FB_SoEReadCommandState

With the FB_SoEReadCommandState function block the command execution can be checked.

Inputs

VAR_INPUT
    NetId   : T_AmsNetID := '';
    Idn     : WORD;
    Execute : BOOL;
    Timeout : TIME := DEFAULT_ADS_TIMEOUT;
END_VAR

Name	Type	Description
NetId	T_AmsNetID	String which contains the AMS Network ID of the PC (type: T_AmsNetId).
Idn	WORD	Parameter number that FB_SoEReadCommandState_ByDriveRef refers to, e.g. "P_0_IDNs + 160" for P-0-0160
Execute	BOOL	The function block is enabled via a positive edge at this input.
Timeout	TIME	Maximum time allowed for the execution of the function block.

Inputs/outputs

VAR_IN_OUT
   Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Busy        : BOOL;
    Error       : BOOL;
    CmdState    : E_SoE_CmdState;
    AdsErrId    : UINT;
    SercosErrId : UINT;
END_VAR

Name	Type	Description
Busy	BOOL	This output is set when the function block is activated, and remains set until a feedback is received.
Error	BOOL	This output is set after the Busy output has been reset when an error occurs in the transmission of the command.
CmdState	E_SoE_CmdState	Returns the command status: eSoE_CmdState_NotSet = 0 - kein Kommando aktiv eSoE_CmdState_Set = 1 - Kommando gesetzt (vorbereitet) aber (noch) nicht ausgeführt eSoE_CmdState_Executed = 2 - Kommando wurde ausgeführt eSoE_CmdState_SetEnabledExecuted = 3 - Kommando gesetzt (vorbereitet) und ausgeführt eSoE_CmdState_SetAndInterrupted = 5 - Kommando wurde gesetzt aber unterbrochen eSoE_CmdState_SetEnabledNotExecuted = 7 - Kommandoausführung ist noch aktiv eSoE_CmdState_Error = 15 - Fehler bei der Kommandoausführung, es wurde in den Fehlerstate gewechselt
AdsErrId	UINT	In the case of a set Error output returns the ADS error code of the last executed command.
SercosErrId	UINT	In the case of a set Error output returns the Sercos error of the last executed command.

Sample

fbReadCommandState : FB_SoEReadCommandState;
ReadCommandState   : BOOL;
Idn                : WORD;
CmdState           : E_SoE_CmdState;
(* NcAxis *)
Axis               : AXIS_REF; 

IF ReadCommandState THEN
 Idn := P_0_IDNs + 160;
 fbReadCommandState(
    Axis    := Axis,
    Execute := TRUE,
    Timeout := DEFAULT_ADS_TIMEOUT,
    Idn     := Idn,
    CmdState => CmdState
 );
 IF NOT fbReadCommandState.Busy THEN
    fbReadCommandState(Axis := Axis, Execute := FALSE);
    ReadCommandState := FALSE;
 END_IF
END_IF