Function Blocks ¶ SNCM_ETC_Slave (FunctionBlock) Com (Property) IsInOperateState (Property) PhysSlaveAddr (Property) SetReferences (Method) VendorID (Property) SNCM_ETC_VoE_SendReceive (FunctionBlock)

_3S_SNCM_ECATSlave ¶ Function Blocks SNCM_ETC_Slave (FunctionBlock) Com (Property) IsInOperateState (Property) PhysSlaveAddr (Property) SetReferences (Method) VendorID (Property) SNCM_ETC_VoE_SendReceive (FunctionBlock)

SNCM_ETC_Slave (FB) ¶ FUNCTION_BLOCK SNCM_ETC_Slave IMPLEMENTS SNCM_ECATSLAVE_ITF.IEtcSlave Function block for an abstract SNCM EtherCAT slave Properties: Com IsInOperateState PhysSlaveAddr VendorID Methods: SetReferences Structure: Com (Property) IsInOperateState (Property) PhysSlaveAddr (Property) SetReferences (Method) VendorID (Property)

SNCM_ETC_Slave.Com (PROP) ¶ PROPERTY Com : USINT Property to get its EtherCAT master index

SNCM_ETC_Slave.IsInOperateState (PROP) ¶ PROPERTY IsInOperateState : BOOL Property to check if the EtherCAT slave is in operate state

SNCM_ETC_Slave.PhysSlaveAddr (PROP) ¶ PROPERTY PhysSlaveAddr : UINT Property to get its physical slave address

SNCM_ETC_Slave.SetReferences (METH) ¶ METHOD SetReferences : SNCM_ECATSLAVE_ITF.ERROR Method to set the references of an EtherCAT slave from a device configuration like slave address, master index, vendor ID returns ERR_OK if all of the EtherCAT slave parameters could be set returns ERR_FAILED if the slave could not be configured for e.g. due to an invalid config connector returns ERR_NOIDENTITY in case of a missing slave identity param in the configuration connector - returns ERR_NOSLAVE if the slave could not be configured - returns ERR_NOVENDORID if the vendor ID could not be configured - returns ERR_NOMASTERIDX if the master index could not be configured - returns ERR_NOTINOPSTATE if the slave is not in operate state which is necessary for reading configuration parameter InOut: Scope Name Type Comment Input pConnector __XWORD pointer to the configuration connector in the device tree Return SetReferences SNCM_ECATSLAVE_ITF.ERROR

SNCM_ETC_Slave.VendorID (PROP) ¶ PROPERTY VendorID : DWORD Property to its vendor ID

SNCM_ETC_VoE_SendReceive (FB) ¶ FUNCTION_BLOCK SNCM_ETC_VoE_SendReceive Function block for an abstract SNCM vendor over EtherCAT communication InOut: Scope Name Type Comment Input xExecute BOOL triggers the data transfer usiCom USINT index of first EtherCAT master uiDevice UINT physical slave address usiChannel USINT channel number; set != 0 although it’s unused udiVendorID UDINT vendor ID from device description uiVendorType UINT vendor type from device description uiInputMaxLength UINT maximal size of receive data; max 506 bytes pbyInputData POINTER TO BYTE pointer to receive data uiOutputLength UINT size of send data; max 506 bytes pbyOutputData POINTER TO BYTE pointer to send data udiTimeout UDINT timeout in ms for execution Output xDone BOOL communication is done xBusy BOOL communication is still busy xError BOOL an error occurred while communication xTimeoutError BOOL communication timed out with the set timeout value uiSizeReceived UINT size of received data

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) IODrvEtherCAT ¶ Library Identification ¶ Placeholder: IODrvEtherCAT Default Resolution: IODrvEtherCAT, * (3S - Smart Software Solutions GmbH) Namespace: IoDrvEthercatLib Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IODrvEtherCAT Library Parameter ¶ Parameter: ETC_MAX_SLAVES = 1024 Parameter: MAX_ASYNC_MSG = 4 Parameter: MAX_MAILBOX_CHANNELS = 100 Parameter: MAX_SDO_CHANNELS = 100 IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SNCM ECATSlave Interfaces ¶ Library Identification ¶ Name: SNCM ECATSlave Interfaces Version: newest Company: 3S - Smart Software Solutions GmbH Namespace: SNCM_ECATSLAVE_ITF Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: SNCM ECATSlave Interfaces, * (3S - Smart Software Solutions GmbH)