MLSmpConECAT

Pipe Network motion icon

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. - Connects a sampler block to the specified CoE object in a PDO Process Data Opjects - A type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices..

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID Name of the SMP function block A function block groups an algorithm and a set of private data. It has inputs and outputs. in the Pipe Network.
DeviceAddr	INT	No range	N/A	No default	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. address of the slave device. The first node usually has the value 1001. Alternately, use the members of the EtherCAT structure to specify a device's address.
Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin.	UINT	No range	N/A	No default	The CoE index of the object to be connected with the Sampler block.
SubIndex	UINT	No range	N/A	No default	The CoE sub-index of the object to be connected with the Sampler block.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL		N/A	Function block is operational. See Pipe Network - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

N/A

Function block is operational.

See Pipe Network - General Rules.

Remarks

The CoE object must be included in a PDO for the specified EtherCAT device.
Use any EtherCAT data source as input A safety feature in the drive to prevent servos from being restarted. for the specified sampler block.
If the device providing the CoE Object for the Sampler block is removed:
- The CoE object value becomes 0 (zero) if the EtherCAT device providing the CoE object for the Sampler block is removed using the ECATDeviceAction function block.
- The CoE object automatically connects to the sampler block when the device is reconnected to the EtherCAT network.
This function can be programmed The act of performing a sequence of instructions or commands. from within the Pipe Network block.
Right-click the block and click Properties.

Figure 1: MLSmpConECAT

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Connect a Sampler pipe block named “EncoderMaster” to an ECAT Index Object defined by  variable “CoE_SubIndex” with the SubIndex defined by variable “CoE_SubIndex”, from a device with  Ethercat Address defined by “ECAT_Addr”
MLSmpConECAT(PipeNetwork.EncoderMaster, ECAT_Addr, CoE_Index, CoE_SubIndex );