Y_EC_COE_RecvEmergency
The function block is used to receive CoE emergencies of EtherCAT slaves.
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge of the Execute input, all other inputs are read and the function block becomes operational. If an input needs to be modified, the value will have to be changed and the Execute input will have to be re-triggered. | FALSE |
| E | Mode | INT | Mode=1: Read next available Coe Emergency Message from any slave
Mode=2: Read next available CoeEmergency Message from slave with station address given by input StationAddress |
0 |
| E | StationAddress | WORD | EtherCAT station address of the addressed slave Only required if Mode=2. Ignored if Mode=1 |
WORD#0 |
| VAR_OUTPUT | ||||
| E | Message | Yt_EC_COE_RecvEmergencyMessage | Structure which provides received CoE Emergency Message | |
| B | Done | BOOL | The Done output is set to TRUE when the commanded action has completed successfully. If another function block takes control before the action is completed, the Done output will never become TRUE. This output is reset when Execute becomes FALSE. | |
| B | Busy | BOOL | The Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done or Error outputs becomes TRUE. | |
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute input becomes FALSE. | |
| E | ErrorID | UINT | The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE. | |
| E | New | BOOL | If New = TRUE and Done = TRUE scan for CoE Emergency finished and a new CoE Emergency message is available. If New = FALSE and Done = TRUE scan for CoE Emergency finished and no CoE Emergency message was found |
|
| E | MoreAvailable | BOOL | If New = TRUE and MoreAvailable = TRUE an additional CoE Emergency message is available. Restart Execution to get pending CoE Emergency message. If New = TRUE and MoreAvailable = FALSE no further CoE Emergency Messages are pending. |
|
Notes:
- All Input and In-Output values are read in the FB call with the rising edge of Execute. If a command is ongoing a change of the input has no influence.
Error Description:
See the Function Block ErrorID List.
- Error IDs in the range 14250-14299 indicate errors with the internal function operation.
- Error IDs in the range 14300-14500 indicate errors reported by the underlying EtherCAT stack.