ETCSlave (FB)¶

FUNCTION_BLOCK ETCSlave EXTENDS ETCSlaveStack

Implicit Instance of Slave¶

An instance of the data type ETCSlave is generated for each EtherCAT slave inserted in the device tree. The name of the instance corresponds to the name of the slave in the device tree. The availability of the instance is indicated in the IEC Objects area of the EtherCAT I/O Mapping dialog of the slave.

The slave instance is used in the application in order to query or change the state of the slave at runtime.

InOut:

Scope

Name

Type

Comment

Inherited from

Input

xSetOperational

BOOL

Rising edge: An attempt is made to switch to the ETC_SLAVE_OPERATIONAL mode.

ETCSlaveStack

Output

wState

ETC_SLAVE_STATE

Current state of the slave:

0: ETC_SLAVE_BOOT

1: ETC_SLAVE_Init

2: ETC_SLAVE_PREOPERATIONAL

4: ETC_SLAVE_SAVEOPERATIONAL

8: ETC_SLAVE_OPERATIONAL

Configuration was successfully completed.

If errors occur during the configuration, the slave can fall back into an earlier state.

ETCSlaveStack