Serial connection
In this example the RFID reader is connected via an EL 6001 serial EtherCAT terminal.
Variables:
Create a send buffer and a receive buffer (gEL6ComTxBuffer, gEL6ComRxBuffer) of type ComBuffer.
Additionally create two data structures, as used for serial communication in the TwinCAT system manager:
gEL6ComRxBuffer :ComBuffer;
gEL6ComTxBuffer :ComBuffer;
EL6ComInData AT %I* :EL6ComInData;
EL6ComOutData AT %Q* :EL6ComOutData;
Link these structures with the channels of the serial port in the system manager.
For serial communication, create an instance of the 'SerialLineControl'. Call this cyclically in a fast task.
LineControl(
Mode := SERIALLINEMODE_EL6_22B,
pComIn := ADR(EL6ComInData),
pComOut := ADR(EL6ComOutData),
SizeComIn := SIZEOF(EL6ComInData),
TxBuffer := gEL6ComTxBuffer,
RxBuffer := gEL6ComRxBuffer
);
Mode: As a handle, specify the serial EtherCAT terminal with 22 bytes of user data in our example.
Further instructions can be found in the chapter Serial RFID reader connection.