Omron NX102 series

A-15
Appendices
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
A-2 Monitoring Packets
A
Controller error in the EtherCAT Master Function Module.
Detect when EC_Err changes to TRUE.
Processing
Stage change
Variable Data type Initial value Comment
ST
EC_Err:=(_EC_ErrSta <> WORD#16#00);
R_TRIG_instance(Clk:=EC_Err, Q=>EC_Err_Trigger);
IF ( (EC_Err_Trigger=TRUE) AND (DoEC_PktSave=FALSE) AND (_EC_PktMonStop=FALSE)
AND (_EC_PktSaving=FALSE) AND (_Card1Ready=TRUE) ) THEN
DoEC_PktSave:=TRUE;
Stage :=INT#1;
EC_StopMon_instance(Execute:=FALSE);
EC_SaveMon_instance(Execute:=FALSE);
EC_CopyMon_instance(Execute:=FALSE);
EC_StartMon_instance(Execute:=FALSE);
END_IF;
IF (DoEC_PktSave=TRUE) THEN
CASE Stage OF
1 :
EC_StopMon_instance(
Execute :=TRUE);
IF (EC_StopMon_instance.Done=TRUE) THEN
Stage:=INT#2;
ELSIF (EC_StopMon_instance.Error=TRUE) THEN
Stage:=INT#10;
END_IF;
2 :
EC_SaveMon_instance(
Execute :=TRUE);
IF (EC_SaveMon_instance.Done=TRUE) THEN
Stage:=INT#3;
ELSIF (EC_SaveMon_instance.Error=TRUE) THEN
Stage:=INT#20;
END_IF;
3 :
EC_CopyMon_instance(
Execute :=TRUE,
FileName:=’PacketFile’);
IF (EC_CopyMon_instance.Done=TRUE) THEN
Stage:=INT#4;
ELSIF (EC_CopyMon_instance.Error=TRUE) THEN
Stage:=INT#30;
END_IF;
// Start sequence when _EC_ErrSta changes to TRUE.
// Instruction execution
// Stop EtherCAT packet monitor.
// Save EtherCAT packet data to file in system.
// Copy EtherCAT packet data file to the SD Memory Card.
// Normal end
// Error end
// Normal end
// Error end
// Normal end
// Error end
// Initialize instance.
EC_Err
EC_Err_Trigger
DoEC_PktSave
Stage
R_TRIG_instance
EC_StopMon_instance
EC_SaveMon_instance
EC_CopyMon_instance
EC_StartMon_instance
False
False
False
0
BOOL
BOOL
BOOL
INT
R_TRIG
EC_StopMon
EC_SaveMon
EC_CopyMon
EC_StartMon
_EC_ErrSta
_EC_PktMonStop
_EC_PktSaving
_Card1Ready
WORD
BOOL
BOOL
BOOL
Constant
Internal
Variables
External
Variables
Variable Data type Comment
Built-in EtherCAT Error
Packet Monitoring Stopped
Saving Packet Data File
SD Memory Card Enabled Flag