Lenze EtherCAT Controller-based Automation - Manual (Page 127)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
127
9 Function library L_IODrvEtherCAT.lib
9.2 CoE Interface
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9.2.3 L_ETC_CoE_SdoRead4 (FB)
This function block triggers uploading of a CoE object (SDO) from the slave or from the master.
Visualisation: VISU_L_ETC_CoE_SdoRead4
Inputs (VAR_INPUT)

Note!
• The function of this function block is identical with the function of
L_ETC_CoE_SdoRead (FB) ( 125) , except that only up to 4 bytes can be written with
L_ETC_CoE_SdoRead4.
• For executing the function block, the EtherCAT master and the slave must be at least
in the "Pre-Operational" state.
L_ETC_CoE_SdoRead4
BOOL  xExecute xDone  BOOL
BOOL  xAbort xBusy  BOOL
USINT  usiCom xError  BOOL
UINT  uiDevice eErrorCode  L_ETC_ERRORCODE
WORD  wIndex udiSdoAbort  UDINT
BYTE  bySubindex abyData  ARRAY [0..3] OF BYTE
UDINT  udiTimeOut szDataRead  CAA_SIZE
Identifier/data type Meaning/possible settings
xExecute
BOOL
A positive edge (TRUE) triggers a read request (uploading) of a CoE object.
xAbort
BOOL
A positive edge (TRUE) aborts a running read request (upload).
xAbort is currently not supported in the Lenze control technology R3.x.
usiCom
USINT
EtherCAT master instance number
• In the Lenze control technology R3.x, only instance number 1 is currently
supported. usiCom has been pre-assigned with 1, so that the input can be left
open.
• A value that does not equal 1 causes the error ETC_E_INVALIDPARM
(0x9811000B).
uiDevice
UINT
EtherCAT address of the master/slave.
• The address 0 directly accesses the object directory of the EtherCAT master.
wIndex
WORD
CANopen index to be read in the object directory of the master or slave.
• Formula for converting a Lenze code number into a CANopen index: Index =
0x5FFF - code number
bySubindex
BYTE
Subindex in the object directory of the master or slave.
udiTimeout
UDINT
Timeout in milliseconds (ms)
• The value 0 is not permissible and causes the error ETC_E_INVALIDPARM
(0x9811000B).