Enable FSoE requires an EtherCAT status OP FSoE-Master Connection x Adress of FSoE_SlaveCommand FSoE-Master Connection x Adress of FSoE_Slave_DATA1 FSoE-Master Connection x Adress of FSoE_Slave_CRC Reset Logbook FSoE is OK no error FSoE-Error activ FSoE Errortext FSoE-Error Counter FSoE-CycleTime in ms---------------------------------------------------------------------------------------------------------------------------------------
Short description:
The function block can be used to perform an error analysis of FSoE communication
Version: 1.05
Name: DC-AE/STS2 Dirk Asendorf
Date: 2024.07.01
Company: Bosch-Rexroth AG
---------------------------------------------------------------------------------------------------------------------------------------
Target: ctrlX CORE (EtherCat)
Needs: SAFEX Firmware > 1.0.1.28 / FPGA 211
ctrlx SAFETY Engineering > 1.7.1.8239
EtherCAT
History
---------------------------------------------------------------------------------------------------------------------------------------
Dirk Asendorf | 01.07.2024 | Version 1V05
- New Function FSoE CycleTime measurement
- New Function Logbook with TimeStamps
Dirk Asendorf | 25.03.2024 | Version 1V04
- recreation
---------------------------------------------------------------------------------------------------------------------------------------
Functional Description:
The function block can be used to perform an error analysis of FSoE communication between an FSoE master and an FSoE slave in the PLC.
The function block monitors the command of an FSoE connection. If the command has the value 54, the following data is correct.
If the command has the value 42, the following data contains an error code.
---------------------------------------------------------------------------------------------------------------------------------------IF EtherCAT_State_OP THEN // FSoE requires an EtherCAT status OP
R_TRIG_FSoE_Error(CLK:= bFSoE_Error, Q=> );
R_TRIG_CRC_Change(CLK:=wFSoE_Slave_CRC_OLD <> wFSoE_Slave_CRC , Q=> );
R_TRIG_ErrorChange(CLK:= strErrorOld <> strError, Q=> );
dtDateTime:= IL_DateAndTime(TRUE);
IF R_TRIG_CRC_Change.Q THEN
tTime:= TIME();
diFSoE_CycleTime:= TO_DINT(tTime - tTimeOld);
END_IF
IF R_TRIG_FSoE_Error.Q OR R_TRIG_ErrorChange.q THEN
arErrorLog[uiIndex]:= strError;
arErrorLogDateTime[uiIndex]:= dtDateTime;
IF uiIndex < 30 THEN
uiIndex:= uiIndex + 1;
ELSE
uiIndex:= 0;
END_IF
END_IF
IF byFSoE_Slave_CMD = 42 THEN // FSoE command 42 means FSoE error
CASE byFSoE_Slave_DATA1 OF
0: strError:= 'Local reset or acknowledgement of a RESET command';
1: strError:= 'Unexpected command (INVALID_CMD)';
2: strError:= 'Unknown command (UNKNOWN_CMD)';
3: strError:= 'Invalid connection ID (INVALID_CONNID)';
4: strError:= 'CRC error (INVALID_CRC)';
5: strError:= 'Watchdog has expired (WD_EXPIRED)';
6: strError:= 'Invalid FSoE Slave Address (INVALID_ADDRESS)';
7: strError:= 'Invalid safety data (INVALID_DATA)';
8: strError:= 'Invalid communication parameter length (INVALID_COMMPARALEN)';
9: strError:= 'Invalid communication parameter data (INVALID_COMPARA)';
10: strError:= 'Invalid application parameter length (INVALID_USERPARALEN)';
11: strError:= 'Invalid application parameter data (INVALID_USERPARA)';
END_CASE
bFSoE_Error:= TRUE;
bFSoE_OK:= FALSE;
ELSIF byFSoE_Slave_CMD = 54 THEN //FSoE is OK
bFSoE_Error:= FALSE;
bFSoE_OK:= TRUE;
strError:= '';
END_IF
IF R_TRIG_FSoE_Error.Q THEN
uiFSoE_ErrorCounter:= uiFSoE_ErrorCounter + 1;
END_IF
IF bReset THEN
uiFSoE_ErrorCounter:= 0;
arErrorLog:= arErrorLogReset;
arErrorLogDateTime:= arErrorLogDateTimeReset;
uiIndex:= 0;
END_IF
wFSoE_Slave_CRC_OLD:= wFSoE_Slave_CRC;
tTimeOld:= tTime;
strErrorOld:= strError;
END_IF
db8cc508-ad9a-47cb-aeac-be73b1142a4c