TwinCAT ADS bridge

Contents

TwinCAT ADS bridge
- Setup
- EAPI methods
  - get_symbol_info
  - 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.

get_symbol_info

Description	Get ADS symbol info tables
Parameters	required
Returns	Symbol info tables

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

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