Lenze EtherCAT Controller-based Automation Uživatelský manuál stáhnout pdf (Strana 154)

9 Function library L_IODrvEtherCAT.lib

9.6 State Machine Interface

154

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

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9.6.4 L_ETC_SetSlaveState (FB)

This function block sets the state of the EtherCAT slave.

Visualisation: VISU_L_ETC_SetSlaveState

Inputs (VAR_INPUT)

Outputs (VAR_OUTPUT)

 Note!

The status of the slaves cannot be higher than the status of the EtherCAT master.

Example: If the master is in the Pre-Operational state, the state of a slave cannot be

"Safe-Operational" or "Operational".

L_ETC_SetSlaveState

BOOL  xExecute xDone  BOOL

UINT  uiDevice xBusy  BOOL

WORD  wState xError  BOOL

UDINT  udiTimeout eErrorCode  L_ETC_ERRORCODE

Identifier/data type Meaning/possible settings

xExecute

BOOL

A positive edge (TRUE) sets the EtherCAT slave state by the slave given by uiDevice.

uiDevice

UINT

EtherCAT address of the slave.

wState

WORD

EtherCAT slave state to be set of the L_ETC_STATE (EtherCAT status)

( 158) type

udiTimeout

UDINT

Timeout in milliseconds (ms)

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

(0x9811000B).

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)

SDO abort codes

( 195)

1 2 ... 149 150 151 152 153 154 155 156 157 158 159 ... 204 205

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