ST_EcExtendedSlaveState

The structure ST_EcSlaveState contains the EtherCAT state and the link state of an EtherCAT slave device.

TYPE ST_EcSlaveState:
STRUCT
    deviceState :BYTE;
    linkState   :BYTE;
    extendedState :BYTE;
END_STRUCT
END_TYPE

Name

Type

Description

deviceState

BYTE

EtherCAT state of a slave
(See deviceState)

linkState

BYTE

Link status of an EtherCAT slave
(See linkState)

extendedState

BYTE

Extended EtherCAT state of a slave
(See extendedState)

deviceState

EtherCAT state of a slave. The status can adopt one of the following values:

Constant

Value

Description

EC_DEVICE_STATE_INIT

0x01

Init state

EC_DEVICE_STATE_PREOP

0x02

Pre-Operational state

EC_DEVICE_STATE_BOOTSTRAP

0x03

Bootstrap state

EC_DEVICE_STATE_SAFEOP

0x04

Safe Operational state

EC_DEVICE_STATE_OP

0x08

Operational state

In addition, the following bits can be set:

Constant

Value

Description

EC_DEVICE_STATE_ERROR

0x10

State machine error in the EtherCAT slave

EC_DEVICE_STATE_INVALID_VPRS

0x20

Invalid vendor ID, product code, revision number, or serial number

EC_DEVICE_STATE_INITCMD_ERROR

0x40

Error during sending of initialization commands.

EC_DEVICE_STATE_DISABLED

0x80

Slave is disabled

linkState

Link status of an EtherCAT slave. The Link state can consist of an ORing of the following bits:

Constant

Value

Description

EC_LINK_STATE_OK

0x00

 

EC_LINK_STATE_NOT_PRESENT

0x01

No EtherCAT communication with the EtherCAT slave

EC_LINK_STATE_LINK_WITHOUT_COMM

0x02

Error at port X (specified through EC_LINK_STATE_PORT_A/B/C/D). The port has a link, but no communication is possible via this port.

EC_LINK_STATE_MISSING_LINK

0x04

Missing link at port X (specified through EC_LINK_STATE_PORT_A/B/C/D).

EC_LINK_STATE_ADDITIONAL_LINK

0x08

Additional link at port X (specified through EC_LINK_STATE_PORT_A/B/C/D).

EC_LINK_STATE_PORT_A

0x10

Port 0

EC_LINK_STATE_PORT_B

0x20

Port 1

EC_LINK_STATE_PORT_C

0x40

Port 2

EC_LINK_STATE_PORT_D

0x80

Port 3

extendedState

Extended state of an EtherCAT slave. The extended status contains the following bits:

Bin number

Value

Description

.0

1

The EtherCAT slave is an empty MX slot. There is no MX module inserted in the corresponding slot on the MX rail.

Requirements

Development environment

Target platform

PLC libraries to include

TwinCAT v3.1.4026.26

PC or CX (x86, x64, Arm®)

Tc2_EtherCAT >= 3.8.1.0