FB_EcCoeSdoReadEx

FB_EcCoeSdoReadEx 1:

The function block FB_EcCoeSdoReadEx allows data to be read from an object directory of an EtherCAT slave via SDO (Service Data Object) access. This requires the slave to have a mailbox and to support the “CANopen over EtherCAT” (CoE) protocol. The nSubIndex and nIndex parameters allow the object that is to be read to be selected. Via bCompleteAccess := TRUE the parameter can be read with subelements.

Inputs

VAR_INPUT
    sNetId          : T_AmsNetId; (* AmsNetId of the EtherCAT master device.*)
    nSlaveAddr      : UINT; (* Address of the slave device.*)
    nSubIndex       : BYTE; (* CANopen Sdo subindex.*)
    nIndex          : WORD; (* CANopen Sdo index.*)
    pDstBuf         : PVOID; (* Contains the address of the buffer for the received data. *)
    cbBufLen        : UDINT; (* Contains the max. number of bytes to be received. *)
    bExecute        : BOOL; (* Function block execution is triggered by a rising edge at this input.*)
    tTimeout        : TIME := DEFAULT_ADS_TIMEOUT;(* States the time before the function is cancelled. *)
    bCompleteAccess : BOOL; (* access complete object*)
END_VAR

Name	Type	Description
sNetId	T_Ams NetId	String containing the AMS network ID of the EtherCAT master device. (Type: T_AmsNetId)
nSlave Addr	UINT	Fixed address of the EtherCAT slave to which the SDO upload command should be sent.
nSubIndex	BYTE	Subindex of the object that is to be read.
nIndex	WORD	Index of the object that is to be read.
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.
bComplete Access	BOOL	If bCompleteAccess is set, the whole parameter can be read in a single access.

Outputs

VAR_OUTPUT
    bBusy  : BOOL;
    bError : BOOL;
    nErrId : UDINT;
    cbRead : UDINT;
END_VAR

Name	Type	Description
bBusy	BOOL	This output is set when the function block is activated, and remains set until 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.
cbRead	UDINT	Number of successfully read data bytes

Prerequisites

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