TwinCAT ADS bridge

Contents

TwinCAT ADS bridge
- Setup
- EAPI methods
  - ping
  - read
  - su_read
  - su_write
  - su_write_read
  - write
  - write_read

ADS to BUS/RT bridge, required for TwinCAT ADS controller instances.

Setup

Use the template EVA_DIR/share/svc-tpl/svc-tpl-bridge-ads.yml:

# TwinCAT ADS bridge service
command: svc/eva-bridge-ads
bus:
  path: var/bus.ipc
config:
  host: 192.168.1.100
  port: 48898
  #ping_ams_netid: 192.168.1.100.1.1
  #ping_ams_port: 200
  # store ping result (ADS state,
  # https://infosys.beckhoff.com/content/1033/tc3_adsnetref/7313023115.html)
  #store_ads_state: sensor:ads/ads1
  #set if the local address can not be detected automatically (e.g. tunnels
  # are used)
  #local_ams_netid: 192.168.1.2.1.1
  #local_ams_port: 58913
user: nobody
workers: 1
react_to_fail: true

Create the service using eva-shell:

eva svc create eva.bridge.ads1 /opt/eva4/share/svc-tpl/svc-tpl-bridge-ads.yml

or using the bus CLI client:

cd /opt/eva4
cat DEPLOY.yml | ./bin/yml2mp | \
    ./sbin/bus ./var/bus.ipc rpc call eva.core svc.deploy -

(see eva.core::svc.deploy for more info)

EAPI methods

See EAPI commons for the common information about the bus, types, errors and RPC calls.

ping

Description	Ping ADS device
Parameters	required
Returns	current ADS state

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes

Return payload example:

{
  "state": 5
}

read

Description	Call ADS read request
Parameters	required
Returns	Vec<u8>

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
index_group	u32	Index group	yes
index_offset	u32	Index offset	yes
size	u32	Expected result size	yes

su_read

Description	Call ADS SUMUP read request
Parameters	required
Returns	SumUp result as Vec<Res> with fields c (code), d (bytes)

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
requests	Vec<ReadRequest>	Struct fields: index_group, index_offset, size	yes

su_write

Description	Call ADS SUMUP write request
Parameters	required
Returns	SumUp result as Vec<Res> with fields c (code)

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
requests	Vec<WriteRequest>	Struct fields: index_group, index_offset, data	yes

su_write_read

Description	Call ADS SUMUP write-read request
Parameters	required
Returns	SumUp result as Vec<Res> with fields c (code), d (bytes)

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
requests	Vec<WriteReadRequest>	Struct fields: index_group, index_offset, data, size	yes

write

Description	Call ADS write request
Parameters	required
Returns	nothing

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
index_group	u32	Index group	yes
index_offset	u32	Index offset	yes
data	bytes	Write payload	yes

write_read

Description	Call ADS write-read request
Parameters	required
Returns	Vec<u8>

Parameters
Name	Type	Description	Required
net_id	String/[u8; 6]	Device AMS Net ID	yes
port	u16	Device AMS Port	yes
index_group	u32	Index group	yes
index_offset	u32	Index offset	yes
data	bytes	Write payload	yes
size	u32	Expected result size	yes