11 EtherCAT Communication
The block library can be found for download in the ‘Service/Support’ area of
www.vipa.com at ‘Downloads è VIPA Lib’ as ‘Block library EtherCAT Communication -
SW90HS0MA’ . The library is available as packed zip file. As soon as you want to use
these blocks you have to import them into your project.
Ä
Chap. 5 ‘Include VIPA library’
page 69
11.1 SDO Communication
11.1.1 FB 52 - SDO_READ - Read access to Object Dictionary Area
With this block, you will have read access to the object directory of the EtherCAT slave
stations and EtherCAT master. The block operates asynchronously, that is, processing
covers multiple FB calls. Start the job by calling FB 52 with REQ = 1. The job status is
displayed via the output parameters BUSY and RETVAL. The record set transmission is
completed when the output parameter BUSY = FALSE. The error handling happens with
the parameters ERROR, ERROR_ID and RETVAL.
Parameters
Parameter Declaration Data type Description
REQ IN BOOL REQ = 1:
activates the SDO access at rising edge.
ID IN WORD Logical base address of the EtherCAT slave station respec-
tively master in the hardware configuration.
With an output module bit 15 must be set (example for
address 5: ID:=DW#16#8005). With a combination module
you have to set the lower one of the two addresses.
INDEX IN WORD Index of the object for the SDO access.
SUBINDEX IN BYTE Sub index of the object for the SDO access.
COMPL_ACCESS IN BOOL This parameter defines whether only a single sub-index, or
the entire object is to be read.
MLEN IN INT Maximum length of the data to be read.
VALID OUT BOOL indicates that a new record set was received and is valid.
BUSY OUT BOOL This parameter indicates the status of the SDO access.
BUSY = 1: SDO access is not yet terminated.
ERROR OUT BOOL ERROR = 1: A read error has occurred.
RETVAL OUT INT Return value (0 = OK)
ERROR_ID OUT DWORD Bus specific error code. If there was an error during the SDO
access, the SDO abort error code (EtherCAT error code) can
be found here.
LEN OUT INT Length of the read data.
RECORD IN_OUT ANY Area of the read data.
Block library "EtherCAT
Communication"
Description
VIPA SPEED7
EtherCAT Communication
SDO Communication > FB 52 - SDO_READ - Read access to Object Dictionary Area
HB00 | OPL_SP7 | Operation list | en | 18-30 238
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