FB_EcReqMasterState
The function block FB_EcReqMasterState requests a new EtherCAT state from the master. The parameter state specifies the EtherCAT state that is requested from the master.
VAR_INPUT
VAR_INPUT
sNetId : T_AmsNetId;
bExecute : BOOL;
tTimeout : TIME := DEFAULT_ADS_TIMEOUT;
state : WORD;
END_VAR
sNetId: This is a string that contains the AMS network identifier of the EtherCAT master device.
bExecute: The block is activated by a rising edge at this input.
tTimeout: Maximum time allowed for the execution of the function block.
state: EtherCAT state that is requested from the master. Following values can be passed here:
Constant | Value | Description |
---|---|---|
EC_DEVICE_STATE_INIT | 0x01 | Request the init state |
EC_DEVICE_STATE_PREOP | 0x02 | Request the Pre-Operational state |
EC_DEVICE_STATE_SAFEOP | 0x04 | Request the Safe-Operational state |
EC_DEVICE_STATE_OP | 0x08 | Request the Operational state |
VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bError : BOOL;
nErrId : UDINT;
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.
nErrId: 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 system type | PLC libraries to be linked |
---|---|---|
TwinCAT v2.10.0 or higher | PC or CX (x86) | TcEtherCAT.lib |
TwinCAT v2.10.0 Build >= 1301 or higher | CX (ARM) |