Lenze EtherCAT control technology - Manual (Page 122)

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks for CANopen over EtherCAT (CoE)
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DMS 3.1 EN 01/2011 TD17
9.8 Function blocks for CANopen over EtherCAT (CoE)
The function blocks described in the following support the upload and download of CoE
parameters:
 ecatCoeSdoDownloadReq (FB)
( 122)
 ecatCoeSdoUploadReq (FB)
( 123)
9.8.1 ecatCoeSdoDownloadReq (FB)
Inputs (VAR_INPUT)
Function: This function block activates the download of a CoE parameter to the
slave.
Library: AtEm.lib
Visualisation: VISU_ecatCoeSdoDownloadReq
Identifier/data type Meaning/possible settings
bExecute
BOOL
The function block is activated in an edge-controlled manner:
• Positive edge (TRUE) = function block is executed.
wObIndex
WORD
CANopen index
The indexes for codes can be calculated with 16#5FFF
hex
- code number.
byObSubIndex
BYTE
Object subindex
dwTimeout
DWORD
Time-out in milliseconds
• If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.
wSlaveStationAddress
WORD
Station address of the slave
• Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".
dwDataLen
DWORD
Number of the data bytes to be written
pbyData
POINTER TO BYTE
Pointer to the service data object (SDO) to be written