Access TwinCAT EtherCAT CoE / SoE Object via ADS

如標題 範例如下                                                                                       by Advan 2021 11/23

·         Access Device CoE Object 0xA070:01 from EtherCAT address 1003

Target NetID      : Adapter net ID.

ADS port            : 0x3EB(1003)  Slave EtherCAT Address.

IndexGroup       : 0xF302 CoE Access

IndexOffset       : Index(High 16bit) & Obj sub Index(Low 16bit)

 

 

 

·    ·              Access EtherCAT Master CoE Object

For TwinCAT  EtherCAT Master CoE object , We no longer to use FB_EcCoeSdoRead to access these object , We can only access these object via ADS by following route.

·         Target NetID      : Adapter net ID.

·         ADS port              : 0xFFFF (65535) EtherCAT Master

·         IndexGroup       : 0xF302 CoE Access

·         IndexOffset       : Index(High 16bit) & Obj sub Index(Low 16bit)

 

 

·        ·         Access Device SoE Object(IDN)  from EtherCAT address 1003

Target NetID      : Adapter net ID.

ADS port              : 0x3EB(1003)  Slave EtherCAT Address.

IndexGroup       : 0xF420 SoE Access

nOffset:=SHL(BYTE_TO_DWORD(nDriveNo AND 16#07),24) OR SHL( BYTE_TO_DWORD(nElement), 16) OR nIdn;

IndexOffset       : nOffset;

 

* Hint For CoE Complete Access , assign subIndex to 0x0100 (256) 

* For CoE Complete Access , Can use ADSREADEX/ADSWRTEX.COUNT_R to get actual access length.

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