ECATDeviceStatus

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 Function Block - Provides the EtherCAT state and the port link status information for the EtherCAT device.

Inputs

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

FALSE, TRUE

N/A

No default

Read the device status on the rising edge.

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.
       

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

Indicates whether this function block has completed without error.

State

UINT

No range

N/A

Indicates the EtherCAT state of the device.

  • See State Defines.
  • A value of 0 (zero) indicates there is no communication with the device and the state is unknown.
  • Bits 3:0 indicate the actual state of the device.
  • An EC_STATE_ERROR (bit 4 set to 1) indicates the device is not in the EtherCAT master requested state due to error conditions (e.g., loss of communication).

LinkStatus

UINT

No range

N/A

Provides the physical link status of the device's ports.

  • See LinkStatus Defines.
  • If no communication is possible with the device, bit 0 is set to 1.
  • If a link is detected on a port (A-D), the corresponding bit (4-7) is set to 1.
  • If no link is detected the corresponding bit is set to 0.

Error

BOOL

FALSE, TRUE

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 Error Codes.
  • Upon success, Error is set to 0 (zero).

Remarks

  • If the EtherCAT network communication is not running due to a shutdown, the device status contains information taken at the time the network was shutdown.
  • This function block is useful in locating the devices with communication errors when the ECATWCStatus function indicates there are EtherCAT communication errors.

State Defines

#define   EC_STATE_NO_COMMUNICATION   0   (* 0x00 = No Communication to device *)
#define   EC_STATE_INIT               1   (* 0x01 = Device in Init state *)
#define   EC_STATE_PREOP              2   (* 0x02 = Device in Pre-operational state *)
#define   EC_STATE_BOOTSTRAP          3   (* 0x03 = Device in Bootstrap state *)
#define   EC_STATE_SAFEOP             4   (* 0x04 = Device in Safe-Operational state *)
#define   EC_STATE_OP                 8   (* 0x08 = Device in Operational state *)
#define   EC_STATE_ERROR              16  (* 0x10 bit 4 set to 1; Device not in requested state error *)

LinkStatus Defines

#define   EC_LINK_NO_COMMUNICATION  1   (* 0x1 = No communication to device; bit 0 set to 1 *)
#define   EC_LINK_PORT_A            16  (* 0x10 = Link detected on Port A; bit 4 set to 1 *)
#define   EC_LINK_PORT_B            32  (* 0x20 = Link detected on Port B; bit 5 set to 1 *)
#define   EC_LINK_PORT_C            64  (* 0x40 = Link detected on Port C; bit 6 set to 1 *)
#define   EC_LINK_PORT_D            128 (* 0x80 = Link detected on Port D; bit 7 set to 1 *)

Figure 1: ECATDeviceStatus

Error Codes

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(********************************************************)
(* Read AKD_1 device state and link status*)
(********************************************************)


Inst_EcDeviceStatus(TRUE,EtherCAT.AKD_1);

See Also