WriteMemory (FB) ¶ FUNCTION_BLOCK WriteMemory EXTENDS ETrigA This function block is for writing the memory of EtherCAT slaves. InOut: Scope Name Type Initial Comment Inherited from Input xExecute BOOL Rising edge: Action starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , iError ) are present at the outputs for exactly one cycle. ETrigA xAbort BOOL TRUE : Action is stopped immediately and all outputs are reset to their initial values. ETrigA Output xDone BOOL TRUE : Action successfully completed ETrigA xBusy BOOL TRUE : Function block active ETrigA xError BOOL TRUE : Error occurred, function block aborts action FALSE : No error ETrigA xAborted BOOL TRUE : Action aborted by user ETrigA Input usiCom USINT 1 index of master 1: first Ethercat master wSlaveAddress WORD address either auto increment address or physical address of device xAutoIncAdr BOOL flag that determines which way to use the given address xBroadcast BOOL flag if broadcast read should be used, if true then wSlaveAddress and bAutoIncAdr are not used uiMemOffset UINT offset of memory iSize INT bytes to write pSrc POINTER TO BYTE buffer to data that should be written udiTimeOut UDINT Timeout for operation in ms Output uiWorkingCounter UINT working counter of received command Methods: ReadPacket Structure: ReadPacket (Method)

WriteMemory.ReadPacket (METH) ¶ METHOD ReadPacket : BOOL InOut: Scope Name Type Return ReadPacket BOOL Input bReset BOOL

EtherCATStack ¶ ETCMasterStack (FunctionBlock) CheckLastPort (Property) DynamicConfig ClearCoEInit (Method) ClearSoEInit (Method) EnableDynamicConfig (Property) ResetConfiguration (Method) GetDCStatistics (Property) MaxSyncTime (Property) MinSyncTime (Property) PhaseDistance (Property) ResetDCStatitics (Method) SkipSuccessfulMessagesForStartupParameters (Property) ETCSlaveStack (FunctionBlock) ALStatus (Property) AutoIncAddr (Property) ClearEmergency (Method) ConfigProductID (Property) ConfigRevisionID (Property) ConfigVendorID (Property) DynamicConfig AddCoEInit (Method) AddFMMU (Method) AddSoEInit (Method) AddSyncManager (Method) AlignFMMU (Method) ChangeFMMU (Method) ChangeSyncManager (Method) ClearCoEInit (Method) ClearSoEInit (Method) GetFMMU (Method) GetSyncManager (Method) HasCoEInit (Method) InputBitOffset (Property) InputBitSize (Property) InputData (Property) NbrFMMU (Property) NbrSyncManager (Property) OutputBitOffset (Property) OutputBitSize (Property) OutputData (Property) SetAssignToPDI (Method) SetConfigData (Method) SetDCSettings (Method) SetEoeSettings (Method) SetLatchSettings (Method) SetOptional (Method) SetStartupChecks (Method) SetSyncUnit (Method) SetTimeouts (Method) SetUseLrdLwr (Method) SetWatchdog (Method) Sync0ShiftTimeInputBased (Property) IsConfigAsOptional (Property) LastEmergency (Property) LastInstance (Property) LinkTimeoutPortA (Property) LinkTimeoutPortB (Property) LinkTimeoutPortC (Property) LinkTimeoutPortD (Property) MailboxPending (Property) NextInstance (Property) PendingMessage (Property) PhysSlaveAddr (Property) ProductID (Property) RevisionID (Property) SerialID (Property) SetOpMode (Method) SlaveAddr (Property) VendorID (Property)

ETCMasterStack (FB) ¶ FUNCTION_BLOCK ETCMasterStack Properties: CheckLastPort GetDCStatistics MaxSyncTime MinSyncTime PhaseDistance SkipSuccessfulMessagesForStartupParameters EnableDynamicConfig Methods: ResetDCStatitics ClearCoEInit ClearSoEInit ResetConfiguration Structure: CheckLastPort (Property) DynamicConfig ClearCoEInit (Method) ClearSoEInit (Method) EnableDynamicConfig (Property) ResetConfiguration (Method) GetDCStatistics (Property) MaxSyncTime (Property) MinSyncTime (Property) PhaseDistance (Property) ResetDCStatitics (Method) SkipSuccessfulMessagesForStartupParameters (Property)

ETCMasterStack.CheckLastPort (PROP) ¶ PROPERTY CheckLastPort : BOOL

DynamicConfig ¶ Methods for dynamic configuration of slaves: In the device tree of the projekt is just the PLC and the EtherCAT master. Slaves are scanned and added inside the application. Example: Program for dynamic configuration of slaves: PROGRAM PLC_PRG // required configuration: // EK1100 // EL2008 // EL1008 // EL3142 // EL4132 VAR config : dynamicConfig ; dwOffset : DWORD ; dwSize : DWORD ; pbyOutData : POINTER TO BYTE ; pbyInData : POINTER TO BYTE ; byIn : BYTE ; END_VAR Ethercat_Master (); // call the instance to get the outputs IF Ethercat_master.ConfigRead THEN // If Ethercat master configuration is read then start the dynamic configuration of the slaves config (); END_IF ; // Wait until söave configuration is done and master has finished the startup with the new configuration IF config.xDone AND config.pSlaves <> 0 AND Ethercat_master.xConfigFinished THEN // sample code for process data dwOffset := config.pSlaves [1] . OutputBitOffset ; dwSize := config.pSlaves [1] . OutputBitSize ; pbyOutData := config.pSlaves [1] . OutputData ; // Write to the outputs to EL2008 IF pbyOutData <> 0 AND dwSize >= 8 THEN pbyOutData ^ := pbyOutData ^ + 1 ; END_IF // Read the inputs of EL1008 dwOffset := config.pSlaves [2] . InputBitOffset ; dwSize := config.pSlaves [2] . InputBitSize ; pbyInData := config.pSlaves [2] . InputData ; IF pbyInData <> 0 AND dwSize >= 8 THEN byIn := pbyInData ^; END_IF END_IF FUNCTION_BLOCK DynamicConfig VAR_INPUT END_VAR VAR_OUTPUT xDone : BOOL ; xBusy : BOOL ; xError : BOOL ; pSlaves : POINTER TO ETCSlave ; wNumberOfSlaves : WORD ; END_VAR VAR readnbr : ReadNbrSlaves ; // for reading number of connected slaves readeeprom : ReadEEpromData ; // for reading identification data wSlaveIndex : WORD ; uiStep : UINT := 0 ; pSlave : POINTER TO ETCSlave ; stAllocString : STRING := 'DynamicTest' ; // For dynamic memory allocation Result : UDINT ; xKnown : BOOL ; masterState : ETC_MASTER_STATE := ETC_MASTER_STATE.ETC_MASTER_OPERATIONAL ; END_VAR CASE uiStep OF 0 .. 5 : xError := FALSE ; xDone := FALSE ; xBusy := TRUE ; uiStep := uiStep + 1 ; // Wait some cycles 6 : IF Ethercat_master.FirstSlave = 0 THEN Ethercat_master.Master ^. ResetConfiguration (); Ethercat_master.Master ^. EnableDynamicConfig := TRUE ; // switch stack to dynamic config -> Reset does not remove configured slaves uiStep := 8 ; ELSE // Already slave connected -> do nothing uiStep := 1000 ; END_IF 8 : IF NOT readnbr.xBusy THEN readnbr.usiCom := DWORD_TO_USINT ( Ethercat_Master.InstanceNumber ); readnbr.xExecute := TRUE ; readnbr.udiTimeOut := 1000 ; END_IF readnbr (); IF readnbr.xDone THEN wNumberOfSlaves := readnbr.wNumberSlaves ; IF wNumberOfSlaves > 0 THEN pSlaves := SysMemAllocData ( stAllocString , wNumberOfSlaves * DINT_TO_UDINT ( SIZEOF ( ETCSlave )), ADR ( Result )); // allocate memory for slave instances pSlave := pSlaves ; uiStep := 10 ; wSlaveIndex := 0 ; ELSE uiStep := 99 ; END_IF END_IF IF readnbr.xError THEN uiStep := 1000 ; END_IF IF readnbr.xError OR readnbr.xDone THEN readnbr.xExecute := FALSE ; readnbr (); END_IF 10 : IF NOT readeeprom.xBusy THEN readeeprom.usiCom := DWORD_TO_USINT ( Ethercat_Master.InstanceNumber ); readeeprom.wSlaveIndex := wSlaveIndex ; readeeprom.udiTimeOut := 1000 ; readeeprom.xExecute := TRUE ; END_IF readeeprom (); IF readeeprom.xDone THEN // device found {implicit on} // important: initialize the fb instances pSlave ^. __vfinit (); pSlave ^. FB_Init ( FALSE , FALSE ); // call the constructor {implicit off} pSlave ^. AutoIncAddr := INT_TO_WORD (- WORD_TO_INT ( wSlaveIndex )); pSlave ^. PhysSlaveAddr := 1001 + wSlaveIndex ; pSlave ^. SetConfigData ( readeeprom.wAliasAddress , readeeprom.dwVendorID , readeeprom.dwProductID , readeeprom.dwRevisionID , readeeprom.dwSerialNo , 0 , 0 ); pSlave ^. SetOptional ( FALSE ); pSlave ^. SetStartupChecks ( TRUE , TRUE , FALSE , 0 ); xKnown := FALSE ; CASE readeeprom.dwVendorID OF 2 : // Beckhoff CASE readeeprom.dwProductID OF 72100946 : // EK1100 -> nothing to add xKnown := TRUE ; 131608658 : // EL2008 pSlave ^. AddSyncManager ( 16#0F00 , 1 , 16#44 , TRUE , 1 ); pSlave ^. AddFMMU ( 0 , 1 , 0 , 7 , 16#0F00 , 0 , 2 , 1 ); xKnown := TRUE ; 66072658 : // EL1008; pSlave ^. AddSyncManager ( 16#1000 , 1 , 16#0 , TRUE , 1 ); pSlave ^. AddFMMU ( 0 , 1 , 0 , 7 , 16#1000 , 0 , 1 , 1 ); xKnown := TRUE ; 270807122 : // EL4132 pSlave ^. AddSyncManager ( 16#1800 , 246 , 16#26 , TRUE , 3 ); pSlave ^. AddSyncManager ( 16#18F6 , 246 , 16#22 , TRUE , 2 ); pSlave ^. AddSyncManager ( 16#1000 , 4 , 16#24 , TRUE , 1 ); pSlave ^. AddSyncManager ( 16#1100 , 0 , 16#20 , TRUE , 0 ); pSlave ^. AddFMMU ( 0 , 4 , 0 , 7 , 16#1000 , 0 , 2 , 1 ); pSlave ^. AddFMMU ( 0 , 1 , 0 , 0 , 16#80D , 0 , 1 , 1 ); pSlave ^. AlignFMMU (); // Align the FMMU to start at the next byte xKnown := TRUE ; 205926482 : // EL3142 IF readeeprom.byMailboxProtocol > 0 THEN // mailbox from eeprom pSlave ^. AddSyncManager ( readeeprom.wRcvMbxOffset , readeeprom.wRcvMbxSize , 16#26 , TRUE , 3 ); pSlave ^. AddSyncManager ( readeeprom.wSndMbxOffset , readeeprom.wSndMbxSize , 16#22 , TRUE , 2 ); END_IF pSlave ^. AddSyncManager ( 16#1100 , 0 , 16#4 , TRUE , 1 ); pSlave ^. AddSyncManager ( 16#1180 , 6 , 16#20 , TRUE , 0 ); pSlave ^. AddFMMU ( 0 , 6 , 0 , 7 , 16#1180 , 0 , 1 , 1 ); pSlave ^. AddFMMU ( 0 , 1 , 0 , 0 , 16#80D , 0 , 1 , 1 ); pSlave ^. AlignFMMU (); // Align the FMMU to start at the next byte IF pSlave ^. NbrFMMU <> 2 THEN xError := TRUE ; uiStep := 1000 ; END_IF IF pSlave ^. NbrSyncManager <> 4 THEN xError := TRUE ; uiStep := 1000 ; END_IF xKnown := TRUE ; END_CASE END_CASE IF xKnown = TRUE THEN uiStep := 16 ; // Slave is known -> continue with next slave ELSE uiStep := 1000 ; // Slave not known -> error END_IF END_IF IF readeeprom.xError THEN uiStep := 1000 ; END_IF 16 : pSlave := pSlave + SIZEOF ( etcslave ); // pointer to next slave readeeprom ( xExecute := FALSE ); IF NOT readeeprom.xDone AND NOT readeeprom.xError THEN IF wSlaveIndex < ( wNumberOfSlaves - 1 ) THEN wSlaveIndex := wSlaveIndex + 1 ; uiStep := 10 ; // next slave ELSE uiStep := 99 ; // last slave done END_IF END_IF 99 : // add the slaves to ethercat master and restart the new configuration pSlave := pSlaves ; IF pSlave <> 0 THEN FOR wSlaveIndex := 1 TO wNumberOfSlaves DO Ethercat_master.Master ^. AddSlave ( pSlave ); pSlave := pSlave + SIZEOF ( etcslave ); END_FOR Ethercat_master.MasterState := masterState ; Ethercat_master.Master ^. RestartMaster (); END_IF uiStep := 100 ; 100 : xDone := TRUE ; xBusy := FALSE ; 1000 : // error occurred readeeprom ( xExecute := FALSE ); xError := TRUE ; xBusy := FALSE ; END_CASE readnbr (); readeeprom (); ClearCoEInit (Method) ClearSoEInit (Method) EnableDynamicConfig (Property) ResetConfiguration (Method)

ADS_over_Ethercat ¶ Function blocks for AoE (ADS over EtherCAT) Example: This example reads the scanning distance parameter from a Sick WTB12C-3P2413 IO-Link Device connected to the second port of a Beckhoff EKL6224 EtherCAT IO-Link gateway. PROGRAM PLC_PRG VAR iolinkread : ETC_ADS_IoLinkRead ; xRead : BOOL ; wScanningDistance : WORD ; END_VAR EtherCAT_Master (); IF EtherCAT_Master.xConfigFinished THEN iolinkread ( xExecute := xRead , usiCom := 1 , uiDevice := EL6224.PhysSlaveAddr , udiTimeout := 500 , usiPort := 1 , uiIndex := 144 , usiSubIndex := 0 , pbyData := ADR ( wScanningDistance ), udiSize := SIZEOF ( wScanningDistance )); // usiPort 1: second port of gateway // uiIndex 144: scanning dIstance IF iolinkread.xDone THEN // Todo: add handling for data xRead := FALSE ; END_IF IF iolinkread.xError THEN // Todo: add Error handling xRead := FALSE ; END_IF END_IF ETC_ADS_IoLinkRead (FunctionBlock) ETC_ADS_IoLinkWrite (FunctionBlock)

ETC_ADS_IoLinkRead (FB) ¶ FUNCTION_BLOCK ETC_ADS_IoLinkRead EXTENDS ETC_ADS_IoLink Function block to read an IO-Link object from a EtherCAT IO-Link gateway InOut: Scope Name Type Initial Comment Inherited from Input xExecute BOOL Rising edge: Action starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , iError ) are present at the outputs for exactly one cycle. ETrigA xAbort BOOL TRUE : Action is stopped immediately and all outputs are reset to their initial values. ETrigA Output xDone BOOL TRUE : Action successfully completed ETrigA xBusy BOOL TRUE : Function block active ETrigA xError BOOL TRUE : Error occurred, function block aborts action FALSE : No error ETrigA xAborted BOOL TRUE : Action aborted by user ETrigA Input usiCom USINT Index of master 1: first ETC master ETC_ADS_IoLink uiDevice UINT The physical slave address to access the EtherCAT slave ETC_ADS_IoLink usiChannel USINT 1 not used in the moment because channel is set automatically ETC_ADS_IoLink udiTimeout UDINT Timeout for operation in ms ETC_ADS_IoLink usiPort USINT Port of IO-Link Device ETC_ADS_IoLink uiIndex UINT Index of the IOLink object ETC_ADS_IoLink usiSubIndex USINT Subindex of the IOLink object ETC_ADS_IoLink udiSize UDINT Number of bytes of pbyData ETC_ADS_IoLink pbyData POINTER TO BYTE Pointer to the data containing the data to be written or pointer to read data ETC_ADS_IoLink udiIndexGroup UDINT 16#F302 Indexgroup of the Io-Link object ETC_ADS_IoLink Output udiResponseError UDINT ADS Response Error ETC_ADS_IoLink udiDataRead UDINT Number of bytes successfully read

ETC_ADS_IoLinkWrite (FB) ¶ FUNCTION_BLOCK ETC_ADS_IoLinkWrite EXTENDS ETC_ADS_IoLink Function block to write an IO-Link object from a EtherCAT IO-Link gateway InOut: Scope Name Type Initial Comment Inherited from Input xExecute BOOL Rising edge: Action starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values ( xDone , xError , iError ) are present at the outputs for exactly one cycle. ETrigA xAbort BOOL TRUE : Action is stopped immediately and all outputs are reset to their initial values. ETrigA Output xDone BOOL TRUE : Action successfully completed ETrigA xBusy BOOL TRUE : Function block active ETrigA xError BOOL TRUE : Error occurred, function block aborts action FALSE : No error ETrigA xAborted BOOL TRUE : Action aborted by user ETrigA Input usiCom USINT Index of master 1: first ETC master ETC_ADS_IoLink uiDevice UINT The physical slave address to access the EtherCAT slave ETC_ADS_IoLink usiChannel USINT 1 not used in the moment because channel is set automatically ETC_ADS_IoLink udiTimeout UDINT Timeout for operation in ms ETC_ADS_IoLink usiPort USINT Port of IO-Link Device ETC_ADS_IoLink uiIndex UINT Index of the IOLink object ETC_ADS_IoLink usiSubIndex USINT Subindex of the IOLink object ETC_ADS_IoLink udiSize UDINT Number of bytes of pbyData ETC_ADS_IoLink pbyData POINTER TO BYTE Pointer to the data containing the data to be written or pointer to read data ETC_ADS_IoLink udiIndexGroup UDINT 16#F302 Indexgroup of the Io-Link object ETC_ADS_IoLink Output udiResponseError UDINT ADS Response Error ETC_ADS_IoLink udiDataWritten UDINT Number of bytes successfully written

CANopen_over_Ethercat ¶ Function blocks for CoE (CANopen over EtherCAT) Example: This example shows how to read and write SDO’s with CAN over EtherCAT. It is also demonstrated how to get information about the master and slaves, like the number of active slaves or the state of the slave. As hardware two analog terminals with CAN over EtherCAT are used. For device configuration several startup parameters can be set. For devices which use CAN over EtherCAT an index and sub index is used for each parameter. For each parameter it is possible to read or write the value as number or byte array with a maximum of four bytes (* CAN over EtherCAT from the IODrvEtherCAT lib is used to read and write SDO's. *) PROGRAM CoE VAR Read : ETC_CO_SdoRead ; (* Function block to Read a SDO *) Read4 : ETC_CO_SdoRead4 ; (* Function block to Read a SDO into a byte array.*) ReadDWord : ETC_CO_SdoReadDWord ; (* Function block to Read a SDO as DWORD *) ReadAccess : ETC_CO_SdoRead_Access ; (* Function block to Read a the complete SDO entry into a byte array.*) ReadChannel : ETC_CO_SdoRead_Channel ; (* Function block to Read a the complete SDO entry into a byte array. A channel and priority can be specified additionally.*) Write : ETC_CO_sdoWrite ; (* Function block to write Slave parameters *) Write4 : ETC_CO_sdoWrite4 ; (* Function block to write Slave parameters in a byte array.*) abyRead : ARRAY [1..4] OF BYTE ; (* Read EtherCAT Slave parameter. *) abyReadWritten : ARRAY [1..4] OF BYTE ; (* Read a parameter, which is written with the Write function block. *) abyWrite : ARRAY [1..4] OF BYTE := [12, 34, 124, 80] ; (* write a value with maximum 4 bytes *) dwRead : DWORD ; (* Read a parameter, which was set at the startup. *) uiWrite : UINT := 100 ; (* A parameter to be written with 2 bytes. *) udiWrite : UDINT := 2334567 ; (* A parameter to be written with 4 bytes. *) udiRead : UDINT ; (* Read the parameter with 4 bytes.*) abyReadComplete : ARRAY [1..20] OF BYTE ; (* All slave parameters are read *) abyReadChannel : ARRAY [1..20] OF BYTE ; (* All slave parameters are read *) iState : INT ; (* current state of the state machine *) END_VAR (* Global instance of the IoDrvEtherCAT function block.*) Ethercat_Master (); CASE iState OF 0 : (* wait for the EtherCAT to be ready.*) IF Ethercat_Master.xConfigFinished THEN iState := iState + 1 ; END_IF 1 : (* Read a parameter into a byte array, which was set in the device before startup. The device address is 1002, the usiCom = 1, because the first master is used. The index and subindex can be found under the device at the startup tab.*) Read4 ( xExecute := TRUE , usiCom := 1 , uiDevice := 1002 , wIndex := 16#1C12 , bySubindex := 16#01 , udiTimeOut := 500 ); IF Read4.xDone THEN abyRead := Read4.abyData ; iState := iState + 1 ; Read4 ( xExecute := FALSE ); ELSIF Read4.xError THEN iState := 32767 ; END_IF 2 : (* Read a vthe same parameter as in the last step, but as dword.*) ReadDWord ( xExecute := TRUE , uiDevice := 1002 , wIndex := 16#1C12 , bySubindex := 16#01 , udiTimeOut := 500 ); IF ReadDWord.xDone THEN dwRead := ReadDWord.dwData ; iState := iState + 1 ; ReadDWord ( xExecute := FALSE ); ELSIF Read4.xError THEN iState := 32767 ; END_IF 3 : (* Write a parameter with max. 4 Bytes*) Write4 ( xExecute := TRUE , uiDevice := 1002 , wIndex := 16#4062 , bySubindex := 16#02 , udiTimeOut := 500 , abyData := abyWrite , usiDataLength := 4 ); IF Write4.xDone THEN iState := iState + 1 ; Write4 ( xExecute := FALSE ); ELSIF Write4.xError THEN iState := 32767 ; END_IF 4 : (* Read the parameter, which was written in the last step *) Read4 ( xExecute := TRUE , uiDevice := 1002 , wIndex := 16#4062 , bySubindex := 16#02 , udiTimeOut := 500 ); IF Read4.xDone THEN (* abyReadWritten should have the same value like abyWrite *) abyReadWritten := Read4.abyData ; iState := iState + 1 ; Read4 ( xExecute := FALSE ); ELSIF Read4.xError THEN iState := 32767 ; END_IF 5 : (* Write a parameter, larger than 4 bytes *) Write ( xExecute := TRUE , uiDevice := 1003 , wIndex := 16#F008 , bySubindex := 16#00 , udiTimeOut := 500 , pBuffer := ADR ( udiWrite ), szSize := SIZEOF ( udiWrite ), eMode := ETC_CO_MODE.ETC_CO_AUTO ); IF Write.xDone THEN iState := iState + 1 ; Write ( xExecute := FALSE ); ELSIF Write.xError THEN iState := 32767 ; END_IF 6 : (* Read the parameter, which was written in the last step *) Read ( xExecute := TRUE , uiDevice := 1003 , wIndex := 16#F008 , bySubindex := 16#00 , udiTimeOut := 500 , pBuffer := ADR ( udiRead ), szSize := SIZEOF ( udiRead ) ); IF Read.xDone THEN (* uiReadWritten should have the same value like uiWrite *) iState := iState + 1 ; Read ( xExecute := FALSE ); ELSIF Read.xError THEN iState := 32767 ; END_IF 7 : (* Read all slave parameters into a byte array. Additionally the channel and priority can be set. The output is device specific.*) ReadChannel ( xExecute := TRUE , uiDevice := 1003 , usiCom := 1 , wIndex := 16#801F , bySubindex := 16#00 , udiTimeOut := 500 , pBuffer := ADR ( abyReadChannel ), szSize := SIZEOF ( abyReadChannel ), xCompleteAccess := TRUE , byChannelPriority := 255 ); IF ReadChannel.xDone THEN iState := iState + 1 ; ReadChannel ( xExecute := FALSE ); ELSIF ReadChannel.xError THEN iState := 32767 ; END_IF 8 : (* Read an complete index entry, into a byte array. The output is device specific. *) ReadAccess ( xExecute := TRUE , uiDevice := 1003 , usiCom := 1 , wIndex := 16#801F , bySubindex := 16#00 , udiTimeOut := 500 , pBuffer := ADR ( abyReadComplete ), szSize := SIZEOF ( abyReadComplete ), xCompleteAccess := TRUE ); IF ReadAccess.xDone THEN (* *) iState := iState + 1 ; ReadAccess ( xExecute := FALSE ); ELSIF ReadAccess.xError THEN iState := 32767 ; END_IF 32767 : END_CASE ENUMS ETC_CO_ERROR (Enum) ETC_CO_MODE (Enum) ETC_SDO_INFO_LIST_TYPE (Enum) ETC_SDO_INFO_OBJECT_CODE (Enum) ETC_CO_SdoRead (FunctionBlock) ETC_CO_SdoRead4 (FunctionBlock) ETC_CO_SdoReadDWord (FunctionBlock) ETC_CO_SdoRead_Access (FunctionBlock) ETC_CO_SdoRead_Channel (FunctionBlock) ETC_CO_SdoWrite (FunctionBlock) ETC_CO_SdoWrite4 (FunctionBlock) ETC_CO_SdoWriteDWord (FunctionBlock) ETC_CO_SdoWrite_Access (FunctionBlock) STRUCTS ETC_CO_Emergency (Struct) SdoInfo ETC_CO_SdoInfoGeEntryDescription (FunctionBlock) ETC_CO_SdoInfoGetODList (FunctionBlock) ETC_CO_SdoInfoGetObjectDescription (FunctionBlock)