EtherCAT System Variables
All EC system variables gather information regarding EtherCAT master functionality.
| System Variable | Data Type | Specification |
|---|---|---|
| EC_MASTER_STATE | UDINT |
Represent the state of the EtherCAT master:
– 00h: Unknown state
– 01h: INIT
– 02h: PreOp
– 04h: SafeOp
– 08h: OP
|
| EC_TOPOLOGY_OK | BOOL | TRUE when the current topology and configured topology match |
| EC_DC_IN_SYNC | BOOL | TRUE when the distributed clocks are synchronized |
| EC_SLAVE_STATE | EC_ByteArray513* | Returns all states of the EtherCATslaves connected to the EtherCAT master:
– 00h:Unknown state
– 01h: INIT
– 02h: PreOp
– 03: BootStrap
– 04h: SafeOp
– 08h: OP
|
| EC_SLAVE_LAST_AL_STATUS_CODE | EC_WordArray513* | Returns last read Alarm Status Codes ofthe EtherCAT slaves connected to theEtherCAT master. |
| EC_CYCLIC_LOST_FRAMES | UDINT | Returns the number of frames lost during cyclic communication |
| EC_SLAVE_STATION_ADDRESS | EC_WordArray513* | Returns all addresses of the EtherCATslaves connected to the EtherCATmaster |
*) Index 0 is reserved. The first EtherCAT slave is assigned to Index 1.
Caution:
The Indices are referring to the SlaveID not the Station Address. Use
Y_EC_AddressToId to obtain the SlaveID for the defined devices. The ID order can differ from the station address order.