ECATCommErrors

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Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Returns a list of bad 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 connections.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	Read the communication errors on the rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge.
Connection	ECATCommErr_ref See the ECATCommErr_ref Structure table.	N= 0 to 2 times the number of EtherCAT devices.	N/A	No default	Array of bad connections. The safe size for the list is: [`2 * (number of devices) - 1`].

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

0, 1

N/A

No default

Read the communication errors on the rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge.

Connection

ECATCommErr_ref

See the ECATCommErr_ref Structure table.

N= 0 to 2 times the number of EtherCAT devices.

N/A

No default

Array of bad connections.

The safe size for the list is:

[2 * (number of devices) - 1].

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 has completed with error.
ErrorID	DINT	No range	N/A	The function call error result, if Error is TRUE. See the Possible Error Codes and Descriptions table. Upon success, Error is set to 0 (zero).
ConnectionCount	UINT	No range	N/A	The number of bad connections. Valid indices in the Connection array range from 0 (zero) to ConnectionCount -1 (assuming ConnectionCount != 0).

Remarks

If EtherCAT network communication is shutdown, the failed connections are based on information that was taken at the time the network was shutdown.

See Check the Connections for Errors for an example of implementing this function.

Figure 6-72: ECATCommErrors Function Block

ECATCommErr_ref Structure

Parameter	Type	Description
CommErrorCounter	UINT	The Communication Error Counter for this port.
ConnectedSlaveAddress	INT	The EtherCAT address of the connected device.
ConnectedSlavePortID	UINT	The port number of the connected device.
LostLinkCounter	UINT	The Lost Link Counter for this port.
SlaveAddress	INT	The EtherCAT address of the device that owns the port.
SlavePortID	UINT	The port number.

EtherCAT Port Numbers Defines

Define	Port
#define EC_PORT_A	0 (* Port A *)
#define EC_PORT_B	1 (* Port B *)
#define EC_PORT_C	2 (* Port C *)
#define EC_PORT_D	3 (* Port D*)

Possible Error Codes and Descriptions

Error Code	Description
ECERR_DEVICE_ERROR	The EtherCAT driver is in a bad state.
ECERR_INVALID_ARRAY_SIZE	The size of the Connections is too small.

When the array size is smaller than the number of bad connections:
- The array is filled with the data to the size of the array.
- The error ECERR_INVALID_ARRAY_SIZE is set.
In this scenario, the output ConnectionCount is set to the size of the array and it is smaller than the number of actual bad connections.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(********************************************************)
Read EtherCAT communication errors.
(********************************************************)
commErrors( TRUE, Connection);