FB_SoEReadCommandState

VAR_INPUT

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

NetId: A string containing the AMS network identifier of the PC.

Idn: Parameter number for the command, i.e. "P_0_IDN + 160" for executing a P-0-0160 command

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

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

VAR_IN_OUT

VAR_IN_OUT
    Axis : AXIS_REF; (* Axis reference *)
END_VAR

Axis: Axis structure (see TcMC2.lib).

VAR_OUTPUT

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

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

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

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

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

CmdState: Supplies the command state

    eSoE_CmdState_NotSet =
0               
- no command active

    eSoE_CmdState_Set =
1                  
- command set (prepared) but (not yet) executed

    eSoE_CmdState_Executed =
2             
- command was executed

    eSoE_CmdState_SetEnabledExecuted =
3    - command set (prepared) and executed

    eSoE_CmdState_SetAndInterrupted =
5     - command was set but interupted

    eSoE_CmdState_SetEnabledNotExecuted = 7 -
command execution is stll active

    eSoE_CmdState_Error =
15               
- error during command execution, switched to error state

Sample

fbReadCommandState : FB_SoEReadCommandState;
ReadCommandState   : BOOL;
Idn                : WORD;
CmdState           : E_SoE_CmdState;

(* NcAxis *)
Axis            : AXIS_REF;
IF ReadCommandState THEN
    Idn := P_0_IDN + 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