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 PxMM/PCMM2G
- 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 |
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 |
Examples
Structured Text
Inst_FSoEParamsInit(True, EtherCAT.FSoE_Mst_1);
FBD
FFLD
