Lenze EtherCAT Controller-based Automation - Manual (Page 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).