FB_EcGetSlaveState

The function block FB_EcGetSlaveState allows the EtherCAT status and the Link status of an individual EtherCAT slave to be read. If the call is successful, the output variable state, whose type is ST_EcSlaveState, contains the requested status information.

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 whose state is 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.

Outputs

VAR_OUTPUT
    bBusy  : BOOL;
    bError : BOOL;
    nErrId : UDINT;
    state  : 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.
state	ST_EcSlaveState	Structure that contains the EtherCAT status and the Link status of the slave. (Type: ST_EcSlaveState)

Example of an implementation in ST:

PROGRAM TEST_GetSlaveState
VAR
    fbGetSlaveState : FB_EcGetSlaveState;
    sNetId          : T_AmsNetId := '172.16.2.131.2.1';
    bExecute        : BOOL;
    state           : ST_EcSlaveState;
    nSlaveAddr      : UINT := 1001;
    bError          : BOOL;
    nErrId          : UDINT;
END_VAR

fbGetSlaveState(sNetId:= sNetId, nSlaveAddr:= nSlaveAddr, bExecute:=bExecute);
state := fbGetSlaveState.state;
bError := fbGetSlaveState.bError;
nErrId := fbGetSlaveState.nErrId;

Prerequisites

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