SMC3_ETC_STATE (ENUM) ¶ TYPE SMC3_ETC_STATE : InOut: Name Initial SMC3_ETC_SLAVE_BOOT 3 SMC3_ETC_SLAVE_INIT 1 SMC3_ETC_SLAVE_PREOPERATIONAL 2 SMC3_ETC_SLAVE_SAVEOPERATIONAL 4 SMC3_ETC_SLAVE_OPERATIONAL 8

SMC3_ETC_Slave (FB) ¶ FUNCTION_BLOCK SMC3_ETC_Slave Properties: CanAddSDOs ConfigFinished MasterNumber OutOfSync Protocol State TimeoutForBootup Methods: AddSDOConfig CoE_IsInStartupList GetBusDiagnosis GetDcClockReferenceNs GetPhaseDistance GetSlaveId ReinitAxis SetReferences WaitForDC Structure: AddSDOConfig (Method) CanAddSDOs (Property) CoE_IsInStartupList (Method) ConfigFinished (Property) GetBusDiagnosis (Method) GetDcClockReferenceNs (Method) GetPhaseDistance (Method) GetSlaveId (Method) MasterNumber (Property) OutOfSync (Property) Protocol (Property) ReinitAxis (Method) SetReferences (Method) State (Property) TimeoutForBootup (Property) WaitForDC (Method)

SMC3_ETC_Slave.AddSDOConfig (METH) ¶ METHOD AddSDOConfig : INT Adds a CoE object (wIndex:bySubIndex) to the list of startup SDOs. Only call this method if CanAddSDOs returns TRUE. InOut: Scope Name Type Return AddSDOConfig INT Input wIndex WORD bySubIndex BYTE uiDataLength UINT dwData DWORD udiTimeOut UDINT bAbort BOOL bCompleteAccess BOOL

SMC3_ETC_Slave.CanAddSDOs (PROP) ¶ PROPERTY CanAddSDOs : BOOL Returns whether the stack is ready to accept startup SDOs (method AddSDOConfig ) and query the list of startup SDOs (method CoE_IsInStartupList ).

SMC3_ETC_Slave.CoE_IsInStartupList (METH) ¶ METHOD CoE_IsInStartupList : BOOL Returns whether a CoE object (wIndex:bySubIndex) is already in the list of startup SDOs, e.g. because it has been added by a call of AddSDOConfig . Only call this method if CanAddSDOs returns TRUE. InOut: Scope Name Type Input wIndex WORD bySubIndex BYTE Return CoE_IsInStartupList BOOL

SMC3_ETC_Slave.ConfigFinished (PROP) ¶ PROPERTY ConfigFinished : BOOL

SMC3_ETC_Slave.GetBusDiagnosis (METH) ¶ METHOD GetBusDiagnosis : BOOL Returns diagnosis information of the EtherCAT bus. Returns FALSE if no diagnosis information can be retrieved. This method is intended to be called cyclically. InOut: Scope Name Type Comment Return GetBusDiagnosis BOOL Output sendFrameCount UDINT Total number of frames sent framesPerSecond UDINT Number of frames sent per second lostFrameCount UDINT Number of total lost frames. A frame is lost due to EMC, connection or other hardware problems for example. In addition, if the CRC does not match then this counter is increased as the network driver skips the frame. txErrorCount UDINT Number of Tx errors, sending of the frame failed rxErrorCount UDINT Number of Rx errors, frame was received too late

SMC3_ETC_Slave.GetDcClockReferenceNs (METH) ¶ METHOD FINAL GetDcClockReferenceNs : ULINT Returns the current DCClockReference time. This is the time when the first EtherCAT slave with distributed clocks has received the EtherCAT frame. The value returned by this method is constant during one cycle of the bus task. The unit of the timestamp returned is in nanoseconds. InOut: Scope Name Type Return GetDcClockReferenceNs ULINT

SMC3_ETC_Slave.GetPhaseDistance (METH) ¶ METHOD FINAL GetPhaseDistance : DINT Returns the current phase distance between the distributed clock and the PLC clock in microseconds. This method is intended to be called cyclically. InOut: Scope Name Type Return GetPhaseDistance DINT

SMC3_ETC_Slave.GetSlaveId (METH) ¶ METHOD GetSlaveId : SMC3_ETC_SlaveId InOut: Scope Name Type Return GetSlaveId SMC3_ETC_SlaveId