Function Block
A function block groups an algorithm and a set of private data. It has inputs and outputs. - Writes a drive parameter by sending an ASCII command to a drive.
Inputs
|
Input |
Data Type |
Range |
Unit |
Default |
Description |
|---|---|---|---|---|---|
|
Execute |
BOOL |
0, 1 |
N/A |
No default |
On the rising edge
|
|
Drive |
INT |
No range |
N/A |
No default |
The address of the drive where data is written.
Alternately, use the members of the EtherCAT |
|
Param |
STRING |
No range |
N/A |
No default |
The parameter to write. |
|
Value |
LREAL |
No range |
N/A |
No default |
The value to set the drive parameter to. |
Outputs
|
Output |
Data Type |
Range |
Unit |
Description |
|---|---|---|---|---|
|
Done |
BOOL |
No range |
N/A |
Indicates whether this function block has completed without error. |
|
Error |
BOOL |
No range |
N/A |
Indicates whether this function block call has completed with error. |
|
ErrorID |
DINT |
No range |
N/A |
The DriveParamWrite error result if Error is TRUE. Upon success, Error is set to 0 (zero). See the EtherCAT Error Codes for more information. |
Remarks
Use this function block to change drive parameters. Examples include tuning parameters and changing drive limits (i.e., peak current).
- It takes multiple cycles to complete this function block.
- Typically only one DriveParamRead or DriveParamWrite function should be active for each axis at one time.
- If executing this function block continuously or if multiple times is required, add code that waits for this function block to complete (Done bit = 1) before executing it again.
- See stats about the Execution Time.
- See EtherCAT Function Blocks That Work With Drive Parameters for information about function blocks that are not supported by ML and MC function blocks.
Figure 7-189: DriveParamWrite
-
-
This function block uses and reserves the EtherCAT SDO Channel.
The SDO Channel remains reserved until the done output is TRUE.
This FB should be called at each cycle until the done output is TRUE.
If it is not called at each cycle, the rest of SDO communication (e.g., the AKD GUI "Graphical User Interface"
A GUI is a type of user interface which allows people to interact with a computer and computer-controlled devices Views) is blocked.
Using this FB in SFC "Sequential function chart"
It can be used to program processes that can be split into steps.
The main components of SFC are:
- Steps with associated actions
- Transitions with associated logic conditions
- Directed links between steps and transitions P0 or P1 steps is not recommended because these steps are executed only once.
If this FB is used in P0 or P1, then it must be used in an SFC N step to ensure the FB completes.
EtherCAT Error Codes
|
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) |
|
|
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 |
FBD Language
FFLD Language
ST Language
(* Write 58.000 to PL.KP of first AKD Dri
ve on Ethe
rCAT network *)
Inst_DriveParamWrite( TRUE, 1001, 'PL.KP', 58 );
See Also
