Fieldbus - EtherCAT

Name	Description
DriveParamRead	Reads a drive parameter by sending an ASCII command to a drive.
DriveParamStrRead	Reads a single drive parameter by sending an ASCII command to a drive.
DriveParamWrite	Writes a drive parameter by sending an ASCII command to a drive.
ECATCommErrors	Returns a list of bad EtherCAT connections.
ECATDeviceAction	Performs an action on an EtherCAT device.
ECATDeviceStatus	Provides the EtherCAT state and the port link status information for the EtherCAT device.
ECATDevReadParam	Returns the EtherCAT device-specific information.
ECATGetObjVal - Deprecated	Deprecated.
ECATMasterStatus	Reads the EtherCAT master state and the lost frame counter to determine if EtherCAT is running normally.
ECATReadData	Reads cyclic parameter (byte offset format).
ECATReadSdo	Reads a 32-bit word from I/O nodes using a CANopen SDO read command.
ECATReadSdoData	Reads data from an EtherCAT device using CANopen SDO read command.
ECATWCStatus	Returns the current number of working counter errors for the Sync unit.
ECATWriteData	Writes cyclic parameter (byte offset format).
ECATWriteSdo	Writes a 32-bit word to I/O nodes using a CANopen SDO write command.
ECATWriteSdoData	Writes data to an EtherCAT device using a CANopen SDO write command..
FSoEParamsInit	Transfers safety parameters from the safety master to safety slave devices to initialize the safety network.

Remarks

The EtherCAT SDO function blocks are activated by the CANopen over EtherCAT (CoE) protocol in a client/server mode.

• The client (aka EtherCAT master) is the KAS Runtime application.
• The servers (aka EtherCAT slaves) are the drives and I/O nodes where data can be retrieved.
• The SDO function blocks only support the reading and writing of 32-bit values.
  • It is the fundamental size of CANopen SDO calls.

Why use ECATReadSdo and ECATWriteSdo FBs?

• The ECATReadSdo and ECATWriteSdo response time is faster.
• The ECATReadSdoData and ECATWriteSdoData are used when the data size is greater than 4 bytes.
• They are preferred over DriveParamRead and DriveParamWrite.

Why use the DriveParam FBs?

Reasons to prefer the DriveParam FBs are:

• They allow direct use of the parameter name.
  • Example: IL.LIMITP instead of the SDO index: 356Eh
• They can be used to setup a drive terminal in the HMI application.
  • This is similar to the Terminal view available in the AKD widget embedded in the KAS-IDE.

See Also