ECATCommErrors

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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 ***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 connections.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	Read the communication errors on the rising edge A rising edge is the transition of a digital signal from low to high. It is also called 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 [`2 * (number of devices) - 1`].

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

0, 1

N/A

No default

Read the communication errors on the rising edge A rising edge is the transition of a digital signal from low to high. It is also called 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 [2 * (number of devices) - 1].

Outputs

Output	Data Type	Unit	Description
Done	BOOL	N/A	Indicates when the function is complete.
Error	BOOL	N/A	Indicates the function failed due to an error.
ErrorID	DINT	N/A	The function call error result, if Error is TRUE. See the Possible Error Codes and Descriptions table. Upon success, Error is set to 0 (zero).
ConnectionCount	UINT	N/A	The number of bad connections. Valid indices in the Connection array range from zero to ConnectionCount -1 (assuming that 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.

Figure 7-190: ECATCommErrors Function Block

See Check the Connections for Errors for an example of implementing this function.

ECATCommErr_ref Structure

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 Defines

EtherCAT Port Numbers Defines
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*)

Possible Error Codes and Descriptions

Possible Error Codes and Descriptions
Error Code	Description
ECERR_DEVICE_ERROR	The EtherCAT driver is in a bad state
ECERR_INVALID_ARRAY_SIZE	The size of the Connections is too small

When the array size is smaller than the number of bad connections, the array is filled with the data to the extent of the size of the array and the error ‘ECERR_INVALID_ARRAY_SIZE’ is also set.
In this scenario, the output ConnectionCount is set to the size of the array and it is smaller than the number of actual bad connections.

FBD Language

FFLD Language

IL Language

Not available.

ST Language

(********************************************************)
Read EtherCAT communication errors.
(********************************************************)
commErrors( TRUE, Connection);