Function BlockFSoEParamsInitPLCopen motion iconPipe Network motion icon

Description

This function block reads the Safety parameters from the FSoE Master from the input FSoEMasterAddress and transfers them to the intended safety slave device using 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 SDO communication.

  • The function block checks the FSoE master's register for the safety parameter transfer on the rising edgeClosedA rising edge is the transition of a digital signal from low to high. It is also called positive edge of the Execute input.
  • The function block gets the EtherCAT address of the safety slave that will receive the safety parameter if the FSoE master has any safety parameters to transfer.
  • Once the address is read and validated from the FSoE master the function block reads the actual parameter from the FSoE master and writes the parameter to the safe Slave.
  • The Done output is set to "1" when all parameters to all of the intended Safety slaves are written.
  • The Error output will be set to "1" and the appropriate ErrorID will be set in the ErrorID output if any error occurred during this process.

Figure 7-199: FSoEParamsInit Function Block

FSoE masters supported by this function block:

  • BBH SCU-1-EC

See Also

Arguments

Inputs

Execute Description On the rising edge the function block initiates safety parameter transfer from the FSoE master at address FSoEMasterAddres to its safety slaves.
  Data type BOOL
  Range False, True
  Unit N/A
  Default
FSoE Master's EtherCAT device address Description The EtherCAT slave address of the FSoE master that will be asked to initialize safety parameters. The first EtherCAT slave usually has the value '1001'. The second slave usually has the value '1002'. Alternately, you can use the members of the EtherCAT structure to specify the EtherCAT address of the safety master.
  Data type INT
  Range
  Unit N/A
  Default

Outputs

Done

Description Indicates whether the parameter initialization has completed without error.
  Data type BOOL
  Unit N/A

Error

Description Indicates whether the parameter initialization has completed with an error:
  Data type BOOL
  Unit N/A

ErrorID

Description The parameter initialization error result (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 SDO call succeeded
ECERR_DEVICE_ERROR 1792 (0x700) EtherCAT device is not accessible
ECERR_DEVICE_INVALIDCMD 1794 (0x702) Invalid mailbox command
ECERR_DEVICE_INVALIDINDEX 1795 (0x703) An invalid value for the Index input was specified
ECERR_DEVICE_INVALIDACCESS 1796 (0x704) Reading of the variable is not permitted
ECERR_DEVICE_INVALIDSIZE 1797 (0x705) An invalid size for the parameter was specified
ECERR_DEVICE_INVALIDDATA 1798 (0x706) Invalid parameter value(s) in SDO index and/or sub-index
ECERR_DEVICE_NOTREADY 1799 (0x707) Device is not in a ready state, network is not in operational
ECERR_DEVICE_BUSY 1800 (0x708) Device is not available to respond
ECERR_DEVICE_INVALIDCONTEXT 1801 (0x709) Device responded with an illegal error code, indicating the command is not allowed under the present conditions
ECERR_DEVICE_NOMEMORY 1802 (0x70A) EtherCAT mailbox is out of memory or device is out of disk space
ECERR_DEVICE_INVALIDPARM 1803 (0x70B) EtherCAT mailbox request was not valid
ECERR_DEVICE_NOTFOUND 1804 (0x70C) EtherCAT device not found
ECERR_DEVICE_SYNTAX 1805 (0x70D) An unexpected error occurred
ECERR_DEVICE_INVALIDSTATE 1810 (0x712) The EtherCAT device is in an invalid state
ECERR_DEVICE_TIMEOUT 1817 (0x719) The EtherCAT device failed to respond, timing out
ECERR_DEVICE_INSERTMAILBOX 1826 (0x722) Error while inserting the mailbox command into internal FIFO
ECERR_DEVICE_INVALIDOFFSET 1827 (0x723) An invalid value for the SubIndex input was specified
ECERR_DEVICE_UNKNOWNMAILBOXCMD 1828 (0x724) The master sent an unknown mailbox command to the slave
ECERR_DEVICE_ACCESSDENIED 1829 (0x725) Device responded with an invalid access error code, indicating the command is not allowed
ECERR_DEVICE_INVALIDADDR 1832 (0x728) Can’t send a mailbox command to the specified slave
ECERR_DEVICE_NOT_A_FSOE_MASTER 1836 (0x72c) Device is not a FSoE master.
ECERR_DEVICE_PARAM_ACCESS_ERROR 1920 (0x780) Unknown error occurred while accessing parameter
ECERR_DEVICE_PARAM_NOT_FOUND 1921 (0x781) Parameter was not found
ECERR_DEVICE_PARAM_NOT_INTEGER 1922 (0x782) Parameter is a floating-point value. Integer value required.
ECERR_DEVICE_VALUE_IS_NEGATIVE 1923 (0x783) No negative values allowed. Value specified was negative.
ECERR_DEVICE_VALUE_OUT_OF_RANGE 1924 (0x784) Value is out of data-range
ECERR_DEVICE_VALUE_GREATER_THAN_MAX 1925 (0x785) Value bigger than maximum
ECERR_DEVICE_VALUE_LOWER_THAN_MIN 1926 (0x786) Value lower than minimum
ECERR_CLIENT_ERROR 2048 (0x800) Error in Mailbox response to a previously sent mailbox command
ECERR_CLIENT_TIMEOUT 2049 (0x801) The SDO command timed out
ECERR_CLIENT_ INVALIDPARM 2050 (0x802) An invalid value was specified
ECERR_CLIENT_ INVALIDSIZE 2051 (0x803) An invalid value for the size input was specified

Table 7-49: List of EtherCAT Error Codes

Examples

Structured Text

Inst_FSoEParamsInit(True, EtherCAT.FSoE_Mst_1);

FBD

FFLD