Global Variables¶
Communication states of the ETHERCAT master, can be read with the Function Block ECAT_STATE
| ECAT_MASTER_COM_STATE_UNKNOWN: | DWORD:=16#00000000; | Communication State “UNKNOWN” of the ETHERCAT master |
| ECAT_MASTER_COM_STATE_NOT_CONFIGURED: | DWORD:=16#00000001; | Communication State “NOT CONFIGURED” of the ETHERCAT master |
| ECAT_MASTER_COM_STATE_STOP: | DWORD:=16#00000002; | Communication State “STOP” of the ETHERCAT master |
| ECAT_MASTER_COM_STATE_IDLE: | DWORD:=16#00000003; | Communication State “IDLE” of the ETHERCAT master |
| ECAT_MASTER_COM_STATE_OPERATE: | DWORD:=16#00000004; | Communication State “OPERATE” of the ETHERCAT master |
Flags for the attribute selection of the SERCOS objects\
| ECAT_SOE_ELEMENT_FLAGS_DATASTATE: | BYTE := 16#01; | State of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_NAME: | BYTE := 16#02; | Name of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_ATTRIBUTE: | BYTE := 16#04; | Attribute of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_UNIT: | BYTE := 16#08; | Unit of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_MIN: | BYTE := 16#10; | Minimum value of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_MAX: | BYTE := 16#20; | Maximum value of the selected Sercos ID |
| ECAT_SOE_ELEMENT_FLAGS_VALUE: | BYTE := 16#40; | Current value of the selected Sercos ID |
State values of the ETHERCAT state machine
| ECAT_STATE_MACHINE_STATE_INIT: | BYTE := 16#01; | INIT state in the ETHERCAT state machine |
| ECAT_STATE_MACHINE_STATE_PREOP: | BYTE := 16#02; | PREOPERATIONAL state in the ETHERCAT state machine |
| ECAT_STATE_MACHINE_STATE_SAFEOP: | BYTE := 16#04; | SAFEOPERATIONAL state in the ETHERCAT state machine |
| ECAT_STATE_MACHINE_STATE_OP: | BYTE := 16#08; | OPERATIONAL state in the ETHERCAT state machine |