Function ecat_get

Function that returns the NMT operating mode of the EtherCAT line indicated.

Syntax

i32 ecat_get_state (i32 nEth)

nEth

EtherCAT line number

Result

Returns:

Value	Description
1	INIT
2	PREOPERATIONAL
4	SAFEOPERATIONAL
8	OPERATIONAL
-1	Illegal EtherCAT Line Index
-2	Ethernet port not configured EtherCAT

Validity

Rule, Task

Note

Examples

Example of use:

....

; Restart the Ethercat line on ETH 2

; force the line to INIT STATE

result = ecat_set_state(2, 1) ; set line 2 in init

if (result < 0)

alarm_set(UNABLE_TO_SET_ECAT, 0, 1)

return

endif

mt_wait(ecat_get_state(2) = 1 ) ; wait for line in init state

; ok now restart

result = ecat_set_state(2, 8) ; set line 2 in operational

if (result < 0)

alarm_set(UNABLE_TO_SET_ECAT, 0, 2)

return

endif

mt_wait(ecat_get_state(2) = 8 ) ; wait for line in operational state

...

NOTE: This example can only be used in the task, as the mt_wait() instruction is used.

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