MLSmpConECAT

Description

Connects a sampler block to the specified CoE object. The CoE object must be included in a PDO PDO 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

MLSmpConnect, MLSmpInit

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	Function A 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