TwinCAT3中通过PLC修改Coe参数的例程

 1 FUNCTION_BLOCK CoeSet
 2 VAR_INPUT
 3     bExecute   : BOOL; (* rising edge starts writing to the CoE Object *) 
 4 END_VAR
 5 
 6 VAR_OUTPUT
 7     bError     : BOOL;    
 8     nErrId     : UDINT;
 9 END_VAR
10 
11 VAR
12     fbSdoWrite             : FB_EcCoESdoWrite;    
13     sNetId                 : T_AmsNetId := '169.254.208.225.3.1'; (* NetId of EtherCAT Master *)
14     
15     nSlaveAddr_1         : UINT := 1002; (* Port Number of EtherCAT Slave *)    
16     nMaxCurrent             : WORD := 16#8010; (* CoE Object Index *) 
17     nMaxCurrentSubIndex     : BYTE := 1; (* Subindex of CoE Object *)    
18     valueMaxCurrent_1         : UINT := 800; (* variable to be written to the CoE Object *)   //注意数据类型，在Coe中具体查看
19 END_VAR

 1 fbSdoWrite(
 2     sNetId     := sNetId,
 3     nSlaveAddr := nSlaveAddr_1,
 4     nIndex     := nMaxCurrent,
 5     nSubIndex  := nMaxCurrentSubIndex,
 6     pSrcBuf    := ADR(valueMaxCurrent_1),
 7     cbBufLen   := SIZEOF(valueMaxCurrent_1),
 8     bExecute   := bExecute
 9 );
10 
11 
12 IF NOT fbSdoWrite.bBusy THEN
13     bExecute := FALSE;
14     IF NOT bError THEN 
15         (* write successful *)
16         bError := FALSE;
17         nErrId := 0;
18     ELSE 
19         (* write failed *)
20         bError := fbSdoWrite.bError;
21         nErrId := fbSdoWrite.nErrId;
22     END_IF
23 
24     fbSdoWrite(bExecute := FALSE);
25 END_IF

1 PROGRAM MAIN
2 VAR
3     coe:CoeSet;
4     bExcuteCOE  : BOOL;
5     bResError    : BOOL;    
6     nResErrId   : UDINT;
7 END_VAR

coe(bExecute:=bExcuteCOE,bError=>bResError,nErrId=>nResErrId);