EtherCAT Library

Name Object Type Description
DriveParamRead SDO Reads a drive parameter (ASCII format)
DriveParamStrRead   Reads a single drive parameter (ASCII format)
DriveParamWrite SDO Writes a drive parameter (ASCII format)
ECATCommErrors   Returns a list of bad EtherCATClosed***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
ECATDeviceStatus   Provides EtherCAT state and port link status information for an EtherCAT device.
ECATDevReadParam   This function block returns the EtherCAT device-specific information.
ECATGetObjVal PDOClosedPDO is 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. Reads cyclic drive parameter (String format) by returning the value of an EtherCAT PDO element
ECATMasterStatus   Reads the EtherCAT master state and the lost frame counter
ECATReadData PDO Reads cyclic parameter (byte offset format)
ECATReadSdo SDO Reads parameter (32 bit format) using SDO command
ECATWCStatus   Returns the current number of working counter errors for the Sync unit
ECATWriteData PDO Writes cyclic parameter (byte offset format)
ECATWriteSdo SDO Writes parameter (32 bit format) using SDO command
FSoEParamsInit   Transfers safety parameters from the safety master to safety slave devices to initialize the safety network.

Table 7-44: List of EtherCAT FB

The four EtherCAT SDO function blocks are activated by the CANopen over EtherCAT (CoE) protocol in a client/server mode.

The SDO function blocks only support the reading and writing of 32-bit values. It is the fundamental size of CANopen SDO calls.

Why use ECATReadSdo and ECATWriteSdo FBs?

The ECATReadSdo and ECATWriteSdo response time is faster and therefore is typically preferred over the DriveParamRead and DriveParamWrite.

Why use the DriveParam FBs?

The two reasons to prefer the DriveParam FBs are:

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