Lenze EtherCAT Controller-based Automation Manuel d'utilisateur télécharger pdf (Page 130)

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

130

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17

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Inputs (VAR_INPUT)

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

xExecute

BOOL

A positive edge (TRUE) triggers a read request (uploading) of a CoE object.

xAbort

BOOL

A positive edge (TRUE) aborts a running read request (upload).

xAbort is currently not supported in the Lenze control technology R3.x.

usiCom

USINT

EtherCAT master instance number

• In the Lenze control technology R3.x, only instance number 1 is currently

supported. usiCom has been pre-assigned with 1, so that the input can be left

open.

• A value that does not equal 1 causes the error ETC_E_INVALIDPARM

(0x9811000B).

uiDevice

UINT

EtherCAT address of the master/slave.

• The address 0 directly accesses the object directory of the EtherCAT master.

dwFlags

DWORD

dwFlags controls the function block behaviour:

• 16#00000000: Function block behaviour L_ETC_CoE_SdoRead (FB)

( 125)

• 16#00000001: "Complete access"

Type definition see L_ETC_COE_FLAGS

( 155).

wIndex

WORD

CANopen index to be read in the object directory of the master or slave.

• Formula for converting a Lenze code number into a CANopen index: Index =

0x5FFF - code number

bySubindex

BYTE

Subindex in the object directory of the master or slave.

udiTimeout

UDINT

Timeout in milliseconds (ms)

• The value 0 is not permissible and causes the error ETC_E_INVALIDPARM

(0x9811000B).

pBuffer

CAA_PVOID

Reference to memory buffer to which the values to be read are to be copied.

szSize

CAA_SIZE

Size of the memory buffer transmitted to pBuffer.

• The memory buffer must be big enough to accept the read object.

Identifier/data type Meaning/possible settings

xDone

BOOL

• TRUE: An action has been executed successfully.

• FALSE: No action active / action is still being executed.

xBusy

BOOL

• TRUE: An action is currently being executed.

•FALSE: No action active

xError

BOOL

• TRUE: An error has occurred.

•FALSE: No error

eErrorCode

L_ETC_ERRORCODE

Error code of the incorrectly executed action (xError =TRUE).

General error codes (L_ETC_ERRORCODE)

( 183)

SDO abort codes

( 195)

udiSdoAbort

UDINT

If a read request (upload) from the slave or master is rejected with an error, here the

CANopen abort code is returned.

szDataRead

CAA_SIZE

Number of bytes for the read request (upload) that is actually read

1 2 ... 125 126 127 128 129 130 131 132 133 134 135 ... 204 205

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Lenze EtherCAT Controller-based Automation Manuel d'utilisateur Page 130

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