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)

ENUMS ¶ ETC_CO_ERROR (Enum) ETC_CO_MODE (Enum) ETC_SDO_INFO_LIST_TYPE (Enum) ETC_SDO_INFO_OBJECT_CODE (Enum)

ETC_CO_ERROR (ENUM) ¶ TYPE ETC_CO_ERROR : Error code for CoE function blocks InOut: Name Initial Comment ETC_CO_NO_ERROR 0 No error ETC_CO_FIRST_ERROR 1 Error cause is stored at the output udiSdoAbort ETC_CO_OTHER_ERROR ETC_CO_FIRST_ERROR + 16#1 No master found ETC_CO_DATA_OVERFLOW ETC_CO_FIRST_ERROR + 16#2 ETC_CO_Expedited and size > 4 ETC_CO_TIMEOUT ETC_CO_FIRST_ERROR + 16#3 Time limits exceeded ETC_CO_PARAMETER ETC_CO_FIRST_ERROR + 16#4 Wrong parameters ETC_CO_DEVICENOTFOUND ETC_CO_FIRST_ERROR + 16#5 Device not found ETC_CO_FIRST_MF ETC_CO_FIRST_ERROR + 16#20 Not used ETC_CO_LAST_ERROR ETC_CO_FIRST_ERROR + 16#FF

ETC_CO_MODE (ENUM) ¶ TYPE ETC_CO_MODE : InOut: Name Comment ETC_CO_AUTO Mode is automatically chosen ETC_CO_EXPEDITED expedited transfer ETC_CO_SEGMENTED segmented transfer

ETC_SDO_INFO_LIST_TYPE (ENUM) ¶ TYPE ETC_SDO_INFO_LIST_TYPE : Enumeration for SDOInfo function blocks Attributes: qualified_only InOut: Name Initial GetNumberOfObjects 0 AllObjects 1 MappableRxPDO 2 MappableTxPDO 3 ReplacementObjects 4 StartupObjects 5

ETC_SDO_INFO_OBJECT_CODE (ENUM) ¶ TYPE ETC_SDO_INFO_OBJECT_CODE : Enumeration for SDOInfo function blocks Attributes: qualified_only InOut: Name Initial ObjectCode_Variable 7 ObjectCode_ARRAY 8 ObjectCode_Record 9

ETC_CO_SdoRead (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoRead This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead4, parameter longer than 4 bytes are also supported. The parameters to be read are specified with Index and Subindex, as used in the object directory. InOut: Scope Name Type Initial Comment 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) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave usiChannel USINT 1 not used in the moment because channel is set automatically wIndex WORD The index of the CoE object bySubindex BYTE The sub index of the CoE object udiTimeOut UDINT Timeout for operation in ms pBuffer CAA.PVOID 0 Pointer to the buffer for reading the data szSize CAA.SIZE 0 Size of buffer to store the data Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason udiSdoAbort UDINT The abort code as received from the slave device szDataRead CAA.SIZE Number of bytes successfully read

SdoInfo ¶ ETC_CO_SdoInfoGeEntryDescription (FunctionBlock) ETC_CO_SdoInfoGetODList (FunctionBlock) ETC_CO_SdoInfoGetObjectDescription (FunctionBlock)

ETC_CO_SdoInfoGeEntryDescription (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoInfoGeEntryDescription InOut: Scope Name Type Initial Comment 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) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT the physical slave address to access the EtherCAT slave wIndex WORD The index of the CoE object bySubIndex BYTE The sub index of the CoE object byValueInfo BYTE The value info include which elements shall be in te response Bit 0: reserved Bit 1: reserved Bit 2: reserved Bit 3: unit type Bit 4: default value Bit 5: minimum value Bit 7: maximum value udiTimeOut UDINT Timeout for operation in ms Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason wDataType WORD Datatype of entry wBitLength WORD Size of entry in bits wObjectAccess WORD access flast of object pData POINTER TO BYTE Pointer to received data szDataLength CAA.SIZE Size of received data in Bytes!

ETC_CO_SdoInfoGetODList (FB) ¶ FUNCTION_BLOCK ETC_CO_SdoInfoGetODList InOut: Scope Name Type Initial Comment 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) are present at the outputs for exactly one cycle. xAbort BOOL FALSE TRUE: Action is stopped immediately and all outputs are reset to their initial values. usiCom USINT 1 Index of master 1: first ETC master uiDevice UINT The physical slave address to access the EtherCAT slave ListType ETC_SDO_INFO_LIST_TYPE Type of data to read udiTimeOut UDINT Timeout for operation in ms pwBuffer POINTER TO WORD Pointer of buffer to read szSize CAA.SIZE 0 Size of buffer to read in words Output xDone BOOL TRUE: Action successfully completed xBusy BOOL TRUE: Function block active xError BOOL TRUE: Error occurred, function block aborts action, FALSE: No error eError ETC_CO_ERROR If xError is true then eError shows the error reason wNbrObjects WORD Number of objects that could be read