ECATDevReadParam

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 Function Block - Returns the EtherCAT device-specific information.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Requests to read the EtherCAT device-specifc parameter.

DeviceAddress

INT

-32768 to +32767

N/A

No default

The address of the device data is read from.

  • 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.
       

ParameterNumber

INT

-32768 to +32767

N/A

No default

Parameter number.

See EtherCAT Device Parameters.

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 an invalid input was specified.

ErrorID

INT

-32768 to +32767

N/A

Indicates the error if Error output is TRUE.

See Error Codes.

Value

LREAL

No range

N/A

Value of the parameter.

Remarks

See EtherCAT Function Blocks that Work with Drive Parameters about function blocks not supported by ML and MC function blocks.

Error 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.

EtherCAT Device Parameters

This is a list of supported parameters read by ECATDevReadParam.

Parameter

ID

Name

R/W

Description

DEVICE_PARAM_DEVICE_TYPE

1

Device Type

Read Only

EtherCAT Device Type

Output Value

Numerical Value

Description

DEVICE_TYPE_OTHER

0

The EtherCAT device is not a drive.

DEVICE_TYPE_DRIVE

1

The EtherCAT device is a drive.

DEVICE_PARAM_DRIVE_FAMILY

2

Drive Family

Read Only

EtherCAT device drive family details.

Output Value

Numerical Value

Description

DEVICE_NOT_A_DRIVE

-1

The EtherCAT device is not a drive.

DRIVE_FAMILY_OTHER

0

The drive family cannot be determined.

DRIVE_FAMILY_S300_S700

1

The device is an S300/S700 family drive.

DRIVE_FAMILY_AKD

2

The device is in the AKD2G, AKD-N, or AKD servo drive family.

DRIVE_FAMILY_AKT2G_STEPPER

3

The device is an AKT2G Stepper family drive.

DEVICE_PARAM_DRIVE_GEN

3

Drive Generation

Read Only

EtherCAT drive generation details.

Output Value

Numerical Value

Description

DEVICE_NOT_A_DRIVE

-1

The EtherCAT device is not a drive.

DRIVE_GEN_UNKNOWN

0

The drive generation cannot be determined.

DRIVE_GEN_1

1

The device is a 1st generation drive (e.g., AKD, AKD-N, S300, S700, AKT2G-SM-L15, AKT2G-SM-L50).

DRIVE_GEN_2

2

The device is a 2nd generation drive (e.g., AKD2G).

Figure 1: ECATDevReadParam

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* ECATDevReadParam ST example *)
Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DEVICE_TYPE );
DeviceType := Inst_ECATDevReadParam.Value;

Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DRIVE_FAMILY );
DeviceFamily := Inst_ECATDevReadParam.Value;

Inst_ECATDevReadParam( TRUE, EtherCAT.AKD_2, DEVICE_PARAM_DRIVE_GEN );
DriveGen := Inst_ECATDevReadParam.Value;