pdf (Strana 125)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 125

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.2.2 L_ETC_CoE_SdoRead (FB)

This function block triggers uploading of a CoE object (SDO) from the slave or from the master.

Visualisation: VISU_L_ETC_CoE_SdoRead

Inputs (VAR_INPUT)

 Note!

For executing the function block, the EtherCAT master and the slave must be at least in

the "Pre-Operational" state.

L_ETC_CoE_SdoRead

BOOL  xExecute xDone  BOOL

BOOL  xAbort xBusy  BOOL

USINT  usiCom xError  BOOL

UINT  uiDevice eErrorCode  L_ETC_ERRORCODE

WORD  wIndex udiSdoAbort  UDINT

BYTE  bySubindex szDataRead  CAA_SIZE

UDINT  udiTimeOut

CAA_PVOID  pBuffer

CAA_SIZE  szSize

Identifier/data type Meaning/possible settings

xExecute

BOOL

A positive edge (TRUE) triggers a read request (uploading) of a CoE object.

xAbort

BOOL

A positive edge (TRUE) aborts a running read request (upload).

xAbort is currently not supported in the Lenze control technology R3.x.

usiCom

USINT

EtherCAT master instance number

• In the Lenze control technology R3.x, only instance number 1 is currently

supported. usiCom has been pre-assigned with 1, so that the input can be left

open.

• A value that does not equal 1 causes the error ETC_E_INVALIDPARM

(0x9811000B).

uiDevice

UINT

EtherCAT address (station address) of the master/slave

• The station addresses are assigned by the master during the start-up phase

(fixed-address assignment, see also Addressing of the slaves

( 22)).

• The address ’0’ directly accesses the object directory of the EtherCAT master.

• The first EtherCAT slave is given the address ’1001’, the second the address ’1002’

and so on.

• The EtherCAT addresses cannot be altered.

wIndex

WORD

CANopen index to be read in the object directory of the master or slave.

• Formula for converting a Lenze code number into a CANopen index: Index =

0x5FFF - code number

bySubindex

BYTE

Subindex in the object directory of the master or slave.

udiTimeout

UDINT

Timeout in milliseconds (ms)

• The value 0 is not permissible and causes the error ETC_E_INVALIDPARM

(0x9811000B).

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