EtherCAT从站重启及状态检测

(* 示例1 :检查单个从站状态 *)
VAR    
    nSlaveState:ETC_SLAVE_STATE;
    pSlave:POINTER TO ETCSlave;    
END_VAR

InoSV630N(xSetOperational:= TRUE, wState=> nSlaveState);

(* 示例2: 检查所有从站链接  *)

VAR_INPUT
    Check_En        :BOOL:=FALSE;//监测使能
    Check_Delay        :UINT:=30000;//监测延时，初始值30000ms
END_VAR
VAR_OUTPUT
    InitialConfigureDone    :BOOL;//ETC初始配置完成
    InitialConfigFail        :BOOL;//ETC初始配置失败
    SlaveError                :BOOL;//ETC从站错误
    SlaveErrorld            :UINT;//ETC最小站号
END_VAR
VAR
    i                        :UINT;
    VB_SlaveState            :BOOL;
    TON_0                    :TON;
    pSlave                    :POINTER TO ETCSlave;
    VB_SlaveError            :ARRAY[0..31] OF BOOL;
END_VAR

//----------------------------上电监测----------------------------
InitialConfigureDone    S=Check_En AND ethercat.xConfigFinished AND ethercat.xDistributedClockInSync AND NOT ethercat.xError;  //无EtherCAT总线时会报错
InitialConfigureDone    R=NOT Check_En;

InitialConfigFail        :=TON_0.Q ;
TON_0(IN:=Check_En AND NOT InitialConfigureDone, PT:=UINT_TO_TIME(Check_Delay) , Q=> , ET=> );

//--------------------------运行监测-------------------------------
IF InitialConfigureDone THEN
    SlaveError        R=TRUE;
    pSlave            :=ethercat.FirstSlave;
    i                :=1;
    WHILE pSlave <>0 DO
        pSlave^(); 
        IF pSlave^.wState =ETC_SLAVE_STATE.ETC_SLAVE_OPERATIONAL THEN
            VB_SlaveState:=FALSE;
        ELSE
            VB_SlaveState:=TRUE;
        END_IF
        VB_SlaveError[i]:=VB_SlaveState;
        SlaveError        S=VB_SlaveError[i];
        
        IF SlaveError THEN
            IF (SlaveErrorld>i OR SlaveErrorld=0) AND VB_SlaveError[i]=TRUE THEN
                SlaveErrorld:=i;
            END_IF
        ELSE
            SlaveErrorld:=0;
        END_IF
        pSlave:=pSlave^.NextInstance;
        i      :=LIMIT(0,i+1,31);
    END_WHILE
END_IF