Lenze EtherCAT Controller-based Automation Manuel d'utilisateur télécharger pdf (Page 137)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 137

9 Function library L_IODrvEtherCAT.lib

9.3 Device Interface

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9.3 Device Interface

In addition to the EtherCAT master and slave types for access to slaves, this group also provides a

generic function for accessing the EtherCAT master.

9.3.1 ETCSlave (FB)

For every slave in the control configuration, the system creates a module of the type ETCSlave. The

name of the slave and the name of the ETC slave instance are identical. In the case of a SoftMotion

slave, the instance is called cyclically in the context of the SoftMotion application. If the slave is not

a SoftMotion slave, the instance must be called when the wState output is used.

Visualisation: VISU_ETCSlave

Outputs (VAR_OUTPUT)

Product features

ETCSlave

xDone  BOOL

xBusy  BOOL

xError  BOOL

eErrorCode  L_ETC_ERRORCODE

wState  WORD

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)

wState

WORD

Current slave state of the L_ETC_STATE (EtherCAT status) ( 158) type

Identifier/data type Meaning/possible settings

DCEnable

BOOL

• TRUE: The "Distributed clocks" (DC) function is activated for the slave.

• FALSE: The "Distributed clocks" (DC) function is not activated.

Synchronisation with "Distributed clocks" (DC)

( 36)

IODrvEtherCAT

POINTER TO

L_IODrvEtherCAT

Reference to EtherCAT master function block L_IODrvEtherCAT (FB)

( 140).

Name

STRING

Name of the EtherCAT slave

PhysSlaveAddr

UINT

EtherCAT address of the EtherCAT slave

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