FSoEParamsInit
Description
This function block reads the Safety parameters from the 
***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 edge A 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 7-200: FSoEParamsInit Function Block
FSoE masters supported by this function block:
- BBH SCU-1-EC
See Also
- Set Up FSoE Master and an AKD2G with SafeMotion Monitor
- AKD2G Safety Parametrization Using FSoE with SCU-1-EC and PCMM/AKD PDMM
- Troubleshooting FSoE Safety Parameters
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 |
Table 7-49: List of EtherCAT Error Codes
Examples
Structured Text
Inst_FSoEParamsInit(True, EtherCAT.FSoE_Mst_1);
FBD
FFLD
