Codesys閫氳繃绋嬪簭鍒ゆ柇EtherCAT缃戠粶鐘舵��

PROGRAM Pro_Motion
VAR
        pSlave         : POINTER TO ETCSlave;
        DiOverTime     : DINT; //瓒呮椂鏃堕棿
        DiMaxOverTime  : DINT; //鏈�闀挎椂闂�
        iNodeID        : INT ; //EtherCAT鑺傜偣
        iErrorNodeID   : INT ; //EtherCAT閿欒��鑺傜偣
END_VAR

{region 'Check EtherCAT Network'}
iNodeID := 1 ;
pSlave  := EtherCAT_Master_Leadshine_A.FirstSlave;//涓荤珯鍚嶇О
WHILE pSlave <> 0 DO
        pSlave^();
           IF pSlave^.wState = ETC_SLAVE_STATE.ETC_SLAVE_OPERATIONAL THEN
                iNodeID       := iNodeID + 1; iErrorNodeID := 0 ; 
                DiMaxOverTime := DiOverTime ;
        ELSE
                iErrorNodeID := iNodeID ;         
                DiOverTime   := DiOverTime + 1 ;
                EXIT ;
           END_IF ;
           pSlave := pSlave^.NextInstance;
END_WHILE ;
{endregion}