ECATWriteSdoData

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 Function Block - Writes data to an EtherCAT device using a CANopen SDO write command.

Inputs

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

FALSE, TRUE

N/A

No default

On the rising edge of Execute, an SDO write command is issued.

  • The function block only handles one SDO command at a time.
  • If Execute is toggled quickly so that another rising edge occurs before the SDO command has completed, the function block does not issue a second SDO command.

Index

INT

-32768 to +32767

N/A

No default

The object directory index of the data to be written to.

See:

  • Communication SDOs.
  • Manufacturer specific SDOs.
  • Profile specific SDOs.

To read/write an SDO object with an index greater than 16#7FFF (32767), the value must be entered in this form:
any_to_int(index # in hex format).

Example: any_to_int(16#8321).

SubIndex

SINT

No range

N/A

No default

The sub-index of the object directory variable to be written to.

See:

  • Communication SDOs.
  • Manufacturer specific SDOs.
  • Profile specific SDOs.

To read/write an SDO object with an index greater than 16#7FFF (32767), the value must be entered in this form:
any_to_int(index # in hex format).

Example: any_to_int(16#8321).

Size

UINT

1 to 255

N/A

No default

The size (i.e., number of bytes) of the CoE object to write.

The size should be the exact size of the CoE object not exceeding 255 bytes.

DeviceAddress

INT

-32768 to +32767

N/A

No default

The EtherCAT address of the device from which data is written to.

  • The first node usually has the value 1001.
  • The second node usually has the value 1002.

  • Use the members of the EtherCAT structure to specify a device's address to Create Variables.
       

CoEDataArray[]

USINT

1 to 255

N/A

No default

The data to write to the CoE object.

The size of the array should be equal to or greater than the specified size.

The data is only set when an SDO write command has successfully completed.

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

Indicates whether this function block has completed without error.

Error

BOOL

FALSE, TRUE

N/A

Indicates whether this function block has completed with error.

ErrorID

DINT

No range

N/A

The SDO call error result, if Error is TRUE.

Remarks


  • 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 either the Done or Error output is TRUE.
    If it is not called at each cycle, the rest of SDO communication (e.g., the AKD GUI Views) is blocked.
    Using this FB in SFC 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.

State Diagram

Figure 1: ECATWriteSdoData State Diagram

Figure 2: ECATWriteSdoData

EtherCATError Codes

Value Dec (hex)

Error Code

Description

0

ECERR_OK

The SDO call succeeded.

1000 (0x3E8)

ECERR_DEVICE_ACTION_IS_INVALID

The requested Device Action is invalid.

1003 (0x3EB)

ECERR_DEVICE_ACTION_MINIMUM_ONE_NODE_REQD

A minimum of one device must be present in the EtherCAT network.

1004 (0x3EC)

ECERR_DEVICE_ACTION_MINIMUM_ONE_DC_NODE_REQD

A minimum of one Distributed clock capable device must be present in the EtherCAT network.

107 = 0x6B

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.

1792 (0x700)

ECERR_DEVICE_ERROR

EtherCAT device is not accessible.

1794 (0x702)

ECERR_DEVICE_INVALIDCMD

Invalid mailbox command.

1795 (0x703)

ECERR_DEVICE_INVALIDINDEX

An invalid value for the Index input was specified.

1796 (0x704)

ECERR_DEVICE_INVALIDACCESS

Reading of the variable is not permitted.

1797 (0x705)

ECERR_DEVICE_INVALIDSIZE

An invalid size for the parameter was specified.

1798 (0x706)

ECERR_DEVICE_INVALIDDATA

Invalid parameter value(s) in SDO index and/or sub-index.

1799 (0x707)

ECERR_DEVICE_NOTREADY

Device is not in a ready state.

The network is not in operational.

1800 (0x708)

ECERR_DEVICE_BUSY

Device is not available to respond.

1801 (0x709)

ECERR_DEVICE_INVALIDCONTEXT

Device responded with an illegal error code, indicating the command is not allowed under the present conditions.

1802 (0x70A)

ECERR_DEVICE_NOMEMORY

EtherCAT mailbox is out of memory or device is out of disk space.

1803 (0x70B)

ECERR_DEVICE_INVALIDPARM

EtherCAT mailbox request was not valid.

1804 (0x70C)

ECERR_DEVICE_NOTFOUND

EtherCAT device not found.

1805 (0x70D)

ECERR_DEVICE_SYNTAX

An unexpected error occurred.

1810 (0x712)

ECERR_DEVICE_INVALIDSTATE

The EtherCAT device is in an invalid state.

1817 (0x719)

ECERR_DEVICE_TIMEOUT

The EtherCAT device failed to respond, timing out.

1826 (0x722)

ECERR_DEVICE_INSERTMAILBOX

Error while inserting the mailbox command into internal FIFO.

1827 (0x723)

ECERR_DEVICE_INVALIDOFFSET

An invalid value for the SubIndex input was specified.

1828 (0x724)

ECERR_DEVICE_UNKNOWNMAILBOXCMD

The master sent an unknown mailbox command to the slave.

1829 (0x725)

ECERR_DEVICE_ACCESSDENIED

Device responded with an invalid access error code, indicating the command is not allowed.

1832 (0x728)

ECERR_DEVICE_INVALIDADDR

The specified EtherCAT node address is invalid.

1836 (0x72c)

ECERR_DEVICE_NOT_A_FSOE_MASTER

Device is not a FSoE master.

1837 (0x072D)

ECERR_DEVICE_DISCONNECTED

The EtherCAT device is disconnected.

1920 (0x780)

ECERR_DEVICE_PARAM_ACCESS_ERROR

Unknown error occurred while accessing parameter.

1921 (0x781)

ECERR_DEVICE_PARAM_NOT_FOUND

Parameter was not found.

1922 (0x782)

ECERR_DEVICE_PARAM_NOT_INTEGER

Parameter is a floating-point value. Integer value required.

1923 (0x783)

ECERR_DEVICE_VALUE_IS_NEGATIVE

No negative values allowed.

Value specified was negative.

1924 (0x784)

ECERR_DEVICE_VALUE_OUT_OF_RANGE

Value is out of data-range.

1925 (0x785)

ECERR_DEVICE_VALUE_GREATER_THAN_MAX

Value bigger than maximum.

1926 (0x786)

ECERR_DEVICE_VALUE_LOWER_THAN_MIN

Value lower than minimum.

2048 (0x800)

ECERR_CLIENT_ERROR

Error in Mailbox response to a previously sent mailbox command.

2049 (0x801)

ECERR_CLIENT_TIMEOUT

The SDO command timed out.

2050 (0x802)

ECERR_CLIENT_ INVALIDPARM

An invalid value was specified.

2051 (0x803)

ECERR_CLIENT_ INVALIDSIZE

An invalid value for the size input was specified.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* Write DRV.NAME on first AKD Drive on EtherCAT network *)
Inst_ECATWriteSdoData(TRUE, 16#2031, 0, 10, EtherCAT.AKD_1, DriveName );
IF Inst_ECATWriteSdoData.Done OR Inst_ECATWriteSdoData.Error THEN
   Inst_ECATWriteSdoData(FALSE, 16#2031, 0, 10, EtherCAT.AKD_1, DriveName );
END_IF;

See Also