ECATDeviceAction

Description

This function block performs an action on an EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 device. This function returns immediately, and can be called multiple times in one cycle.

Figure 7-191: ECATDeviceAction function block

The following actions are currently supported

DEVICE_ACTION_DISCONNECT
- The EtherCAT master is notified to expect the node to be removed from the EtherCAT when ECATDeviceAction is called with “DEVICE_ACTION_DISCONNECT”.
- Any Axis/Axes mapped to a drive node will be automatically simulated.
- The last position from the physical drive will be carried over to the simulation when the EtherCAT restarts.
DEVICE_ACTION_CONNECT
- This action connects the already disconnected node to the EtherCAT Network
- The axis (or axes) that was acting as simulated axis becomes a normal axis when the drive node is connected.
- The axis/axes position will come directly from the configured drive feedback. The position will not be automatically transferred from the simulated axis.

Arguments

Input

Execute	Description	When Execute is set to True, an action will be performed.
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
DeviceAddress	Description	The address of the device to perform an action on. The first node usually has the value '1001'. The second node usually has the value '1002'. Alternately, you can use the members of the EtherCAT structure to specify a device's address when you Create Variables.
	Data type	INT
	Range	—
	Unit	N/A
	Default	—
Action	Description	The action to be performed. Action can be one of the following values: DEVICE_ACTION_CONNECT — Connects a slave into the EtherCAT network. This action can only be executed when the motion engine is stopped. DEVICE_ACTION_DISCONNECT — Disconnects a slave from the EtherCAT network. This action can only be executed when the motion engine is stopped.
	Data type	INT
	Range	—
	Unit	N/A
	Default	—

Output

Done	Description	Indicates whether the ECATDeviceAction function block completed without error.
	Data type	BOOL
	Unit	N/A
Error	Description	Indicates whether the ECATDeviceAction function block call completed with error:
	Data type	BOOL
	Unit	N/A
ErrorID	Description	The ECATDeviceAction error result if Error is TRUE (see list of Error Codes in table below). Upon success, Error is set to zero.
	Data type	DINT
	Unit	N/A

Error Code	Value dec (hex)	Description
ECERR_OK	0	The action succeeded.
ECERR_DEVICE_ACTION_IS_INVALID	1000 (0x3E8)	The specified device action is invalid.
ECERR_DEVICE_IS_DC_CLOCK_MASTER	1001 (0x3E9)	The Device is a DC Clock Master
ECERR_DEVICE_IS_IN_DC_MASTER_UPSTREAM	1002 (0x3EA)	The device is before the DC Clock Master.
ECERR_DEVICE_ACTION_MINIMUM_ONE_NODE_REQD	1003 (0x3EB)	Minimum one node is required in the EtherCAT Network.
ECERR_DEVICE_ERROR	1792 (0x700)	EtherCAT device is not accessible.
ECERR_DEVICE_NOTREADY	1799 (0x707)	Device is not in a ready state. The EtherCAT network is not in the desired state for the specified action.
ECERR_DEVICE_INVALIDADDR	1832 (0x728)	The specified EtherCAT node address is invalid.

Usage

The EtherCAT network needs to be stopped to use this function block. This can be achieved by calling ECATDeviceAction prior to calling MLMotionStart or by first calling MLMotionStop to stop the network.

Related Functions

Also see Modular EtherCAT Concept for information on modular machine design.

Examples

Structured Text

MLMotionStop(); 
MotionEngineStatus := MLMotionStatus(); 
On MotionEngineStatus = MLSTATUS_STOPPED Do 
   Inst_ECATDeviceAction(True, EtherCAT.AKD_3, DEVICE_ACTION_DISCONNECT); 
   If Inst_ECATDeviceAction.Error Then // Handle Error 
       // Error ID value is in Inst_ECATDeviceAction.ErrorEnd_If; 
End_Do;