UniStream controller models that can support a Unitronics EtherCAT master module can exchange data with third-party EtherCAT slave devices.
A single UniStream can support a total of 32 EtherCAT nodes. This includes any EtherCAT Servo drives, and EtherCAT Remote URB adapters, as well as third-party EtherCAT devices.
You can exchange data via SDO requests and PDOs, via the slave's I/O struct.
Definition Files: Slaves Library
UniLogic imports the EtherCAT definition files from the Slaves Library.
To populate the library:
In the Solution Explorer, select PLC Communications > Protocols> EtherCAT> I/O.
Click the Open Slave Library icon to open the library location; place your Slave definition files here.
Click the Refresh icon to view the files in the Toolbox.
Using Third-party devices in your application
To begin, include an EtherCAT Master Module in your application:
In the Solution Explorer, select Hardware Configuration>Uni-I/O and Uni-COM, and add an EtherCAT Master module.
Drag & drop or double-click your devices to include them in your project.
Note that UniLogic adds a struct for each device.
Click a slave device you have added in order to see its Properties; you can click to edit PDO mapping, and view its SDO Mapping.
Use the EtherCAT SDO functions described below to communicate data.
When you include an SDO FB in your project you assign a tag for the struct name.
The parameters in these structs are read-only.
 |
SDO FBs
|
EtherCAT Write SDO
|
|
Parameter Name |
Purpose |
|
A |
EtherCAT I/O Struct |
Select the device you are using |
|
B |
Execute |
Rising Edge Triggers FB |
|
C |
SDO Index |
Contains the Index to write to |
|
D |
SDO sub-index |
Contains the Sub-Index to write to |
|
E |
Number of bytes to write |
Bytes to write |
|
F |
Value to Write |
Contains the value to write |
|
G |
Status |
0 = Success 1 = in_progress -1 = internal error -4 = not connected -5 = value overflow ( can write up to 4 bytes) -11 = null_pointer -12 = out_of_memory -13 = invalid_service_ref -14 = service_without_sdo -15 = resolve_ident -16 = data -17 = invalid_size |
EtherCAT SDO Read
|
|
Parameter Name |
Purpose |
|
A |
EtherCAT I/O Struct |
Select the device you are using |
|
B |
Execute |
Rising Edge Triggers FB |
|
C |
SDO Index |
Contains the Index to read from |
|
D |
SDO sub-index |
Contains the Sub-Index to read from |
|
E |
Number of bytes to Read |
Number of bytes to copy |
|
F |
Status |
0 = Success 1 = in_progress -1 = internal error -2 = queue full (too many read requests) queue full (too many read requests)-11 = null_pointer -12 = out_of_memory -13 = invalid_service_ref -14 = service_without_sdo -15 = resolve_ident -16 = data -17 = invalid_size |
|
G |
Value to read |
Function will store the value here |
EtherCAT Master Module Struct
This is a system struct.
|
Parameter Name |
Data Type |
|
|
USB Flash Inserted |
BIT |
Is ON when there is a DOK in the modules USB port |
|
Module Connected |
BIT |
Turns ON when the module is physically connected to CPU |
|
Module Ready |
BIT |
Startup complete, Module is ready to start communication with the CPU |
|
Module Type |
UINT8 |
Value indicates Module type: 0 = UAC-02EC2 |
|
Initialization Status |
UINT32 |
Status indications: 0 = Not initialized 3 = Topology Mismatch: the order of the EtherCAT elements in the project' Hardware Configurations does not match the order in which they are physically connected to the controller 5 = Initialized successfully Other codes= Internal |
|
Current Firmware Version |
STRING-ASCII |
Indicates the firmware version currently installed in the module. |
|
Inserted Image Version |
STRING-ASCII |
Indicates the firmware version on the connected DOK |
|
Average cycles between diagnostics packages |
UINT32 |
Statistics |
|
Average time between diagnostics packages |
UINT32 |
Statistics |
|
PI Send Errors Count |
UINT32 |
Statistics |
|
PI Receive Errors Count |
UINT32 |
Statistics |
|
Wrong Working Counter Frames |
UINT32 |
Statistics |
|
Slave Response Time; |
UINT32 |
Statistics |
|
Light all LEDs up |
BIT |
Internal |
|
Average Cycle Time |
UINT32 |
Internal |
|
Min Cycle Time |
UINT32 |
Internal |
|
Max Cycle Time |
UINT32 |
Internal |
|
Communication Active |
BIT |
ON when communication between CPU and module is ok |
|
Diagnostics Mode |
BIT |
ON when module is in motion diagnostics mode |
|
Reserved |
UINT32f0...821 |
|
|
Master Bus OK |
BIT |
ON when Bus is OK |
|
Mandatory> slave is in wrong state |
BIT |
|
|
Mandatory slave is offline |
BIT |
|
|
Hot-connect slave is in wrong state |
BIT |
|
|
Hot-connect slave is offline |
BIT |
|
|
ViolationTimeCntr |
UINT32 |
Internal |
|
EtherCat master state |
UINT32 |
Internal |