Get SDO Information via Ads
Get
SDO Information via Ads
2023
6/5 by Advan
[Foreword]
*Sdo
Information 資訊可以存在於Device description ESI file , 或從站中，若從站支援 SDO Info資訊時可透過此文件方式取得SDO Info，該資訊跟SDO 數值一樣存在於Slave μC , 透過Mailbox方式做傳遞。
*Sdo Info 為TwinCAT 本身即提供的功能(See
Device OD from online – via SDO Information )，但在應用端的說明文件參考並不多，此文件旨在說明如何藉由Ads 實現取得SDO Information的發展&測試紀錄，且ADS 能再透過AMS Router 方式存取，廣度得以擴展，讓應用端發展加添更多可能性。
*文件目的在說明如何從藉由應用端(Ads)實現取得sdo info 資訊，要點 & 實作紀錄，並說明基於此功能建置功能群之說明。
[Reference 參考文件]
ETG1000_6_V1i0i4_S_R_EcatALProtocols
5.6章 CoE coding
EtherCAT Automation Protocol 參考手冊的
https://download.beckhoff.com/download/Document/automation/twincat3/EAP_EN.pdf
[Command Overview]
|
SDO Command / related E_CoeCommand |
ADS Command |
Index |
Index |
Description & define |
|
SDO Read (CoE.SDO.Upload) eSdo_Read |
AdsRead() |
0xF302 |
Bit 16-31: Index |
SDO Upload request |
|
SDO Write (CoE.SDO.Download) / eSdo_Write |
AdsWrite() |
0xF302 |
Bit 16-31: Index |
SDO Download request |
|
SDO Information / eGetList_GetElementNumberInGroups eGetList_GetIndex_All eGetList_GetIndex_RxPDO eGetList_GetIndex_TxPDO eGetList_GetIndex_Backup eGetList_GetIndex_Setting |
AdsRead() |
0xF3FC |
Bit 16-31: List Type 0x0000 :依分類列出所有OD 數量 0x0001 :列出所有OD index List 清單 0x0002 :列出RXPDO OD index List 清單 0x0003 :列出TXPDO OD index List 清單 0x0004 :列出Backup OD index List 清單(資料停電保持群) 0x0005 :列出Setting OD index List 清單(參數設定群) |
SDO Information Get Object list (取得OD 列表數量 & Index資訊) 0x0000 Return Data Type : (List type) (OD Number INT[6])
(List
type) (OD Index INT[n])
|
|
SDO Information / eGetObjectDescription |
AdsRead() |
0xF3FD |
Bit 16-31: Index |
SDO Information Get Object Description (取得Object 敘述) Read the SDO description of the
complete object with the specified index Return Data Type : ST_SdoInfo_GetObjectDescriptionReply |
|
SDO Information / eGetEntryDescription |
AdsRead() |
0xF3FE |
Bit 16-31: Index |
SDO Information Get Entry Description Read the SDO description of the
individual entry with the specified subindex belonging to the object with the
specified index. Return Data Type : ST_SdoInfo_GetEntryDescriptionReply |
|
|
|
|
|
|
* UINT16[6]
mean 6 elements of UINT16 , eg..rData : ARRAY[0..5] OF UINT; (* PLC Coding *)
[API Overview]
FB_EcCoeSdoService
此功能塊類似 TcEtherCAT.lib
EcCoeSdoReadEx , EcCoeSdoWriteEx 並做個加強，在支援SDO Info support 的裝置中可以提供OD(Object
Dictionary)資訊的取得，其中功能包含
·
取得Object 數量 [eGetList_GetElementIndexNumber]
·
取得Object Index 清單 [eGetList_GetIndex_***]
eGetList_GetIndex_All // 取得全部元素的Index 清單
eGetList_GetIndex_RxPDO, // 取得RxPDO群裡元素的Index 清單
eGetList_GetIndex_TxPDO, // 取得TxPDO群裡元素的Index 清單
eGetList_GetIndex_Backup, // 取得Backup群裡元素的Index 清單
eGetList_GetIndex_Setting, // 取得Setting群裡元素的Index 清單
·
取得Object Description 資訊 [eGetObjectDescription]
回傳格式為ST_SdoInfo_GetObjectDescription
, 請參照下方說明
其內容資訊包含如下
Object index ; eDataType資料型別 ;
nMaxSubIndex
最大Subindex 號碼(若有) ;
ObjectCode定義(eg 7 :
Var => 則無Subindex , Subindex = 0 ) ;
以及Object Name.
·
取得Object Entry Description資訊 [eGetEntryDescription]
回傳格式為ST_SdoInfo_GetEntryDescription
, 請參照下方說明
其內容資訊包含如下
Object index ;
Object
SubIndex ; ValueInfo (定義上為Unit type/default/min/max 尚不確定含意)
eDataType資料型別 ;
nBitLen
資料長度Inbit ;
nObjectAccess
存取權限;
以及Object Name.
依上述功能，即可做後端建置，利用此功能塊建立CoE list，請參考[後記]的測試紀錄。
VAR_INPUT
sNetId :
T_AmsNetId; (*
AmsNetId of the EtherCAT master device.*)
eCommand :
E_CoeCommand ;
nSlaveAddr :
UINT; (* Address
of the slave device. , Assign 16#FFFF as Master interface *)
nSubIndex :
BYTE; (* Parameter for "eGetObjectDescription"
& "eGetEntryDescription"
command assign *)
nIndex :
UINT; (* Parameter for "eGetEntryDescription" command
assign *)
pDataStruct :
PVOID; (* Data pointer address *)
cbBufLen :
UDINT; (* Buffer size must
meet or >= request command return data type *)
bExecute :
BOOL; (* Function block execution is triggered by a rising edge
at this input.*)
tTimeout :
TIME := DEFAULT_ADS_TIMEOUT;
END_VAR
VAR_OUTPUT
bBusy :
BOOL;
bError :
BOOL;
nErrId :
UDINT;
nReturnLen :
UDINT; (* Actual return data len *)
END_VAR
TYPE E_CoeCommand :
(
(*
==== Sdo access request ===== *)
(*
ADS internal define Index group 0xF302
*)
eSdo_Read := 1, (* sdo download *)
eSdo_ReadCompleteAccess, (* assing 256 (0x100) to subindex as
complete access *)
eSdo_Write, (* sdo upload *)
eSdo_WriteCompleteAccess,
(*
==== Sdo Info access request ===== *)
(*
ADS internal define Index group 0xF3FC
*)
eGetList_GetElementIndexNumber :=10,
eGetList_GetIndex_All,
eGetList_GetIndex_RxPDO,
eGetList_GetIndex_TxPDO,
eGetList_GetIndex_Backup,
eGetList_GetIndex_Setting,
(*
ADS internal define Index group 0xF3FD
*)
eGetObjectDescription,
(*
ADS internal define Index group 0xF3FE
*)
eGetEntryDescription);
END_TYPE
[API/回傳資料導讀(Ads)]
列出OD 數量 & 並分類
SDO Information
Get Object list
/
eGetList_GetElementNumberInGroups
Return type 12byte(fix)
TYPE
ST_SdoInfo_GetElementNumberInGroup :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nNoOf_All : UINT; (* Number of object in list *)
nNoOf_RxPDO : UINT; (* Number of object category in RxPDO *)
nNoOf_TxPDO : UINT; (* Number of object category in TxPDO *)
nNoOf_Backup : UINT; (* Number of object category in Backup *)
nNoOf_Setting : UINT; (* Number of object category in Setting
*)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
列出 全部的Object Index number
SDO Information
Get Object list GetIndex_All
/
eGetList_GetIndex_All
Return type 2byte + NumberofElement * 2
TYPE
ST_SdoInfo_GetObjectList :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nObjectIndexArray :
ARRAY[0..nMaxListIndex] OF WORD; (* Object index array *)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
列出 屬RxPDO群裡的Object Index number
SDO Information
Get Object list GetIndex_RxPDO
/
eGetList_GetIndex_RxPDO
Return type 2byte + NumberofElement * 2
TYPE
ST_SdoInfo_GetObjectList :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nObjectIndexArray :
ARRAY[0..nMaxListIndex] OF WORD; (* Object index array *)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
列出 屬TxPDO群裡的Object Index number
SDO Information
Get Object list GetIndex_TxPDO
/
eGetList_GetIndex_TxPDO
Return type 2byte + NumberofElement * 2
TYPE
ST_SdoInfo_GetObjectList :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nObjectIndexArray :
ARRAY[0..nMaxListIndex] OF WORD; (* Object index array *)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
列出 屬Backup群(斷電記憶)裡的Object Index number
SDO Information
Get Object list GetIndex_Backup
/
eGetList_GetIndex_
Backup
Return type 2byte + NumberofElement * 2
TYPE
ST_SdoInfo_GetObjectList :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nObjectIndexArray :
ARRAY[0..nMaxListIndex] OF WORD; (* Object index array *)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
列出 屬Setting群裡的Object Index number
SDO Information
Get Object list GetIndex_Setting
/
eGetList_GetIndex_
Setting
Return type 2byte + NumberofElement * 2
TYPE
ST_SdoInfo_GetObjectList :
STRUCT
nListType : WORD; (* Like echo , same as request list *)
nObjectIndexArray :
ARRAY[0..nMaxListIndex] OF WORD; (* Object index array *)
END_STRUCT
END_TYPE
取得OD 敘述資訊
SDO Information
Get Object Description
/
eGetObjectDescription
Return type 6byte + Description String Length
TYPE
ST_SdoInfo_GetObjectDescription :
STRUCT
nIndex : WORD; (*
Return object index *)
eDataType : E_CoeSdoDataTypeCode; (* data type eNum *)
nMaxSubIndex : BYTE; (* max subindex of object(If have) *)
nObjectCode : BYTE; (* 2 Domain , 5 DefType , 6 DefStruce , 7 Var , 8 Array , 9 Record
*)
sName : T_OdInfoMaxString; (* STRING(63) object
description string *)
END_STRUCT
END_TYPE
//////////////////////////////////////////////////////////////////////////////
取得OD Entry敘述(取得OD 子元素/subindex敘述)
SDO Information
Get Entry Description
/
eGetEntryDescription
Return type 6byte + Description String Length
TYPE ST_SdoInfo_GetEntryDescription
:
STRUCT
nIndex : WORD; (* Return object index *)
nSubIndex : BYTE; (* Return object sub index *)
nValueInfo : BYTE; (* The value info includes which elements
are in the response:
Bit 0: reserved
Bit 1: reserved
Bit
2: reserved Bit 3: unit type
Bit
4: default value Bit 5: minimum value
Bit 6: maximum value
*)
eDataType : E_CoeSdoDataTypeCode;
nBitLen : UINT;
nObjectAccess : WORD; (*
Flag define R/W access right in Slave states , and support PDO mapping or not
Bit 0: read access in Pre-Operational
state
Bit 1: read access in Safe-Operational
state
Bit 2: read access in Operational state
Bit 3: write access in Pre-Operational
state
Bit 4: write access in Safe-Operational
state
Bit 5: write access in Operational state
Bit 6: object is mappable in a RxPDO
Bit 7: object is mappable in a TxPDO
Bit 8: object can be used for backup
Bit 9: object can be used for settings
Bit 10-15: reserved
*)
sName : T_OdInfoMaxString; (* Sub Index object description string *)
//////////////////////////////////////////////////////////////////////////////
TYPE E_CoeSdoDataTypeCode :
(
(* Don't move & define randomly
code define from ETG1000.6 table
64 , table 65 *)
Reserved0 := 0, (* 0 : test like elements not exist , > 0
elements exist *)
Type_BOOLEAN,
Type_INTEGER8,
Type_INTEGER16,
Type_INTEGER32,
Type_UNSIGNED8,
Type_UNSIGNED16,
Type_UNSIGNED32,
Type_REAL32,
Type_VISIBLE_STRING,
Type_OCTET_STRING,
Type_UNICODE_STRING,
Type_TIME_OF_DAY,
Type_TIME_DIFFERENCE,
Reserved14,
Type_DOMAIN,
Type_INTEGER24,
Type_REAL64,
Type_INTEGER40,
Type_INTEGER48,
Type_INTEGER56,
Type_INTEGER64,
Type_UNSIGNED24,
Reserved23,
Type_UNSIGNED40,
Type_UNSIGNED48,
Type_UNSIGNED56,
Type_UNSIGNED64,
Reserved28,
Type_GUID,
Type_BYTE,
Reserved31,
Reserved32,
Struct_PDO_MAPPING,
Reserved34,
Struct_IDENTITY,
Reserved36,
Struct_COMMAND_PAR,
Reserved38,
Reserved39,
Reserved40,
Struct_SYNC_PAR,
Reserved42,
Reserved43,
Reserved44,
Reserved45,
Reserved46,
Reserved47,
Type_BIT1,
Type_BIT2,
Type_BIT3,
Type_BIT4,
Type_BIT5,
Type_BIT6,
Type_BIT7,
Type_BIT8,
Reserved56,
Reserved57,
Reserved58,
Reserved59,
Reserved60,
Reserved61,
Reserved62,
Reserved63,
Type_ManufacturerSpecificComplexData_0x40,
Type_ManufacturerSpecificComplexData_0x41,
Type_ManufacturerSpecificComplexData_0x42,
Type_ManufacturerSpecificComplexData_0x43,
Type_ManufacturerSpecificComplexData_0x44,
Type_ManufacturerSpecificComplexData_0x45,
Type_ManufacturerSpecificComplexData_0x46,
Type_ManufacturerSpecificComplexData_0x47,
Type_ManufacturerSpecificComplexData_0x48,
Type_ManufacturerSpecificComplexData_0x49,
Type_ManufacturerSpecificComplexData_0x4A,
Type_ManufacturerSpecificComplexData_0x4B,
Type_ManufacturerSpecificComplexData_0x4C,
Type_ManufacturerSpecificComplexData_0x4D,
Type_ManufacturerSpecificComplexData_0x4E,
Type_ManufacturerSpecificComplexData_0x4F,
Type_ManufacturerSpecificComplexData_0x50,
Type_ManufacturerSpecificComplexData_0x51,
Type_ManufacturerSpecificComplexData_0x52,
Type_ManufacturerSpecificComplexData_0x53,
Type_ManufacturerSpecificComplexData_0x54,
Type_ManufacturerSpecificComplexData_0x55,
Type_ManufacturerSpecificComplexData_0x56,
Type_ManufacturerSpecificComplexData_0x57,
Type_ManufacturerSpecificComplexData_0x58,
Type_ManufacturerSpecificComplexData_0x59,
Type_ManufacturerSpecificComplexData_0x5A,
Type_ManufacturerSpecificComplexData_0x5B,
Type_ManufacturerSpecificComplexData_0x5C,
Type_ManufacturerSpecificComplexData_0x5D,
Type_ManufacturerSpecificComplexData_0x5E,
Type_ManufacturerSpecificComplexData_0x5F);
END_TYPE
(*
==================
Basic Data Type Area ==================
0001 DEFTYPE BOOLEAN
0002 DEFTYPE INTEGER8
0003 DEFTYPE INTEGER16
0004 DEFTYPE INTEGER32
0005 DEFTYPE UNSIGNED8
0006 DEFTYPE UNSIGNED16
0007 DEFTYPE UNSIGNED32
0008 DEFTYPE REAL32
0009 DEFTYPE VISIBLE_STRING
000A DEFTYPE OCTET_STRING
000B DEFTYPE UNICODE_STRING
000C DEFTYPE TIME_OF_DAY
000D DEFTYPE TIME_DIFFERENCE
000E Reserved
000F DEFTYPE DOMAIN
0010 DEFTYPE INTEGER24
0011 DEFTYPE REAL64
0012 DEFTYPE INTEGER40
0013 DEFTYPE INTEGER48
0014 DEFTYPE INTEGER56
0015 DEFTYPE INTEGER64
0016 DEFTYPE UNSIGNED24
0017 Reserved
0018 DEFTYPE UNSIGNED40
0019 DEFTYPE UNSIGNED48
001A DEFTYPE UNSIGNED56
001B DEFTYPE UNSIGNED64
001C Reserved
001D DEFTYPE GUID
001E DEFTYPE BYTE
001F-002C Reserved
002D DEFTYPE BitARR8
002E DEFTYPE BITARR16
002F DEFTYPE BITARR32
==================
Extended Data Type Area ==================
0020 Reserved
0021 DEFSTRUCT PDO_MAPPING
0022 Reserved
0023 DEFSTRUCT IDENTITY
0024 Reserved
0025 DEFSTRUCT COMMAND_PAR
0026-0028 Reserved
0029 DEFSTRUCT SYNC_PAR
002A-002F Reserved
0030 DEFTYPE BIT1
0031 DEFTYPE BIT2
0032 DEFTYPE BIT3
0033 DEFTYPE BIT4
0034 DEFTYPE BIT5
0035 DEFTYPE BIT6
0036 DEFTYPE BIT7
0037 DEFTYPE BIT8
0038-003F Reserved
0040-005F DEFSTRUCT Manufacturer Specific Complex Data Types
0060-007F DEFTYPE Device Profile 0 Specific Standard Data Types
0080-009F DEFSTRUCT Device Profile 0 Specific Complex Data Types
00A0-00BF DEFTYPE Device Profile 1 Specific Standard Data Types
00C0-00DF DEFSTRUCT Device Profile 1 Specific Complex Data Types
00E0-00FF DEFTYPE Device Profile 2 Specific Standard Data Types
0100-011F DEFSTRUCT Device Profile 2 Specific Complex Data Types
0120-013F DEFTYPE Device Profile 3 Specific Standard Data Types
0140-015F DEFSTRUCT Device Profile 3 Specific Complex Data Types
0160-017F DEFTYPE Device Profile 4 Specific Standard Data Types
0180-019F DEFSTRUCT Device Profile 4 Specific Complex Data Types
01A0-01BF DEFTYPE Device Profile 5 Specific Standard Data Types
01C0-01DF DEFSTRUCT Device Profile 5 Specific Complex Data Types
01E0-01FF DEFTYPE Device Profile 6 Specific Standard Data Types
0200-021F DEFSTRUCT Device Profile 6 Specific Complex Data Types
0220-023F DEFTYPE Device Profile 7 Specific Standard Data Types
0240-025F DEFSTRUCT Device Profile 7 Specific Complex Data Types
0260-07FF Reserved
0x800
to 0xFFF. The Enumerated Data Type
Area
*)
在使用FB_EcCoeSdoService 讀取CoEList 的所遇到的問題紀錄，將推敲測試結果整理如下。
·
對於不存在的元素做Data read/write，可能會收到 0x703, 0x705,0x706 的回傳碼，在TwinCAT
log 會顯示SDO Abort codes，可否直接取得Ads abort code 仍然未知.(Same as Emergency message)
2023 8/1 更新=========================
Ads abort code 可藉由 TcEtherCAT.lib 的FB_EcGetLastProtErrInfo 取得，如下圖
Further
test
ADS CoE Write OD to a ReadOnly
obj (WriteLen > Obj Len)
ADS return code 0x070D ADSERR_DEVICE_SYNTAX Syntax error in file or command.
FB_EcGetLastProtErrInfo 取得16#06070010
EC_COE_PROTERR_DATA_SIZE : UDINT := 16#06070010; (* Data type
does not match, length of service parameter does not match *)
ADS CoE Write OD to a ReadOnly obj (WriteLen = Obj Len)
ADS return code 0x0704 ADSERR_DEVICE_INVALIDACCESS Reading or writing not permitted.
FB_EcGetLastProtErrInfo 取得16#06010002
EC_COE_PROTERR_READONLY : UDINT := 16#06010002; (* Attempt to
write a read only object. *)
但尚無法取得Emergency
message (無異常碼，回傳值為零)。
=====================================================
·
對於eNum 列舉型別的內容，不知道如何取得eNum 文字內容。
·
對於含subIndex 的Object , 其Sub內容在記憶體的offset不知道如何取得。(即無法使用 Complete Access 做Read/Write(Upload/Download))
·
Subindex 不一定是連續的，過程Subindex可能會中斷，但都是從小到大做排列。
·
承上，eGetObjectDescription 中所取得的nMaxSubIndex 代表的是最大的Sub IndexID，不一定就是Subindex數量，實際數量要從Object 的Entry[0].Data中取得。
·
Entry.Data 存取，需考慮 nObjectAccess之權限屬性。
·
Subindex 存在與否，可由下列方式判斷，
DataType <> 0
BitLen > 0
·
承上，即便Subindex
存在，測起來並不代表可以Access Entry[0].Data，有些場合nMaxSubIndex 數值是大的，Entry 屬性也都符合(DataType
<> 0, & BitLen > 0)，但符合的元素可能會大於Entry[0].Data 的數值，在此條件下，最大僅能Access Entry[n].Data 此時 n = Entry[0].Data. 如下圖
[應用場景]
· 針對附CoE裝置從站，參數備份&復原功能 發展成為可能(Setting 群)。
· Bridge & Getway 裝置偵測對向的Config Data 成為可能。
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