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Hodnocené. / 5. Na základě hodnocení zákazníků
9 Function library L_IODrvEtherCAT.lib
9.3 Device Interface
140
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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9.3.4 L_IODrvEtherCAT (FB)
If an EtherCAT master is created in the configuration tree of a »PLC Designer« project, the system
automatically creates an object of the L_IODrvEtherCAT type.
The name of the function block for the EtherCAT master ist "EtherCAT_Master".
Visualisation: VISU_L_IODrvEtherCAT
Inputs (VAR_INPUT)
Outputs (VAR_OUTPUT)
Note!
The L_IODrvEtherCAT function block is called in the context of the bus cycle task and
must not be called again in the PLC program.
L_IODrvEtherCAT
BOOL xRestart xDone BOOL
BOOL xStopBus xBusy BOOL
xError BOOL
eErrorCode L_ETC_ERRORCODE
wState WORD
xDistributedClockInSync BOOL
Identifier/data type Meaning/possible settings
xRestart
BOOL
A positive edge (TRUE) executes a bus restart.
• The EtherCAT master is first set to the Init state and then to "Operational".
•When xStopBus = TRUE, the positive edge is ignored.
Restarting the EtherCAT fieldbus
( 159)
xStopBus
BOOL
A positive edge (TRUE) executes a bus stop.
• The fieldbus is set to the "Init" state.
Identifier/data type Meaning/possible settings
xDone
BOOL
• TRUE: An action has been executed successfully.
• FALSE: No action active / action is still being executed.
xBusy
BOOL
• TRUE: An action is currently being executed.
•FALSE: No action active
xError
BOOL
• TRUE: An error has occurred.
•FALSE: No error
eErrorCode
L_ETC_ERRORCODE
Error code of the incorrectly executed action (xError =TRUE).
General error codes (L_ETC_ERRORCODE)
( 183)
wState
WORD
Current master state of the L_ETC_STATE (EtherCAT status)
( 158) type
xDistributedClockInSync
BOOL
• TRUE: All DC slaves have been synchronised.
• FALSE: Not all DC slaves have been synchronised.
- Controller-based 1
- Automation 1
- Contents 2
- 1 About this documentation 10
- Pictograph and signal word! 12
- Danger! 13
- 1) In preparation 16
- ( 36) 17
- 4.1.2 Communication 19
- Operational 20
- Pre-Operational 20
- Safe-Operational 20
- 4.1.2.3 Working counter 23
- 4.2.1 Field devices 24
- 4.2.3 EtherCAT product codes 26
- 4.3 Lenze Engineering tools 29
- PLC State of the PLC 30
- 5Technical data 34
- ( 87) 36
- 6.1 Synchronous communication 37
- 6.2 Test of DC synchronicity 38
- »PLC Designer« online help 59
- 7 Commissioning of the system 100
- 8.1 CANopen and EtherCAT 107
- Drives 9400 108
- 8.3 EtherCAT and PROFINET 109
- • Error case: 113
- 9.2 CoE Interface 115
- ( 115) 120
- SDO Download Response 123
- 9.2.2 L_ETC_CoE_SdoRead (FB) 125
- Outputs (VAR_OUTPUT) 126
- 9.2.3 L_ETC_CoE_SdoRead4 (FB) 127
- Inputs (VAR_INPUT) 130
- 9.2.5 L_ETC_CoE_SdoWrite (FB) 131
- 9.3 Device Interface 137
- 9.3.1 ETCSlave (FB) 137
- 9.3.2 L_ETC_GetSlave (FUN) 138
- 9.3.3 L_ETC_IoControl (FUN) 139
- 9.3.4 L_IODrvEtherCAT (FB) 140
- 9.4 Diagnostic Interface 141
- 9.4.1 L_ETC_GetEmergency (FB) 141
- 9.4.4 L_ETC_ReadErrCnt (FB) 145
- 9.4.5 L_ETC_ResetErrCnt (FB) 146
- 9.5 FoE interface 147
- 9.5.1 L_ETC_FoE_Read (FB) 147
- 9.5.2 L_ETC_FoE_Write (FB) 149
- 9.6 State Machine Interface 151
- 9.7 Data types 155
- 9.7.1 L_ETC_COE_EMERGENCY 155
- 9.7.3 L_ETC_COE_FLAGS 155
- 9.7.4 L_ETC_DIAGNOSTIC 156
- 9.7.6 L_ETC_ERRORCODE 157
- 9.7.7 L_ETC_IOCTLOPARMS 157
- 9.7.8 L_ETC_LANGUAGE 157
- 9.7.9 L_ETC_SLAVE_PORTS 157
- ( 160); 160
- ( 162) 160
- How to optimise the system: 162
- 12 Diagnostics 163
- 13 Parameter reference 196
- )(('%$& 204
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