FB_EcSetSlaveState
With this function block a slave can be set to a specified EtherCAT state. The requested EtherCAT state is transferred with the reqState variable. The function block sends the command to change state and, unlike the function block FB_EcRegSlaveState, remains active until the EtherCAT slave has attained the new state or the maximum time tTimeout is exceeded. The current state is output in the currState variable.
See also: FB_EcReqSlaveState
Inputs
VAR_INPUT
sNetId : T_AmsNetId;
nSlaveAddr : UINT;
bExecute : BOOL;
tTimeout : TIME := T#10s;
reqState : WORD;
END_VAR
Name | Type | Description |
|---|---|---|
sNetId | T_AmsNetId | String containing the AMS network ID of the EtherCAT master device. (Type: T_AmsNetId) |
nSlaveAddr | UINT | Fixed address of the EtherCAT slave whose EtherCAT state is to be set. |
bExecute | BOOL | The function block is activated by a positive edge at this input. |
tTimeout | TIME | Maximum time allowed for the execution of the function block. |
reqState | WORD | EtherCAT state to which the slave is to be set. (See reqState) |
reqState
EtherCAT state to which the slave is to be set. The possible values for reqState are:
Constant | Value | Description |
|---|---|---|
EC_DEVICE_STATE_INIT | 0x01 | Set slave to Init state |
EC_DEVICE_STATE_PREOP | 0x02 | Set slave to Pre-operational state |
EC_DEVICE_STATE_BOOTSTRAP | 0x03 | Set slave to Bootstrap state. This state is used for firmware downloads. |
EC_DEVICE_STATE_SAFEOP | 0x04 | Set slave to Safe-operational state |
EC_DEVICE_STATE_OP | 0x08 | Set slave to Operational state |
EC_DEVICE_STATE_ERROR | 0x10 | If the error bit in the status byte is set in the EtherCAT slave (currState.deviceState AND EC_DEVICE_STATE_ERROR = TRUE), the error bit can be reset by setting EC_DEVICE_STATE_ERROR. |
Outputs
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
nErrId : UDINT;
currState : ST_EcSlaveState;
END_VAR
Name | Type | Description |
|---|---|---|
bBusy | BOOL | This output is set when the function block is activated, and remains set until a feedback is received. |
bError | BOOL | This output is set after the bBusy output has been reset when an error occurs in the transmission of the command. |
nErrId | UDINT | Supplies the ADS error code associated with the most recently executed command if the bError output is set. |
currState | ST_EcSlave | Current EtherCAT state of the slave |
Requirements
Development environment | Target platform | PLC libraries to include |
|---|---|---|
TwinCAT v3.1.0 | PC or CX (x86, x64, ARM) | Tc2_EtherCAT |