MLSmpConECAT

 Function - Connects a sampler block to the specified CoE object in a PDO.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID Name of the SMP function block in the Pipe Network.
DeviceAddr	INT	No range	N/A	No default	The EtherCAT address of the slave device. The first node usually has the value 1001. Alternately, use the members of the EtherCAT structure to specify a device's address.
Index	UINT	No range	N/A	No default	The CoE index of the object to be connected with the Sampler block.
SubIndex	USINT	No range	N/A	No default	The CoE sub-index of the object to be connected with the Sampler block.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Function block is operational. See Function - General Rules.

Remarks

• The CoE object must be included in a PDO for the specified EtherCAT device.
• Use any EtherCAT data source as input for the specified sampler block.
• If the device providing the CoE Object for the Sampler block is removed:
  • The CoE object value becomes 0 (zero) if the EtherCAT device providing the CoE object for the Sampler block is removed using the ECATDeviceAction function block.
  • The CoE object automatically connects to the sampler block when the device is reconnected to the EtherCAT network.
• This function can be programmed from within the Pipe Network block.
  Right-click the block and click Properties.
  

Figure 1: MLSmpConECAT

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Connect a Sampler pipe block named “EncoderMaster” to an ECAT Index Object defined by  variable “CoE_SubIndex” with the SubIndex defined by variable “CoE_SubIndex”, from a device with  Ethercat Address defined by “ECAT_Addr”
MLSmpConECAT(PipeNetwork.EncoderMaster, ECAT_Addr, CoE_Index, CoE_SubIndex );

See Also

• MLSmpConnect
• MLSmpInit