FB_CoE_DiagHistory_ReadAxis

The function block FB_ReadCoEDiagHistory_Axis is a variation of the function block FB_ReadCoEDiagHistory, which can be assigned an AXIS_REF structure instead of an address. Only messages that belong either to the device or to the specific axis are output (e.g. for an AX8206 dual-axis module).

Syntax

VAR_INPUT
    sNetId           :  T_AmsNetId;
    nSlaveAddr       :  UINT;
    bEnable          :  BOOL;
    bAck             :  BOOL;
    tTimeout         :  TIME := DEFAULT_ADS_TIMEOUT;
    tReadInterval    :  TIME := T#10S;
    stOptions        :  ST_CoE_DiagHistory_Options;
END_VAR
VAR_IN_OUT
    aDiagHistory     :  ARRAY[*] OF ST_CoE_DiagHistoryEntry;
END_VAR
VAR_INPUT 
    refAxis          :  REFERNCE TO AXIS_REF;
END_VAR
VAR_OUTPUT
    bBusy            :  BOOL; 
    bValid           :  BOOL;
    bError           :  BOOL;
    hrErrorCode      :  HRESULT; 
    ipErrorMessage   :  I_TcMessage := fbResult; 
    stInfo           :  ST_CoE_DiagHistory_Info;
END_VAR

Inputs

Name	Type	Description
sNetId	T_AmsNetId	This input is not used and should not be assigned.
nSlaveAddr	UINT	This input is not used and should not be assigned.
bEnable	BOOL	Pulse: the Diag History is read out once. Continuous: the Diag History is read out repeatedly (see tReadInterval). With each new edge, everything is reset first. The connection is then re-established and the slave is read.
bAck	BOOL	All messages are acknowledged when bAck is triggered.
tTimeout	TIME	Timeout for the respective ADS reads/writes in the function block. The default is the ADS timeout of five seconds.
tReadInterval	TIME	Time interval between repeated reading of the slave with a permanent "bEnable" signal. The default is a time interval of 10 seconds.
stOptions	ST_CoE_DiagHistory_Options	Controls for handling CoE Diag History
refAxis	REFERNCE TO AXIS_REF	AXIS_REF of an axis, from which the address of the corresponding slave can be determined.

Inputs/outputs

Name	Type	Description
aDiagHistory	ARRAY[*] OF ST_CoE_DiagHistory_Entry	An array of any length from ST_CoE_DiagHistory_Entry is assigned to this In-Out variable. The FB automatically adapts to the length of the array. If it is too short, older messages in the slave's Diag History Object are ignored. If it is too long, superfluous entries are deleted. A length greater than 250 makes no sense here, as the ETG standard defines a maximum of 250 messages for the Diag History Object.

Name

Type

Description

aDiagHistory

ARRAY[*] OF ST_CoE_DiagHistory_Entry

An array of any length from ST_CoE_DiagHistory_Entry is assigned to this In-Out variable. The FB automatically adapts to the length of the array. If it is too short, older messages in the slave's Diag History Object are ignored. If it is too long, superfluous entries are deleted.

A length greater than 250 makes no sense here, as the ETG standard defines a maximum of 250 messages for the Diag History Object.

Outputs

Name	Type	Description
bBusy	BOOL	Simple busy signal, indicates that the function block is reading a slave.
bValid	BOOL	The Diag History Object has been successfully read and the messages issued are valid.
bError	BOOL	Becomes TRUE as soon as an error situation occurs.
hrErrorCode	HRESULT	Returns an error code if the bError output is set.
ipErrorMessage	I_TcMessage	Returns detailed information if a bError output is set. The interface pointer used here is always valid (not equal to zero) and is of the type I_TcMessage. In particular, the corresponding error is immediately visible as plain text in the PLC OnlineView.
stInfo	ST_CoE_DiagHistory_Info	Provides information from the read EtherCAT Slave Diag History Object. This includes, among other things, the Buffer Mode used and information on the available messages. This output is only updated after a successful read operation.

Requirements

TwinCAT version	Hardware	Libraries to be integrated
TwinCAT 3.1 >= Build 4024.57	x86, x64, ARM	Tc3_EtherCATDiag