IoDrvEtherCAT.GetCurrentTimeInCycle (METH) ¶ METHOD GetCurrentTimeInCycle : UDINT Returns the current time since the begin of the Ethercat cycle in nanoseconds if distributed clock is enabled and SysTimeGetns is supported by the runtime system. InOut: Scope Name Type Return GetCurrentTimeInCycle UDINT Inout pusTime SysTime
IoDrvEtherCAT.GetStatistics (METH) ¶ METHOD GetStatistics Reads the statistics data and copies it to the output values. The number of sent frames or TX error counts could be then used within the application. The statistic information could be reset by calling ClearStatistics In a well working runtime system the values of udiLostFrameCount, udiTxErrorCount and udiRxErrorCount should be always zero. The same information is also shown at the status page of each EtherCAT master. InOut: Scope Name Type Comment Output udiSendFrameCount UDINT Number of total EtherCAT frames sent udiFramesPerSecond UDINT Number of frames per second udiLostFrameCount UDINT Number of total lost frames. A frame is lost due to EMC, connection or other hardware problems for example. In addition, if the CRC does not match then this counter is increased as the network driver skips the frame. udiTxErrorCount UDINT Number of frames that could be not sent as the runtime function sendethframe returns not ERR_OK. udiRxErrorCount UDINT Number of missing received frames. Each sent frame must be also received at least in the next IEC cycle. If the runtime system (TCP-IP stack) is busy or the priority is low then frames could be delayed for sending or receiving and this counter will increase. udiLostCyclesCount UDINT Number of lost iec cycles. If the EtherCAT Stack is not called for a complete cycle then this counter will be increased by onee. ltRecvAvg LTIME Average time for receiving Ethernet frame per packet (EnableTimeMeasurements must be set to true otherwise values are zero) ltRecvMax LTIME Maximum time for receiving Ethernet frame per packet ltSendAvg LTIME Average time for sending Ethernet frame per packet ltSendMax LTIME Maximum time for sending Ethernet frame per packet
IoDrvEtherCAT.InstanceNumber (PROP) ¶ PROPERTY InstanceNumber : DWORD The internal instance number of the EtherCAT master. Could be used for the CoE/SoE/FoE function blocks for the usiCom input.
IoDrvEtherCAT.LastError (PROP) ¶ PROPERTY LastError : ETC_LASTERROR returns the last detected error as defined in the enumeration ETC_LASTERROR
IoDrvEtherCAT.LastInstance (PROP) ¶ PROPERTY LastInstance : POINTER TO IoDrvEtherCAT Pointer to linked master list -> previous master
IoDrvEtherCAT.LastMessage (PROP) ¶ PROPERTY LastMessage : STRING(255) This property returns a string with the last message of the EtherCAT stack. All slaves done is returned if the start proceeded successfully. The same string is used as for the diagnostic message that is displayed in the EtherCAT master device editor window in online mode.
IoDrvEtherCAT.MasterState (PROP) ¶ PROPERTY MasterState : ETC_MASTER_STATE Returns the current master state as defined in the enumeration ETC_MASTER_STATE
IoDrvEtherCAT.NbrSlavesFirstPort (PROP) ¶ PROPERTY NbrSlavesFirstPort : UINT Returns the number of slave connected the first (primary) port If redundancy is disabled this will show how many slaves are currently connected. If redundancy is enabled a value of 0 will show that the first port is inactive a value between 1 and the number of configured slaves will show that a line break is in the middle and some slaves are handled by the first port and some by the second port a value with the number of configured slave will show that either both ports are receiving all slaves or the second port is inactive
IoDrvAL1030.FB_Init (METH) ¶ METHOD FB_Init : BOOL {attribute ‘hide’} InOut: Scope Name Type Return FB_Init BOOL Input bInitRetains BOOL bInCopyCode BOOL
IoDrvAL1030.FB_Reinit (METH) ¶ METHOD FB_Reinit : BOOL {attribute ‘hide’} InOut: Scope Name Type Return FB_Reinit BOOL
