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Control technology | EtherCAT communication manual

EtherCAT function libraries

Function blocks and functions for diagnosing the network

120 L DMS 3.1 EN 01/2011 TD17

9.7.8.4 Notifications

If an event (information, warning, error) occurs on the EtherCAT bus system, the user or the

PLC program receives a "notification".

The notifications only provide information about the fact that an event of a certain type

has occurred.

In the »PLC Designer«, the notifications are implemented as boolean elements in the

global EtherCAT master structure ECAT_MASTER

( 118).

Overview of notifications

Notification Description

bEC_NOTIFY_ETH_LINK_

CONNECTED

This notification is set when the interrupted connection between the EtherCAT

master and the first slave (see also bEC_NOTIFY_ETH_LINK_NOT_CONNECTED) is

restored.

bEC_NOTIFY_STATUS_

SLAVE_ERROR

When cyclic frames are processed, the EtherCAT master checks whether the ERROR

bit has been set in the AL-STATUS register of at least one of the slaves. If this is the

case, the error is indicated.

bEC_NOTIFY_RED_LINEBRK Redundancy support (is currently not supported):

This notification is set for every bus/communication interruption detected by the

master (see also bEC_NOTIFY_ETH_LINK_NOT_CONNECTED).

bEC_NOTIFY_NOT_ALL_

DEVICES_OPERATIONAL

When cyclic frames are processed, the EtherCAT master checks that all slaves are still

in the Operational state. If at least one slave is not in the Operational state, this this

notification is set.

bEC_NOTIFY_ETH_LINK_

NOT_CONNECTED

This notification is set when the connection between the EtherCAT master and the

first slave is interrupted.

Note: A missing connection can only be detected directly at the master. If, for

instance, a switch or a multi-channel probe is connected downstream of the master

and the connection is interrupted downstream of these devices, missing frames

and/or the error message EC_NOTIFY_CYCCMD_WKC_ERROR are indicated. (This

only applies to the cabling directly at the master.)

bEC_NOTIFY_SB_STATUS Bus state notification:

This notification is set when the EtherCAT bus is scanned.

bEC_NOTIFY_DC_STATUS DC state notification:

This notification is either received after starting the master (ecatStart) or after

loading and then starting the PLC program, if all slave clocks have successfully been

updated with the compensation values for the transmission delay.

bEC_NOTIFY_DC_SLV_SYNC This notification is set when the maximum permissible DC deviation for the

connected slaves (code C1082/2

/ C1582/2) has been exceeded.

dwEC_NOTIFY_DC_SLV_

SYNCDeviation

Indicates the limit value of the DC deviation (in nanoseconds):

0: 1 ns

1: 3 ns

2: 7 ns

3: 15 ns

4: 31 ns

5: 63 ns

6: 127 ns

7: 255 ns

...

31:2147483647 ns

32: reserved

bEC_NOTIFY_DCL_STATUS DC latching state notification:

This notification is set after the master has been started (ecatStart) and the DC latch

instance has been initialised correctly.

bEC_NOTIFY_DCL_SLV_

LATCH_EVT

DC latch notification (single mode):

This notification is set when a slave generates a latch event in "single latch mode".

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