FB_CoEWrite

With the function block FB_CoEWrite, an object from the object directory of an EtherCAT slave can be written via an SDO (Service Data Object) download. This requires the slave to have a mailbox and to support the CoE (CANopen over EtherCAT) protocol. With the help of the SubIndex and Index parameters a selection is made as to which object should be written. Via CompleteAccess := TRUE the parameter can be written with sub-elements.

Inputs

VAR_INPUT
   sNetId          : T_AmsNetId;(*netID of PC with NC*)
   iIndex          : WORD;(*CoE object index*)
   iSubIndex       : BYTE;(*CoE sub index*)
   pDstBuf         : PVOID;(*Contains the address of the buffer for the received data*)
   iBufLen         : 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;(*Function block reads the complete object with all sub index*)
END_VAR

Name	Type	Description
sNetId	T_AmsNetId	String, which contains the AMS Network ID of the PC (type: T_AmsNetId).
iIndex	WORD	Index of the object that is supposed to be written.
iSubIndex	BYTE	Subindex of the object that is supposed to be written.
pDstBuf	PVOID	Address (pointer) to the transmit buffer
iBufLen	UDINT	Maximum available buffer size (in bytes) for the data to be read
bExecute	BOOL	The function block is enabled via a positive edge at this input.
tTimeout	TIME	Maximum time allowed for the execution of the function block.
bCompleteAccess	BOOL	Via Complete Access the complete object can be accessed at once.

Inputs/outputs

VAR_IN_OUT
    Axis  :  NCTOPLC_AXIS_REF;
END_VAR

Name	Type	Description
Axis	NCTOPLC_AXIS_REF	Axis data structure of type NCTOPLC_AXIS_REF, which addresses an axis uniquely within the system. Among other things it contains the current state of the axis such as the position, the velocity and the error state.

Outputs

VAR_OUTPUT
    bBusy         : BOOL;
    bError        : BOOL;
    iAdsErrId     : UINT;
    iCANopenErrId : UINT;
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.
iAdsErrId	UINT	In the event of a set bError output returns the ADS error code.
iCANopenErrId	UINT	In the event of a set bError output returns the CANopen error code.