ECATDeviceStatus
Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Provides the 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. state and the port link status information for the EtherCAT device.
Inputs
Input |
Data Type |
Range |
Unit |
Default |
Description |
---|---|---|---|---|---|
Execute |
BOOL |
FALSE, TRUE |
N/A |
No default |
Read the device status on the rising edge The transition of a digital signal from low to high. AKA: positive edge.. |
DeviceAddress |
INT |
-32768 to +32767 |
N/A |
No default |
The address of the device data is read from.
|
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. |
State |
UINT |
No range |
N/A |
Indicates the EtherCAT state of the device.
|
LinkStatus |
UINT |
No range |
N/A |
Provides the physical link status of the device's ports.
|
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.
|
Remarks
- If the EtherCAT network communication is not running due to a shutdown, the device status contains information taken at the time the network was shutdown.
- This function block is useful in locating the devices with communication errors when the ECATWCStatus function indicates there are EtherCAT communication errors.
-
- See Check the Device States in Example: EtherCAT Communication Diagnosis Steps for an example of implementing this function.
State Defines
#define EC_STATE_NO_COMMUNICATION 0 (* 0x00 = No Communication to device *)
#define EC_STATE_INIT 1 (* 0x01 = Device in Init state *)
#define EC_STATE_PREOP 2 (* 0x02 = Device in Pre-operational state *)
#define EC_STATE_BOOTSTRAP 3 (* 0x03 = Device in Bootstrap state *)
#define EC_STATE_SAFEOP 4 (* 0x04 = Device in Safe-Operational state *)
#define EC_STATE_OP 8 (* 0x08 = Device in Operational state *)
#define EC_STATE_ERROR 16 (* 0x10 bit 4 set to 1; Device not in requested state error *)
LinkStatus Defines
#define EC_LINK_NO_COMMUNICATION 1 (* 0x1 = No communication to device; bit 0 set to 1 *)
#define EC_LINK_PORT_A 16 (* 0x10 = Link detected on Port A; bit 4 set to 1 *)
#define EC_LINK_PORT_B 32 (* 0x20 = Link detected on Port B; bit 5 set to 1 *)
#define EC_LINK_PORT_C 64 (* 0x40 = Link detected on Port C; bit 6 set to 1 *)
#define EC_LINK_PORT_D 128 (* 0x80 = Link detected on Port D; bit 7 set to 1 *)
Figure 1: ECATDeviceStatus
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 AKD_1 device state and link status*)
(********************************************************)
Inst_EcDeviceStatus(TRUE,EtherCAT.AKD_1);
See Also