FB_EcReqMasterState

FB_EcReqMasterState 1:

With this function block the EtherCAT state of a master device can be requested and set. The requested EtherCAT state is transferred in the state variable. The function block becomes inactive as soon as it has requested the EtherCAT state. Unlike the function block FB_EcSetMasterState it does not wait until the new state is set.

Inputs

VAR_INPUT
    sNetId   : T_AmsNetId;
    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)
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 requested from the master. The possible State values are:

Constant	Value	Description
EC_DEVICE_STATE_INIT	0x01	Request Init state from master
EC_DEVICE_STATE_PREOP	0x02	Request Pre-operational state from master
EC_DEVICE_STATE_SAFEOP	0x04	Request Safe-operational state from master
EC_DEVICE_STATE_OP	0x08	Request Operational state from master

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_ReqMasterState
VAR
    fbReqMasterState : FB_EcReqMasterState;
    sNetId           : T_AmsNetId:= '172.16.2.131.2.1';
    bExecute         : BOOL;
    state            : WORD :=EC_DEVICE_STATE_INIT;
    bError           : BOOL;
    nErrId           : UDINT;
END_VAR

fbReqMasterState(sNetId:= sNetId, bExecute:=bExecute, state:=state);
bError := fbGetMasterState.bError;
nErrId := fbGetMasterState.nErrId;

Requirements

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