Communication Protocols
Copyright IXXAT Automation GmbH
117
IEM Manual, 1.5
o
Set extended error 1 = COM_k_INVALID_DATA
o
Set extended error 2 = 0
ABORTIDX_GENERAL_ERROR
(value = 0x16)
Note: Extended error codes can be used with read access on host data
o
Set extended error 1 = COM_k_INVALID_DATA
o
Set extended error 2 = 0
ABORTIDX_DATA_CANNOT_BE_READ_OR_STORED
(value = 0x17)
Note:
Extended error codes can be used with read access on host data
o
Set extended error 1 = COM_k_INVALID_DATA
o
Set extended error 2 > 0
ABORTIDX_IN_THIS_STATE_DATA_CANNOT_BE_READ_OR_STORED
(value
= 0x19)
Invalid access rights in the actual state
5.3.10 Protocol specific state handling
State changes to SAFEOP and OP can be forced to be acknowledged by the
application using the protocol enable/disable command. The acknowledge re-
quest is only valid for the next transition and has to be reconfigured if needed
again.
5.3.11 Protocol specific events
Protocol specific events can be used to trigger the application. They have to
be registered at the protocol specific implementation like this:
// register protocol specific callback
e_ret = EMI_evtEventRegister(APP_d_BrdRef,
((UINT32)COM_k_PROT_ETHERCAT << 24) | (UINT16)k_ETHERCAT_EVT,
EtherCAT_EventClbk,TRUE);
Figure 5-26: Registering protocol specific event
The following protocol specific events
k_ETHERCAT_EVT
are available:
COM_k_ECT_ESC_PREOP
State transition to mailbox data exchange. Writing PDO mapped objects
by SDO is enabled.
COM_k_ECT_ESC_SAFEOP
State transition to cyclic input process data exchange. The safe state of
output process data values is set.
