Lenze EtherCAT Controller-based Automation Instrukcja Użytkownika Pobierz pdf (Strona 127)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 127

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.2.3 L_ETC_CoE_SdoRead4 (FB)

This function block triggers uploading of a CoE object (SDO) from the slave or from the master.

Visualisation: VISU_L_ETC_CoE_SdoRead4

Inputs (VAR_INPUT)

 Note!

• The function of this function block is identical with the function of

L_ETC_CoE_SdoRead (FB)

( 125), except that only up to 4 bytes can be written with

L_ETC_CoE_SdoRead4.

• For executing the function block, the EtherCAT master and the slave must be at least

in the "Pre-Operational" state.

L_ETC_CoE_SdoRead4

BOOL  xExecute xDone  BOOL

BOOL  xAbort xBusy  BOOL

USINT  usiCom xError  BOOL

UINT  uiDevice eErrorCode  L_ETC_ERRORCODE

WORD  wIndex udiSdoAbort  UDINT

BYTE  bySubindex abyData  ARRAY [0..3] OF BYTE

UDINT  udiTimeOut szDataRead  CAA_SIZE

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 of the master/slave.

• The address 0 directly accesses the object directory of the EtherCAT master.

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).

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