FB_EcCoeReadBTN

The function block FB_EcCoeReadBTN can be used to read the BTN from the object directory of an EtherCAT slave via SDO (Service Data Object) access. For this the slave must have a mailbox and support the "CANopen over EtherCAT (CoE)" protocol and the object directory must contain an object 0xF083 with the BTN.

Inputs

VAR_INPUT
    sNetId     : T_AmsNetId; 
    nSlaveAddr : UINT; 
    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 SDO upload command should be sent.
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.

Outputs

VAR_OUTPUT
    bBusy  : BOOL;
    bError : BOOL;
    nErrId : UDINT;
    sBTN   : STRING(9)
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.
sBTN	STRING	This output contains (after an error-free run) the BTN of the EtherCAT slave after the bBusy output has been reset, e.g. "0002agdw".

Sample of an implementation in ST

PROGRAM TEST_ EcCoEReadBtn
VAR
    fbCoEBTN   : FB_EcCoEReadBtn;
    sNetId     : T_AmsNetId := '172.16.2.131.2.1';
    bExecute   : BOOL := TRUE;
    nSlaveAddr : UINT := 1006;
    sCoEBTN    : STRING;
    bError     : BOOL;
    nErrId     : UDINT;
END_VAR

fbCoEBTN(sNetId:= sNetID, nSlaveAddr:= nPort, bExecute:= bExecute, tTimeout:= T#5S);
IF NOT fbCoEBTN.bBusy THEN
     bExecute := FALSE;
     IF NOT fbCoEBTN.bError THEN
          sCoEBTN := fbCoEBTN.sBTN;
     END_IF
     fbCoEBTN(bExecute:= bExecute);
END_IF

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.0	PC or CX (x86, x64, ARM)	Tc2_EtherCAT