SafetyParReadIndexData (FB)

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY

SafetyParReadIndexData (FB)

Description

Purpose of the function block is to read initial values for a single safety parameter OD index (all sub-indexes) from control unit.

Initial values are needed for safety parameter adjustment (see SafetyParCrcHandler (FB) & How to adjust safety parameters).

Parameter values are read with following sequence when i_Enable is set TRUE:

Read given OD index csv configurations
o_State is set to Processing if csv configuration and inputs are valid
Parameter sub-index values are read from safety control unit using CANopen CSDO according to csv configuration
If CSDO was successful, then sub-index values are updated to array given by application (i_pIndexData pointer)

If all values were read successfully, then o_State returns to Idle. Otherwise error code is returned.

o_AbortCode contains CANopen abort if any was encountered in SDO protocol.

Sequence and outputs can be reset by setting i_Enable to FALSE.

Limitations

Function block should be executed before adjusting safety parameter sub-index.

Note that parameter values are read as non-typed raw data (DWORD) and is intended for CRC handler purposes.

Inputs

Input variable name	Data type	Range	Description
i_Enable	BOOL		Read sequence is started when TRUE
i_pDevice	POINTER TO EPEC_CANopen.Device	≠ 0	Used CANopen device (e.g. ADR(G_CANopen_CAN1.Device))
i_pCSVData	POINTER TO CSVData	≠ 0	Pointer to struct array
i_CSVParCount	INT	> 0	Amount of parameters in csv data array
i_NodeID	BYTE	1..127	Node ID of the control unit
i_Index	WORD	Csv specific	OD index which is read
i_Timeout	TIME		SDO protocol transfer timeout
i_pIndexData	POINTER TO ARRAY[0..255] OF DWORD	≠ 0	Pointer to array where sub-index values are read

Outputs

Output variable name

Data type

Range

Description

o_State

SafetyParametersState

see enumeration

“Processing” while in progress,

returns to “Idle” if successful,

see enumeration for error codes

o_AbortCode

DWORD

CANopen SDO abort code

Errors

SafetyParametersState

Example code

Following example reads safety parameter index values for selected parameter index.

Selected parameter is determined in application / GUI.

Code template definitions:

/// CAN device

Device: EPEC_CANopen.Device;

Code template definitions:

///Number of parameters in network

G_NUMBER_OF_PARAMETERS_NETWORK1: INT := 91;

Code template definitions:

///Parameter CSV configuration parameters

G_NETWORK1_Parameters_CSVData: ARRAY[1..G_NUMBER_OF_PARAMETERS_NETWORK1] OF EPEC_PAR.CSVData;

Definitions:

parameterCsvData: EPEC_PAR.CSVData; // selected parameter config

indexData: ARRAY[0..255] OF DWORD; (*Values for whole safety parameter index*)

readIndexData: EPEC_PAR.SafetyParReadIndexData;

state: EPEC_PAR.SafetyParametersState;

Init:

parameterCsvData := G_NETWORK1_Parameters_CSVData[10]; // Selected parameter csv row

readIndexData(i_Enable := FALSE);

Code:

readIndexData(

i_Enable := TRUE,

i_pDevice := ADR(G_CANopen_CAN1.Device), // From code template

i_pCSVData := ADR(G_NETWORK1_Parameters_CSVData), // From code template

i_CSVParCount := G_NUMBER_OF_PARAMETERS_NETWORK1, // From code template

i_NodeID := parameterCsvData.Node,

i_Index := parameterCsvData.Index,

i_Timeout := T#1S,

i_pIndexData := ADR(indexData),

o_State => state,

);

IF state < EPEC_PAR.SafetyParametersState.Idle THEN

; // Application error handling

ELSIF state = EPEC_PAR.SafetyParametersState.Idle THEN

; // Values successfully read to indexData array

END_IF