ECATDevReadParam

Description

This function block returns the 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-specific information.

Figure 7-190: ECATDevReadParam

Arguments

Input

Enable	Description	Requests to read the EtherCAT device-specifc parameter
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
SlaveAddress	Description	The address of the device from which data is read. 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 the variable.
	Data type	INT
	Range	-
	Unit	N/A
	Default	—
ParameterNumber	Description	Parameter number, see table in EtherCAT Device Parameters
	Data type	INT
	Range	—
	Unit	N/A
	Default	—

Output

Done	Description	Indicates when the function is complete.
	Data type	BOOL
Error	Description	Indicates an invalid input.
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE (see List of EtherCAT Error Messages below)
	Data type	INT
Value	Description	Value of the parameter
	Data type	LREAL

List of EtherCAT Error Messages

Error Code	Value dec (hex)	Description
ECERR_OK	0	No Error
ECERR_DEVICE_ERROR	1792 (0x700)	EtherCAT device is not accessible
ECERR_DEVICE_INVALIDADDR	1832 (0x728)	EtherCAT device address is invalid
ECERR_DEVICE_PARAM_NOT_FOUND	1921 (0x781	Parameter was not found

EtherCAT Device Parameters

The table below is a list of currently supported parameters read by ECATDevParamRead.

Parameter	ID	Name	R/W	Description
DEVICE_PARAM_DEVICE_TYPE	1	Device Type	Read Only	EtherCAT Device Type Output Value Numerical Value Description DEVICE_TYPE_OTHER 0 The EtherCAT device is not a drive. DEVICE_TYPE_DRIVE 1 The EtherCAT device is a drive.
DEVICE_PARAM_DRIVE_FAMILY	2	Drive Family	Read Only	EtherCAT device drive family details.  Output Value Numerical Value Description DEVICE_NOT_A_DRIVE -1 The EtherCAT device is not a drive DRIVE_FAMILY_OTHER 0 The drive family cannot be determined DRIVE_FAMILY_S300"Servostar 300 drive" See Servo Drive in Glossary_S700"Servostar 700 drive" See Servo Drive in Glossary 1 The device is an S300/S700 family drive DRIVE_FAMILY_AKD 2 The device is in the AKD2G, AKD-N, or AKD servo driveA servo drive is a special electric amplifier used to power electric servo motors. It monitors feedback signals from the motor and continually adjusts for deviation from expected behavior family DRIVE_FAMILY_AKT2G_STEPPER 3 The device is an AKT2G Stepper family drive
DEVICE_PARAM_DRIVE_GEN	3	Drive Generation	Read Only	EtherCAT drive generation details.  Output Value Numerical Value Description DEVICE_NOT_A_DRIVE -1 The EtherCAT device is not a drive. DRIVE_GEN_UNKNOWN 0 The drive generation cannot be determined. DRIVE_GEN_1 1 The device is a 1st generation drive, e.g. AKD, AKD-N, S300, S700, AKT2G-SM-L15, AKT2G-SM-L50. DRIVE_GEN_2 2 The device is a 2nd generation drive, e.g. AKD2G.

Example

Structured Text

(* ECATDevReadParam ST"Structured text"
A high-level language that is block structured and syntactically resembles Pascal example *)
Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DEVICE_TYPE );
DeviceType := Inst_ECATDevReadParam.Value;

Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DRIVE_FAMILY );
DeviceFamily := Inst_ECATDevReadParam.Value;

Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DRIVE_GEN );
DriveGen := Inst_ECATDevReadParam.Value;

Ladder Diagram

FBD