EtherCAT Network Connect and Disconnect with LS_Connect and LS_Disconnect

The XMC must connect to the EtherCAT network to communicate with slave devices. This is done using the LS_Connect function block. No commands can be sent to the drives if they are not connected. The EtherCAT network can also be disconnected using the LS_Disconnect function block.

  • LS_Connect will return an error number if the EtherCAT network doesn’t match the project configuration.

  • The EtherCAT slave status flags won’t be active until LS_Connect is successfully executed.

  • Disconnecting the EtherCAT network will cause the status to stop updating.

The following examples can be found in the XMC_SingleAxis_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
Done Output Status that function block is done.
Busy Output Status that function block is working.
Error Output Status that there was an error executing the function block.
ErrorID Output Error Identification number.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
Done Output Status that function block is done.
Busy Output Status that function block is working.
Error Output Status that there was an error executing the function block.
ErrorID Output Error Identification number.

EtherCat Network View after executing LS_Connect

Structured Text Example

//Example of LS_Connect Function block to connect EtherCAT network

INST_LS_CONNECT(Execute:=Execute_Connect, ErrorID=>INST_LS_CONNECT.ErrorID);

EtherCAT Network View after executing LS_Disconnect

Structured Text Example

//Example of LS_Disconnect Function block to disconnect the EtherCAT network

INST_LS_DISCONNECT(Execute:=Execute_Disconnect, ErrorID=>INST_LS_DISCONNECT.ErrorID);

 

 

 

 

 

 

 

 

 

 

 

 

 

LM500