FB_EcSoeRead
The function block FB_EcSoeRead
can be used to read drive parameters by means of the “Servo drive profile over EtherCAT (SoE)” protocol. To this end the slave must have a mailbox and support the SoE protocol. The drive parameter to be read is specified with the parameters nIdn (identification number), nElement and nDriveNo.
Inputs
VAR_INPUT
sNetId : T_AmsNetId;
nSlaveAddr : UINT;
nIdn : WORD;
nElement : BYTE;
nDriveNo : BYTE;
bCommand : BOOL
pDstBuf : PVOID;
cbBufLen : UDINT;
bExecute : BOOL;
tTimeout : TIME := DEFAULT_ADS_TIMEOUT;
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 to which the SoE read command is to be sent. |
nIdn | WORD | Identification number of the parameter to be read |
nElement | BYTE | Element number of the parameter to be read |
nDriveNo | BYTE | Drive number |
bCommand | BOOL | This parameter should be set if internal command execution is to be used. |
pDstBuf | PVOID | Address (pointer) to the receive buffer |
cbBufLen | UDINT | Maximum available buffer size (in bytes) for the data to be read |
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. |
nElement
Element number of the parameter to be read. The following values are permitted:
Value | Description |
---|---|
0x01 | Data status |
0x02 | Name (read only) |
0x04 | Attribute |
0x08 | Unit |
0x10 | Minimum |
0x20 | Maximum |
0x40 | Value |
0x80 | Default |
Outputs
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
nErrId : UDINT;
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. |
Example of an implementation in ST:
PROGRAM TEST_SoERead
VAR
fbSoERead : FB_EcSoERead;
sNetId : T_AmsNetId:= '172.16.2.131.2.1';
bExecute : BOOL;
nSlaveAddr : UINT := 1006;
nIdn : WORD := 15;
nElement : BYTE := 0;
nDriveNo : BYTE := 0;
bCommand : BOOL := FALSE;
val : UINT;
bError : BOOL;
nErrId : UDINT;
END_VAR
fbSoERead(sNetId:= sNetId,nSlaveAddr :=nSlaveAddr, nIdn := nIdn, nElement:=nElement, nDriveNo := nDriveNo, bCommand:=bCommand, pDstBuf:= ADR(val), cbBufLen:=SIZEOF(val),bExecute:=bExecute);
bError := fbSoERead.bError;
nErrId := fbSoERead.nErrId;
Requirements
Development environment | Target platform | PLC libraries to include |
---|---|---|
TwinCAT v3.1.0 | PC or CX (x86, x64, ARM) | Tc2_EtherCAT |