Lenze EtherCAT Controller-based Automation - Manual (Page 137)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
137
9 Function library L_IODrvEtherCAT.lib
9.3 Device Interface
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9.3 Device Interface
In addition to the EtherCAT master and slave types for access to slaves, this group also provides a
generic function for accessing the EtherCAT master.
9.3.1 ETCSlave (FB)
For every slave in the control configuration, the system creates a module of the type ETCSlave. The
name of the slave and the name of the ETC slave instance are identical. In the case of a SoftMotion
slave, the instance is called cyclically in the context of the SoftMotion application. If the slave is not
a SoftMotion slave, the instance must be called when the wState output is used.
Visualisation: VISU_ETCSlave
Outputs (VAR_OUTPUT)
Product features
ETCSlave
xDone  BOOL
xBusy  BOOL
xError  BOOL
eErrorCode  L_ETC_ERRORCODE
wState  WORD
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 slave state of the L_ETC_STATE (EtherCAT status) ( 158) type
Identifier/data type Meaning/possible settings
DCEnable
BOOL
• TRUE: The "Distributed clocks" (DC) function is activated for the slave.
• FALSE: The "Distributed clocks" (DC) function is not activated.
 Synchronisation with "Distributed clocks" (DC) ( 36)
IODrvEtherCAT
POINTER TO
L_IODrvEtherCAT
Reference to EtherCAT master function block L_IODrvEtherCAT (FB) ( 140) .
Name
STRING
Name of the EtherCAT slave
PhysSlaveAddr
UINT
EtherCAT address of the EtherCAT slave