CODESYS Forge - CODESYS Forge / Talk / Engineering 🇬🇧: Device diagnosis ( EtherCAT IO card )

andre-luis - 2025-02-06

Hi,

In our project, it is not rare to have I/O cards issues.
I wanted to have a way to check their statuses ( Eg. INIT, OP, PREOP, etc.. )

I was trying to use the GetDeviceDiagnosisInfo method from the IoConfig_Globals, but there is no info available on the Web with a simple example; does someone have a link to some tutorial or anything else ?

Kind Regards,
Andre.

If you would like to refer to this comment somewhere else in this project, copy and paste the following link:

You can get the state by just using the name of your node (same name as in device tree):

VAR
    etcState: IoDrvEthercatDriverLib.ETC_SLAVE_STATE;
END_VAR

etcState := EJ1100.wState;

Alternatively, you can iterate through the device tree to get the status of all (Ethercat) nodes. See here an example (no guarantee it works, just give as suggestion):

PROGRAM P_IO_State
VAR CONSTANT
    uiMAX_NR_OF_TERMINALS : UINT := 100;
END_VAR
VAR
    // general device diagnosis
    // can only be used when the Device - PLC Settings - Advanced settings - enable diagnosis for devices is enabled
    // this will add the DED library
    coupler: DED.INode;
    terminal: DED.INode;
    aDeviceState: ARRAY[0..uiMAX_NR_OF_TERMINALS - 1] OF DED.DEVICE_STATE;

    uiTerminalCount : UINT;
    uiIndex : UINT;

    // for each terminal check if it implements device diagnostics
    xQueryResult: BOOL;
    itfDevice : DED.IDevice2;
    xDiagAvailable: BOOL;
    eError: DED.ERROR;

    xEverythingOK: BOOL;
END_VAR

uiTerminalCount := 0;
// start at the top of the device tree with the first EtherCAT coupler
coupler := EtherCAT_Master.FirstChildNode;
WHILE coupler <> 0 DO
    // for each coupler that is found start at the first terminal
    terminal := coupler.FirstChildNode;
    WHILE terminal <> 0 AND uiTerminalCount < uiMAX_NR_OF_TERMINALS - 1 DO
        // for each terminal that is found get the status through the device diagnosis interface
        xQueryResult := __QUERYINTERFACE(terminal, itfDevice);
        IF xQueryResult THEN
            aDeviceState[uiTerminalCount] := itfDevice.GetDeviceState(xDiagnosisInfoAvailable => xDiagAvailable, eError => eError);
            uiTerminalCount := uiTerminalCount + 1;
        END_IF
        terminal := terminal.NextSiblingNode;
    END_WHILE
    coupler := coupler.NextSiblingNode;
END_WHILE

uiIndex := 0;
xEverythingOK := TRUE;
WHILE uiIndex < uiTerminalCount DO
    IF aDeviceState[uiIndex] <> DED.DEVICE_STATE.RUNNING THEN
        xEverythingOK := FALSE;
        EXIT;
    END_IF
    uiIndex := uiIndex + 1;
END_WHILE

Hi @TimvH,

In the meantime, I did some experiments and could find a way to achieve similar result.
I made some tests, removing the last card from the array, seeing the change on status.

PROGRAM P_IOS_STATUSES
VAR
    devStateInput               :   DEVICE_STATE;
    devStateOutput              :   DEVICE_STATE;
    devStateEncoder             :   DEVICE_STATE;
END_VAR
    devStateInput   :=  IoConfig_Globals.EL1819.GetDeviceState();
    devStateOutput  :=  IoConfig_Globals.EL2809.GetDeviceState();
    devStateEncoder :=  IoConfig_Globals.EL5151.GetDeviceState();

    GVL.bInputCardOK        :=  ( devStateInput = DEVICE_STATE.RUNNING );
    GVL.bOutputCardOK       :=  ( devStateOutput = DEVICE_STATE.RUNNING );
    GVL.bEncoderCardOK      :=  ( devStateEncoder = DEVICE_STATE.RUNNING );

Many thanks for your quick and extensive reply.

Hi,
I'll link to the topic not wanting to start a new one.
In the application I am building, I wanted to use the diagnostics described in the CAA Device Diagnosis library.
In principle, everything is ok, except for the elements related to ModbusTCP.
Despite the fact that ModbusTCP is taken into account in the documentation, it is not recognised via the interfaces.

FUNCTION_BLOCK NET_HW_DIAG
VAR_INPUT
END_VAR
VAR_OUTPUT
END_VAR
VAR
    (* Referencja do struktury z danymi dla HMI ASTRAADA.*)
        Visu: REFERENCE TO VISU;

    (* Wskaźnik na mastera EtherCAT.*)
        pEtherCATMaster : POINTER TO IoDrvEtherCAT;
    (* Wskaźnik na slave EtherCAT.*)
        pEtherCATSlave : POINTER TO EtcSlave;

    (* Interfejs dla węzła w drzewie urządzeń.*)
        _itfNode: DED.INode;
    (* Ogólny interfejs magistrali. Zapewnia podstawowe informacje o magistrali polowej.*)
        _itfBus: DED.IBus;
    (* Interfejs urządzenia. Zapewnia rozszerzone informacje o urządzeniu (magistralowym).*)
        _itfDevice2: DED.IDevice2;
    (* Ogólny interfejs magistrali. Zapewnia podstawowe informacje o magistrali polowej.*)
        _itfStack: DED.IStack;


    (* Numer węzła w drzewie urządzeń.*)
        uiNodes: UINT;
    (*
        Operator jest rozszerzeniem normy IEC 61131-3.
        W czasie wykonywania operator wykonuje konwersję typu odwołania do interfejsu na inny typ.
        Operator zwraca wynik BOOL. Wartość TRUE oznacza, że CODESYS pomyślnie wykonał konwersję.
    *)
        xQueryResultBus: BOOL;
        xQueryResultDevice2: BOOL;
        xQueryResultStack: BOOL;

    (* Struktura danych dotyczących węzłów w drzewie urządzeń.*)
        NetHwDiag: NW_HW_STAT;

    ModbusTcpClientDeviceInfo: IoDrvModbusTCP.DED.DEVICE_INFO;
    ModbusTcpClientDeviceState: IoDrvModbusTCP.DED.DEVICE_STATE;
    ModbusTcpDeviceInfo: IoDrvModbusTCP.DED.DEVICE_INFO;
    ModbusTcpDeviceState: IoDrvModbusTCP.DED.DEVICE_STATE;

END_VAR

(* Pobranie wskaźników dla pierwszego mastera i pierwszego slave w sieci EtherCAT.*)
    pEtherCATMaster := g_pFirstMaster;
    pEtherCATSlave := pEtherCATMaster^.FirstSlave;

(* Diagnostyka sieci EtherCAT.*)
    pEtherCATMaster := g_pFirstMaster;
    pEtherCATSlave := pEtherCATMaster^.FirstSlave;
    NetHwDiag.xConfigFinished := pEtherCATMaster^.xConfigFinished;
    NetHwDiag.xDistributedClockInSync := pEtherCATMaster^.xDistributedClockInSync;
    NetHwDiag.xError := pEtherCATMaster^.xError;
    NetHwDiag.xSyncInWindow := pEtherCATMaster^.xSyncInWindow;
    NetHwDiag.sLastMessage := pEtherCATMaster^.LastMessage;
    NetHwDiag.LastError := pEtherCATMaster^.LastError;

(* Diagnostyka drzewa urządzeń.*)
    uiNodes := 0;
    _itfNode := DED.GetRoot();

    REPEAT
        NetHwDiag.asDeviceName[uiNodes] := DED.GetDeviceNameString(itfNode := _itfNode);


        xQueryResultBus := __QUERYINTERFACE(_itfNode,_itfBus);
        IF xQueryResultBus THEN
            _itfBus.GetBusInfo(buiInfo := NetHwDiag.aBusInfo[uiNodes]);
            NetHwDiag.aBusState[uiNodes] := _itfBus.GetBusState();
        END_IF

        xQueryResultDevice2 := __QUERYINTERFACE(_itfNode,_itfDevice2);
        IF xQueryResultDevice2 THEN
            _itfDevice2.GetDeviceInfo(deiInfo := NetHwDiag.aDeviceInfo[uiNodes]);
            NetHwDiag.aDeviceState[uiNodes] := _itfDevice2.GetDeviceState();
            IF pEtherCATSlave <>0 THEN
                pEtherCATSlave^();
                IF pEtherCATSlave^.SlaveAddr = NetHwDiag.aDeviceInfo[uiNodes].idSystem THEN
                    NetHwDiag.aAlStatus[uiNodes] := pEtherCATSlave^.ALStatus;
                    pEtherCATSlave := pEtherCATSlave^.NextInstance;
                END_IF
            END_IF
        ELSE
            xQueryResultStack := __QUERYINTERFACE(_itfNode,_itfStack);
            IF xQueryResultStack THEN
                _itfStack.GetDeviceInfo(deiInfo := NetHwDiag.aDeviceInfo[uiNodes]);
                NetHwDiag.aDeviceState[uiNodes] := _itfStack.GetDeviceState();
            END_IF
        END_IF

        uiNodes := uiNodes + 1;
        _itfNode := DED.GetNextNode(_itfNode);
    UNTIL
        _itfNode = 0
    END_REPEAT

(* Diagnostyka Modbus.*)
    Modbus_TCP_Client.GetDeviceInfo(deiInfo := ModbusTcpClientDeviceInfo);
    ModbusTcpClientDeviceState := Modbus_TCP_Client.GetDeviceState();
    PAC_3200T.GetDeviceInfo(deiInfo := ModbusTcpDeviceInfo);
    ModbusTcpDeviceState := PAC_3200T.GetDeviceState();

Of course, you can take the easy way out and refer directly to the devices, but I wanted a reusable component.

Any constructive help is very welcome
Best regards
Jonasz

DeviceTree.png

Forums

Help

Device diagnosis ( EtherCAT IO card )

Forums

Help

Device diagnosis ( EtherCAT IO card ) document.SUBSCRIPTION_OPTIONS = { "thing": "topic", "subscribed": false, "url": "subscribe", "icon": { "css": "fa fa-envelope-o" } };

Device diagnosis ( EtherCAT IO card )