MLSmpConECAT
Description
Connects a sampler block to the specified CoE object. The CoE object must be included in a PDOPDO 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. for the specified 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.
Using this function, you can use any EtherCAT data source as input for the specified sampler block.
Figure 7-106: MLSmpConECAT function
This function can also be programmed from within the PipeNetwork block. Simply right-click on the block and select Properties.
Related Function Blocks
Arguments
Input
BlockID | Description | ID Name of the Sampler function block in the Pipe Network |
Data type | DINT | |
Range | [-2147483648, 2147483648] | |
Unit | N/A | |
Default | — | |
DeviceAddr | Description | The EtherCAT address of the slave device. The first node usually has the value '1001'. Alternately, you can use the members of the EtherCATCode structure to specify a device's address. |
Data type | INT | |
Range | — | |
Unit | N/A | |
Default | — | |
Index | Description | The CoE index of the object to be connected with the Sampler block. |
Data Type | UINT | |
Range | — | |
Unit | N/A | |
Default | — | |
SubIndex | Description | The CoE sub-index of the object to be connected with the Sampler block. |
Data Type | UINT | |
Range | — | |
Unit | N/A | |
Default | — |
Output
Default (.Q) |
Description |
FunctionA function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. block is operational See more details here. |
Data type | BOOL | |
Unit | N/A |
Return Type
BOOL
Example
Structured Text
//Connect a Sampler pipe block named “EncoderMaster” to an ECAT Index Object defined by variable “CoE_SubIndex” with the SubIndex defined by variable “CoE_SubIndex”, from a device with Ethercat Address defined by “ECAT_Addr”
MLSmpConECAT(PipeNetwork.EncoderMaster, ECAT_Addr, CoE_Index, CoE_SubIndex );
Ladder Diagram
Function Block Diagram