FB_SoEWriteCommandControl_ByDriveRef

VAR_INPUT

VAR_INPUT
    stDriveRef  : ST_DriveRef; 
    nIdn        : WORD; 
    eCmdControl : E_SoE_CmdControl; 
    bExecute    : BOOL; 
    tTimeout    : TIME := DEFAULT_ADS_TIMEOUT;
END_VAR

stDriveRef: The drive reference can be linked in the System Manager between PLC and drive. The link can be done to an instance of the ST_PlcDriveRef. The structure ST_PlcDriveRef contains the NetID as byte array. The byte array can be converted to a string. See ST_DriveRef.

nIdn: Parameter number for the command, i.e. "P_0_IDN + 160" for setting the P-0-0160 command

eCmdControl: prepare a command with eSoE_CmdControl_Set := 1, execute a command with eSoE_CmdControl_SetAndEnable := 3 or abort a command with eSoE_CmdControl_Cancel := 0

bExecute: The block is activated by a rising edge at this input.

tTimeout: Maximum time allowed for the execution of the function block.

VAR_OUTPUT

VAR_OUTPUT
    bBusy        : BOOL;
    bError       : BOOL;
    iAdsErrId    : UINT;
    iSercosErrId : UINT;
END_VAR

bBusy: This output is set when the function block is activated and remains set until an acknowledgement is received.

bError: This output is set up after the bBusy output has been reset if there has been an error in transmission of the command.

iAdsErrId: Supplies the ADS error code associated with the most recently executed command if the bError output is set.

iSercosErrId: Supplies the Sercos error code associated with the most recently executed command if the bError output is set.

Sample

fbWriteCommandControl : FB_SoEWriteCommandControl_ByDriveRef;
bWriteCommandControl  : BOOL;
nIdn                  : WORD;
eCmdControl           : E_SoE_CmdControl;
stPlcDriveRef AT %I*  : ST_PlcDriveRef;
stDriveRef            : ST_DriveRef;
IF bInit THEN
    stDriveRef.sNetId     := F_CreateAmsNetId(stPlcDriveRef.aNetId);
    stDriveRef.nSlaveAddr := stPlcDriveRef.nSlaveAddr;
    stDriveRef.nDriveNo   := stPlcDriveRef.nDriveNo;
    stDriveRef.nDriveType := stPlcDriveRef.nDriveType;

    IF (stDriveRef.sNetId <> '') AND (stDriveRef.nSlaveAddr <> 0) THEN
        bInit := FALSE;
    END_IF
END_IF

IF bWriteCommandControl AND NOT bInit THEN
    nIdn := P_0_IDN + 160;
    fbWriteCommandControl(
        stDriveRef := stDriveRef,
        bExecute := TRUE,
        tTimeout := DEFAULT_ADS_TIMEOUT,
        nIdn := nIdn,
        eCmdControl := eCmdControl
    );

    IF NOT fbWriteCommandControl.bBusy THEN
       
fbWriteCommandControl(stDriveRef := stDriveRef, bExecute := FALSE);
        bWriteCommandControl := FALSE;
    END_IF
END_IF