Lenze EtherCAT Controller-based Automation Manuel d'utilisateur Page 4
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4 Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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9 Function library L_IODrvEtherCAT.lib _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
9.1 Overview of functions and function blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
9.2 CoE Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
9.2.1 Reading and writing parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
9.2.1.1 Reading parameters (SDO upload) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 116
9.2.1.2 Writing parameters (SDO download) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 120
9.2.2 L_ETC_CoE_SdoRead (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 125
9.2.3 L_ETC_CoE_SdoRead4 (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 127
9.2.4 L_ETC_CoE_SdoReadEx (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129
9.2.5 L_ETC_CoE_SdoWrite (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
9.2.6 L_ETC_CoE_SdoWrite4 (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 133
9.2.7 L_ETC_CoE_SdoWriteEx (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
9.3 Device Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
9.3.1 ETCSlave (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
9.3.2 L_ETC_GetSlave (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
9.3.3 L_ETC_IoControl (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 139
9.3.4 L_IODrvEtherCAT (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 140
9.4 Diagnostic Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
9.4.1 L_ETC_GetEmergency (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
9.4.2 L_ETC_GetErrorString (FUN) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143
9.4.3 L_ETC_GetMasterDiagnostic (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 144
9.4.4 L_ETC_ReadErrCnt (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 145
9.4.5 L_ETC_ResetErrCnt (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
9.5 FoE interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
9.5.1 L_ETC_FoE_Read (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
9.5.2 L_ETC_FoE_Write (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149
9.6 State Machine Interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
9.6.1 L_ETC_GetMasterState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
9.6.2 L_ETC_GetSlaveState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
9.6.3 L_ETC_SetMasterState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153
9.6.4 L_ETC_SetSlaveState (FB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 154
9.7 Data types _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.1 L_ETC_COE_EMERGENCY _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.2 L_ETC_COE_EMERGENCY_BUFFER_DATA _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.3 L_ETC_COE_FLAGS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
9.7.4 L_ETC_DIAGNOSTIC _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
9.7.5 L_ETC_EVTPARAM_PARAMETERTRANSFER _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
9.7.6 L_ETC_ERRORCODE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.7 L_ETC_IOCTLOPARMS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.8 L_ETC_LANGUAGE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.9 L_ETC_SLAVE_PORTS _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
9.7.10 L_ETC_PARAMETERTRANSFERSERVICE_CODE _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
9.7.11 L_ETC_STATE (EtherCAT status) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
- Controller-based 1
- Automation 1
- Contents 2
- 1 About this documentation 10
- Pictograph and signal word! 12
- Danger! 13
- 1) In preparation 16
- ( 36) 17
- 4.1.2 Communication 19
- Operational 20
- Pre-Operational 20
- Safe-Operational 20
- 4.1.2.3 Working counter 23
- 4.2.1 Field devices 24
- 4.2.3 EtherCAT product codes 26
- 4.3 Lenze Engineering tools 29
- PLC State of the PLC 30
- 5Technical data 34
- ( 87) 36
- 6.1 Synchronous communication 37
- 6.2 Test of DC synchronicity 38
- »PLC Designer« online help 59
- 7 Commissioning of the system 100
- 8.1 CANopen and EtherCAT 107
- Drives 9400 108
- 8.3 EtherCAT and PROFINET 109
- • Error case: 113
- 9.2 CoE Interface 115
- ( 115) 120
- SDO Download Response 123
- 9.2.2 L_ETC_CoE_SdoRead (FB) 125
- Outputs (VAR_OUTPUT) 126
- 9.2.3 L_ETC_CoE_SdoRead4 (FB) 127
- Inputs (VAR_INPUT) 130
- 9.2.5 L_ETC_CoE_SdoWrite (FB) 131
- 9.3 Device Interface 137
- 9.3.1 ETCSlave (FB) 137
- 9.3.2 L_ETC_GetSlave (FUN) 138
- 9.3.3 L_ETC_IoControl (FUN) 139
- 9.3.4 L_IODrvEtherCAT (FB) 140
- 9.4 Diagnostic Interface 141
- 9.4.1 L_ETC_GetEmergency (FB) 141
- 9.4.4 L_ETC_ReadErrCnt (FB) 145
- 9.4.5 L_ETC_ResetErrCnt (FB) 146
- 9.5 FoE interface 147
- 9.5.1 L_ETC_FoE_Read (FB) 147
- 9.5.2 L_ETC_FoE_Write (FB) 149
- 9.6 State Machine Interface 151
- 9.7 Data types 155
- 9.7.1 L_ETC_COE_EMERGENCY 155
- 9.7.3 L_ETC_COE_FLAGS 155
- 9.7.4 L_ETC_DIAGNOSTIC 156
- 9.7.6 L_ETC_ERRORCODE 157
- 9.7.7 L_ETC_IOCTLOPARMS 157
- 9.7.8 L_ETC_LANGUAGE 157
- 9.7.9 L_ETC_SLAVE_PORTS 157
- ( 160); 160
- ( 162) 160
- How to optimise the system: 162
- 12 Diagnostics 163
- 13 Parameter reference 196
- )(('%$& 204
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