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dipen_95

1S Servo EtherCAT Communication Error bit

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In our safety section of the PLC program we always implement something called heartbeat logic where we monitor the communication for all the connected device. I am trying to locate Servo CommFault inside Axis Structure of 1s Servo but no luck. I may be looking at the wrong place.

Can anyone guide me the right place to look at or maybe a FB capable of doing it. 

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In the axis structure there are many bits coming back from the actual amplifier.  Anything in the DRVSTATUS section of the structure is boolean signals from the amp.  In the ACT section of the structure the position, velocity, and torque are feedback form the amp as well.

For communication loss, you should look more at the EtherCAT master and it's system variables, such as _EC_SlaveErrTable[x] where X is the node number of the amplifier.  That's a word error status for the node.  Also consider _EC_CommErrTable[x], which is a communication status bit for each node.

All system variables are in the Help menu under System Defined Variable Reference.

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