ECATCommErrors
Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Returns a list of bad EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. connections.
Inputs
Input |
Data Type |
Range |
Unit |
Default |
Description |
---|---|---|---|---|---|
Execute |
BOOL |
FALSE, TRUE |
N/A |
No default |
Read the communication errors on the rising edge The transition of a digital signal from low to high. AKA: positive edge.. |
Connection |
ECATCommErr_ref See the ECATCommErr_ref Structure table. |
N = 0 to 2 times the number of EtherCAT devices. |
N/A |
No default |
Array of bad connections. The safe size for the list is: [ |
Outputs
Output |
Data Type |
Range |
Unit |
Description |
---|---|---|---|---|
Done |
BOOL |
FALSE, TRUE |
N/A |
Indicates whether this function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block has completed without error. |
Error |
BOOL |
FALSE, TRUE |
N/A |
Indicates whether this function block has completed with error. |
ErrorID |
DINT |
No range |
N/A |
The function call error result, if Error is TRUE.
|
ConnectionCount |
UINT |
No range |
N/A |
The number of bad connections. Valid indices in the Connection array range from 0 (zero) to ConnectionCount -1 (assuming ConnectionCount != 0). |
Remarks
If EtherCAT network communication is shutdown, the failed connections are based on information that was taken at the time the network was shutdown.
-
- See Check the Connections for Errors for an example of implementing this function.
Figure 1: ECATCommErrors
ECATCommErr_ref Structure
Parameter |
Type |
Description |
---|---|---|
CommErrorCounter |
UINT |
The Communication Error Counter for this port. |
ConnectedSlaveAddress |
INT |
The EtherCAT address of the connected device. |
ConnectedSlavePortID |
UINT |
The port number of the connected device. |
LostLinkCounter |
UINT |
The Lost Link Counter for this port. |
SlaveAddress |
INT |
The EtherCAT address of the device that owns the port. |
SlavePortID |
UINT |
The port number. |
EtherCAT Port Numbers
Define |
Port |
---|---|
#define EC_PORT_A |
0 (* Port A *) |
#define EC_PORT_B |
1 (* Port B *) |
#define EC_PORT_C |
2 (* Port C *) |
#define EC_PORT_D |
3 (* Port D*) |
Error Codes
Value Dec (hex) |
Error Code |
Description |
---|---|---|
0 |
ECERR_OK |
The SDO call succeeded. |
1000 (0x3E8) |
ECERR_DEVICE_ACTION_IS_INVALID |
The requested Device Action is invalid. |
1003 (0x3EB) |
ECERR_DEVICE_ACTION_MINIMUM_ONE_NODE_REQD |
A minimum of one device must be present in the EtherCAT network. |
1004 (0x3EC) |
ECERR_DEVICE_ACTION_MINIMUM_ONE_DC_NODE_REQD |
A minimum of one Distributed clock Clock signal. capable device must be present in the EtherCAT network. |
107 = 0x6B |
The size of the connections is too small.
|
|
1792 (0x700) |
ECERR_DEVICE_ERROR |
EtherCAT device is not accessible. |
1794 (0x702) |
ECERR_DEVICE_INVALIDCMD |
Invalid mailbox command. |
1795 (0x703) |
ECERR_DEVICE_INVALIDINDEX |
An invalid value for the Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. input was specified. |
1796 (0x704) |
ECERR_DEVICE_INVALIDACCESS |
Reading of the variable is not permitted. |
1797 (0x705) |
ECERR_DEVICE_INVALIDSIZE |
An invalid size for the parameter was specified. |
1798 (0x706) |
ECERR_DEVICE_INVALIDDATA |
Invalid parameter value(s) in SDO index and/or sub-index. |
1799 (0x707) |
ECERR_DEVICE_NOTREADY |
Device is not in a ready state. The network is not in operational. |
1800 (0x708) |
ECERR_DEVICE_BUSY |
Device is not available to respond. |
1801 (0x709) |
ECERR_DEVICE_INVALIDCONTEXT |
Device responded with an illegal error code, indicating the command is not allowed under the present conditions. |
1802 (0x70A) |
ECERR_DEVICE_NOMEMORY |
EtherCAT mailbox is out of memory or device is out of disk space. |
1803 (0x70B) |
ECERR_DEVICE_INVALIDPARM |
EtherCAT mailbox request was not valid. |
1804 (0x70C) |
ECERR_DEVICE_NOTFOUND |
EtherCAT device not found. |
1805 (0x70D) |
ECERR_DEVICE_SYNTAX |
An unexpected error occurred. |
1810 (0x712) |
ECERR_DEVICE_INVALIDSTATE |
The EtherCAT device is in an invalid state. |
1817 (0x719) |
ECERR_DEVICE_TIMEOUT |
|
1826 (0x722) |
ECERR_DEVICE_INSERTMAILBOX |
Error while inserting the mailbox command into internal FIFO. |
1827 (0x723) |
ECERR_DEVICE_INVALIDOFFSET |
An invalid value for the SubIndex input was specified. |
1828 (0x724) |
ECERR_DEVICE_UNKNOWNMAILBOXCMD |
The master sent an unknown mailbox command to the slave. |
1829 (0x725) |
ECERR_DEVICE_ACCESSDENIED |
Device responded with an invalid access error code, indicating the command is not allowed. |
1832 (0x728) |
ECERR_DEVICE_INVALIDADDR |
The specified EtherCAT node address is invalid. |
1836 (0x72c) |
ECERR_DEVICE_NOT_A_FSOE_MASTER |
Device is not a FSoE master. |
1837 (0x072D) |
ECERR_DEVICE_DISCONNECTED |
The EtherCAT device is disconnected. |
1920 (0x780) |
ECERR_DEVICE_PARAM_ACCESS_ERROR |
Unknown error occurred while accessing parameter. |
1921 (0x781) |
ECERR_DEVICE_PARAM_NOT_FOUND |
Parameter was not found. |
1922 (0x782) |
ECERR_DEVICE_PARAM_NOT_INTEGER |
Parameter is a floating-point value. Integer value required. |
1923 (0x783) |
ECERR_DEVICE_VALUE_IS_NEGATIVE |
No negative values allowed. Value specified was negative. |
1924 (0x784) |
ECERR_DEVICE_VALUE_OUT_OF_RANGE |
Value is out of data-range. |
1925 (0x785) |
ECERR_DEVICE_VALUE_GREATER_THAN_MAX |
Value bigger than maximum. |
1926 (0x786) |
ECERR_DEVICE_VALUE_LOWER_THAN_MIN |
Value lower than minimum. |
2048 (0x800) |
ECERR_CLIENT_ERROR |
Error in Mailbox response to a previously sent mailbox command. |
2049 (0x801) |
ECERR_CLIENT_TIMEOUT |
The SDO command timed out. |
2050 (0x802) |
ECERR_CLIENT_ INVALIDPARM |
An invalid value was specified. |
2051 (0x803) |
ECERR_CLIENT_ INVALIDSIZE |
An invalid value for the size input was specified. |
FBD Language Example
FFLD Language Example
IL Language Example
Not available.
ST Language Example
(********************************************************)
Read EtherCAT communication errors.
(********************************************************)
commErrors( TRUE, Connection);
See Also