Lenze EtherCAT Controller-based Automation Manual do Utilizador descarregar pdf (Página 152)

9 Function library L_IODrvEtherCAT.lib

9.6 State Machine Interface

152

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

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9.6.2 L_ETC_GetSlaveState (FB)

This function block detects the current state of the EtherCAT slave.

Visualisation: VISU_L_ETC_GetSlaveState

Inputs (VAR_INPUT)

Outputs (VAR_OUTPUT)

L_ETC_GetSlaveState

BOOL  xExecute xDone  BOOL

UINT  uiDevice xBusy  BOOL

UDINT  udiTimeOut xError  BOOL

eErrorCode  L_ETC_ERRORCODE

wState  WORD

Identifier/data type Meaning/possible settings

xExecute

BOOL

A positive edge (TRUE) detects the current EtherCAT slave status of the slave given

by uiDevice.

uiDevice

UINT

EtherCAT address of the slave.

udiTimeout

UDINT

Timeout in milliseconds (ms)

• The value 0 is not permissible and causes the error ETC_E_INVALIDPARM

(0x9811000B).

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)

SDO abort codes

( 195)

wState

WORD

Current slave state of the L_ETC_STATE (EtherCAT status)

( 158) type

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