FB_EcReqSlaveState

FB_EcReqSlaveState 1:

With this function block a slave can be set to a specified EtherCAT state. The requested EtherCAT state is transferred in the state variable. The function block becomes inactive as soon as it has sent the command to change state. Unlike the function block FB_EcSetSlaveState it does not wait until the EtherCAT slave has attained the new state.

Inputs

VAR_INPUT
    sNetId     : T_AmsNetId;
    nSlaveAddr : UINT;     
    bExecute   : BOOL; 
    tTimeout   : TIME := DEFAULT_ADS_TIMEOUT; 
    state      : WORD; 
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 EtherCAT state is to be set.
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.
state	WORD	EtherCAT state requested from the master. (See State)

State

EtherCAT state to which the slave is to be set. The possible State values are:

Constant	Value	Description
EC_DEVICE_STATE_INIT	0x01	Set slave to Init state
EC_DEVICE_STATE_PREOP	0x02	Set slave to Pre-operational state
EC_DEVICE_STATE_BOOTSTRAP	0x03	Set slave to Bootstrap state. This state is used for firmware downloads.
EC_DEVICE_STATE_SAFEOP	0x04	Set slave to Safe-operational state
EC_DEVICE_STATE_OP	0x08	Set slave to Operational state
EC_DEVICE_STATE_ERROR	0x10	If the error bit in the status byte is set in the EtherCAT slave (state.deviceState & EC_DEVICE_STATE_ERROR = TRUE), the error bit can be reset by setting EC_DEVICE_STATE_ERROR.

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_ReqSlaveState
VAR
    fbGetSlaveState : FB_EcReqSlaveState;
    sNetId          : T_AmsNetId:= '172.16.2.131.2.1';
    bExecute        : BOOL;
    state           : WORD := EC_DEVICE_STATE_INIT;
    nSlaveAddr      : UINT := 1001;
    bError          : BOOL;
    nErrId          : UDINT;
END_VAR

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

Requirements

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