ECATWritePDOData

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 Function Block - Writes data to an Output Rx PDO object of the EtherCAT device in the cyclic EtherCAT frame.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

When Enable is TRUE, bytes are copied from CoEDataArray to the output Output Rx PDO object.

Index

UINT

0 to 65535

N/A

No default

The CoE index of the destination Input (Tx) PDO object.

SubIndex

USINT

0 to 255

N/A

No default

The CoE sub-index of the destination Input (Tx) PDO object.

Size

USINT

1 to 255

BYTE

No default

The size of the CoE object to write.

  • The size should be the exact size of the CoE object.

DeviceAddress

INT

0 to 65535

N/A

No default

The EtherCAT address of the device from which data is read from.

  • The first node usually has the value 1001.
  • The second node usually has the value 1002.

  • Use the members of the EtherCAT structure to specify a device's address.
       

CoEDataArray[ ]

USINT[ ]
  • Dimension: >= Size.
  • Elements: No range

N/A

No default

The data in this array is copied to the Output Rx PDO data.

Outputs

Output

Data Type

Range

Unit

Description

Status

BOOL

FALSE, TRUE

N/A

If TRUE, indicates data was written 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 block error result, if the Error is TRUE.

  • Indicates the error if Error output is TRUE.
  • See Error Codes.
  • Upon success, Error is set to 0 (zero).

Remarks

  • When the Enable input is TRUE, then on every cycle, the CoEDataArray is copied to cyclic EtherCAT frame.
  • The EtherCAT Device and the EtherCAT Master should be in Operational State (EC_STATE_OP).
  • SerializeOut can be used to convert the value in the bytes to CoEDataArray.
    • Endianness: EtherCAT transmits the data in little endian format.

Figure 1: ECATWritePDOData

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 capable device must be present in the EtherCAT network.

107 = 0x6B

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 size of the array.
    • The error ECERR_INVALID_ARRAY_SIZE is 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.

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 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

The EtherCAT device failed to respond, timing out.

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

// Convert the variable to byte array.SerializeOut( rxPdoData, rxTargetTorque, 0, FALSE ); 
// Write the bytes to the cyclic etherCAT rxPDO frame.
Inst_ECATWritePDOData1( TRUE, 16#6071, 0, 4, EtherCAT.AKD_1, rxPdoData ); 
IF Inst_ECATWritePDOData1.Status THEN
   // Data write is successful. Perform next actions.
END_IF; 

See Also