EtherCAT commands. More...

Functions
int	ecSetMaster (int masterIndex)
	Selects EtherCAT master to use. .

int	ecResetMaster (int masterIndex)
	Retry configuring slaves for an selected EtherCAT master. .

int	ecAddSlave (uint16_t alias, uint16_t position, uint32_t vendorId, uint32_t productCode)
	Adds an EtherCAT slave to the hardware configuration. .

int	ecAddSyncManager (int slaveIndex, int direction, uint8_t syncMangerIndex)
	obsolete command. Use ecAddEntryComplete() command instead.

int	ecAddPdo (int slaveIndex, int syncManager, uint16_t pdoIndex)
	obsolete command. Use ecAddEntryComplete() command instead.

int	ecAddEntryComplete (uint16_t slaveBusPosition, uint32_t vendorId, uint32_t productCode, int direction, uint8_t syncMangerIndex, uint16_t pdoIndex, uint16_t entryIndex, uint8_t entrySubIndex, uint8_t bits, char *entryIDString, int signedValue)

int	ecAddEntry (uint16_t slaveBusPosition, uint32_t vendorId, uint32_t productCode, int direction, uint8_t syncMangerIndex, uint16_t pdoIndex, uint16_t entryIndex, uint8_t entrySubIndex, char datatype, char entryIDString, int updateInRealTime)
	Adds an EtherCAT slave to the hardware configuration. .

int	ecAddSdoAsync (uint16_t slaveBusPosition, uint16_t entryIndex, uint8_t entrySubIndex, char datatype, char idString)
	Adds an async SDO object. .

int	ecAddMemMapDT (char ecPath, size_t byteSize, int direction, char dataType, char *memMapIDString)
	Adds a memory map object to access data directly from EtherCAT domain. This is the preferred syntax. .

int	ecAddMemMap (uint16_t startEntryBusPosition, char startEntryIDString, size_t byteSize, int direction, char memMapIDString)
	Adds a memory map object to access data directly from EtherCAT domain. Support for this syntax might be dropped in newer releases. Please use new syntax. .

int	ecAddDataDT (char ecPath, size_t entryByteOffset, size_t entryBitOffset, int direction, char dataType, char *idString)
	Adds a data item object to access data directly from EtherCAT domain. This object type only support scalars (not arrays). For arrays see memmaps. .

int	ecGetMemMapId (char memMapIDString, int id)
	Get index of a memmap object based on its name id string.

int	ecSlaveConfigDC (int slaveBusPosition, uint16_t assignActivate, uint32_t sync0Cycle, int32_t sync0Shift, uint32_t sync1Cycle, int32_t sync1Shift)
	Configure slave DC clock. .

int	ecSelectReferenceDC (int masterIndex, int slaveBusPosition)
	Select EtherCAT reference clock. .

int	ecAddSdo (uint16_t slaveBusPosition, uint16_t sdoIndex, uint8_t sdoSubIndex, uint32_t value, int byteSize)
	Adds a Service Data Object for writing.

int	ecAddSdoDT (uint16_t slavePosition, uint16_t sdoIndex, uint8_t sdoSubIndex, char valueString, char datatype)
	Adds a Service Data Object for writing.

int	ecAddSdoComplete (uint16_t slaveBusPosition, uint16_t sdoIndex, const char *valueBuffer, int byteSize)
	Adds a Service Data Object for writing.

int	ecAddSdoBuffer (uint16_t slavePosition, uint16_t sdoIndex, uint8_t sdoSubIndex, const char *valueBuffer, int byteSize)
	Adds a Service Data Object for writing.

int	ecWriteSdo (uint16_t slavePosition, uint16_t sdoIndex, uint8_t sdoSubIndex, uint32_t value, int byteSize)
	Write to a Service Data Object.

int	ecSetDomAllowOffline (int allow)
	Allow domain to be offline.

int	ecSetEcAllowOffline (int allow)
	Allow master to be offline.

int	ecAddDomain (int rateCycles, int offsetCycles)
	Add domain.

int	ecReadSdo (uint16_t slavePosition, uint16_t sdoIndex, uint8_t sdoSubIndex, int byteSize, uint32_t *value)
	Write to a Service Data Object.

int	ecVerifySdo (uint16_t slavePosition, uint16_t sdoIndex, uint8_t sdoSubIndex, uint32_t verValue, int byteSize)
	Verify a Service Data Object.

int	ecReadSoE (uint16_t slavePosition, uint8_t driveNo, uint16_t idn, size_t byteSize, uint8_t *value)
	Read SoE .

int	ecWriteSoE (uint16_t slavePosition, uint8_t driveNo, uint16_t idn, size_t byteSize, uint8_t *value)
	Write SoE .

int	ecSlaveConfigWatchDog (int slaveBusPosition, int watchdogDivider, int watchdogIntervals)
	Configure Slave watch dog. .

int	ecApplyConfig (int masterIndex)
	Apply hardware configuration to master. .

int	writeEcEntry (int slaveIndex, int entryIndex, uint64_t value)
	Writes a value to an EtherCAT entry. .

int	writeEcEntryIDString (int slaveBusPosition, char *entryIdString, uint64_t value)
	Writes a value to an EtherCAT entry addressed by slaveBusPosition and entryIdString. .

int	readEcEntry (int slaveIndex, int entryIndex, uint64_t *value)
	Read a value from an EtherCAT entry. .

int	readEcEntryIDString (int slavePosition, char entryIDString, uint64_t value)
	Read a value from an EtherCAT entry addressed by slaveBusPosition and entryIdString. .

int	readEcEntryIndexIDString (int slavePosition, char entryIDString, int value)
	Read the object Index of an entry addressed by slaveBusPosition and entryIdString. .

int	readEcSlaveIndex (int slavePosition, int *value)
	Read the object Index of an slave addressed by slaveBusPosition. .

int	readEcMemMap (const char memMapIDString, uint8_t data, size_t bytesToRead, size_t *bytesRead)
	Read EtherCAT memory map object.

int	ecSetEntryUpdateInRealtime (uint16_t slavePosition, char *entryIDString, int updateInRealtime)
	Set update in realtime bit for an entry.

int	ecSetDiagnostics (int enable)
	Enable EtherCAT bus diagnostics. .

int	ecSetDomainFailedCyclesLimit (int cycles)
	Set allowed bus cycles in row of none complete domain data transfer. .

int	ecResetError ()
	Reset error on all EtherCat objects. .

int	ecEnablePrintouts (int value)
	Enable diagnostic printouts from EtherCAT objects. .

int	ecSetDelayECOkAtStartup (int milliseconds)
	Delay ethercat OK status for a time.

int	ecPrintAllHardware ()
	Prints all hardware connected to selected master. .

int	ecPrintSlaveConfig (int slaveIndex)
	Prints hardware configuration for a selected slave. .

int	linkEcEntryToEcStatusOutput (int slaveIndex, char *entryIDString)
	Links an EtherCAT entry to the ethecat master object for hardware status output .

int	ecVerifySlave (uint16_t alias, uint16_t slavePos, uint32_t vendorId, uint32_t productCode, uint32_t revisionNum)
	Verfy slave at position.

int	ecGetSlaveVendorId (uint16_t alias, uint16_t slavePos, uint32_t *result)
	Read vendor id of selected ethercat slave.

int	ecGetSlaveProductCode (uint16_t alias, uint16_t slavePos, uint32_t *result)
	Read product code of selected ethercat slave.

int	ecGetSlaveRevisionNum (uint16_t alias, uint16_t slavePos, uint32_t *result)
	revision number id of selected ethercat slave

int	ecGetSlaveSerialNum (uint16_t alias, uint16_t slavePos, uint32_t *result)
	Read serial number of selected ethercat slave.

int	ecUseClockRealtime (int useClkRT)
	Use CLOCK_REALTIME.

Detailed Description

EtherCAT commands.

Function Documentation

◆ ecAddDataDT()

int ecAddDataDT	(	char *	ecPath,
		size_t	entryByteOffset,
		size_t	entryBitOffset,
		int	direction,
		char *	dataType,
		char *	idString )

Adds a data item object to access data directly from EtherCAT domain. This object type only support scalars (not arrays). For arrays see memmaps.
.

The start of the data item is addressed by a previously configured EtherCAT entry, byte-, bit-offset and data type.

Parameters

[in]	ecPath	Identification string of the start EtherCAT entry (example "ec0.s1.AI_1").
[in]	entryByteOffset	offset in bytes.
[in]	entryBitOffset	additional offset in bits
[in]	direction	Data transfer direction.. direction = 1: Output (from master). direction = 2: Input (to master).
[in]	dataType	DataType of ethercat data: B1: 1-bit B2: 2-bits (lsb) B3: 3-bits (lsb) B4: 4-bits (lsb) U8: Unsigned 8-bit S8: Signed 8-bit U16: Unsigned 16-bit S16: Signed 16-bit U32: Unsigned 32-bit S32: Signed 32-bit U64: Unsigned 64-bit S64: Signed 64-bit F32: Real 32-bit F64: Double 64-bit
[in]	idString	Identification string used for addressing the object. ("ec<masterid>.s<slaveid>" will be used as prefix)

Returns: 0 if success or otherwise an error code.

Note: Example: Add an EtherCAT input data item of type B1 with 0 bytes offset and 2 bits offset, starting at entry "ec0.s2.byte09"
"Cfg.EcAddDataDT(ec0.s2.byte09,0,2,B1,a_bit)" //Command string to ecmcCmdParser.c

◆ ecAddDomain()

int ecAddDomain	(	int	rateCycles,
		int	offsetCycles )

Add domain.

Parameters

[in]	rate	execute domain in this rate (cycles)
[in]	offset	offset cycles

Returns: 0 if success or otherwise an error code.

Note: Example: Add a domain that executes every 10:th cycles with an offset off 1 cycle: "Cfg.EcAddDomain(10,1)" //Command string to ecmcCmdParser.c

◆ ecAddEntry()

int ecAddEntry	(	uint16_t	slaveBusPosition,
		uint32_t	vendorId,
		uint32_t	productCode,
		int	direction,
		uint8_t	syncMangerIndex,
		uint16_t	pdoIndex,
		uint16_t	entryIndex,
		uint8_t	entrySubIndex,
		char *	datatype,
		char *	entryIDString,
		int	updateInRealTime )

Adds an EtherCAT slave to the hardware configuration.
.

Each added slave will be assigned an additional index which will be zero for the first successfully added slave and then incremented for each successful call to "Cfg.EcAddSlave()".

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	vendorId	Identification value for slave vendor. vendorId = 0x2: Beckhoff. vendorId = 0x48554B: Kendrion Kuhnke Automation GmbH.
[in]	productCode	Product identification code. productCode=0x13ed3052: EL5101 incremental encoder input.
[in]	direction	Data transfer direction.. direction = 1: Output (from master). direction = 2: Input (to master).
[in]	syncMangerIndex	Index of sync manager.
[in]	pdoIndex	Index of process data object. Needs to be entered in hex format.
[in]	entryIndex	Index of process data object entry. Needs to be entered in hex format.
[in]	entrySubIndex	Index of process data object sub entry. Needs to be entered in hex format.
[in]	dataType	DataType of ethercat data: B1: 1-bit B2: 2-bits (lsb) B3: 3-bits (lsb) B4: 4-bits (lsb) U8: Unsigned 8-bit S8: Signed 8-bit U16: Unsigned 16-bit S16: Signed 16-bit U32: Unsigned 32-bit S32: Signed 32-bit U64: Unsigned 64-bit S64: Signed 64-bit F32: Real 32-bit F64: Double 64-bit
[in]	entryIDString	Identification string used for addressing the entry.
[in]	updateInRT	1 if value should be updated in realtime 0 normally set to zero for entries that are covered in memmaps.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Add an EtherCAT entry for the actual position of an EL5101 incremental encoder card.
"Cfg.EcAddEntry(2,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,U16,POSITION,1)" //Command string to ecmcCmdParser.c; Example: Add an EtherCAT entry for the velocity setpoint of an EL7037 stepper drive card.
"Cfg.EcAddEntry(7,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,S16, VELOCITY_SETPOINT,1)" //Command string to ecmcCmdParser.c

◆ ecAddEntryComplete()

int ecAddEntryComplete	(	uint16_t	slaveBusPosition,
		uint32_t	vendorId,
		uint32_t	productCode,
		int	direction,
		uint8_t	syncMangerIndex,
		uint16_t	pdoIndex,
		uint16_t	entryIndex,
		uint8_t	entrySubIndex,
		uint8_t	bits,
		char *	entryIDString,
		int	signedValue )

\breif Adds an EtherCAT slave to the hardware configuration.
Each added slave will be assigned an additional index which will be zero for the first successfully added slave and then incremented for each successful call to "Cfg.EcAddSlave()".

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	vendorId	Identification value for slave vendor. vendorId = 0x2: Beckhoff. vendorId = 0x48554B: Kendrion Kuhnke Automation GmbH.
[in]	productCode	Product identification code. productCode=0x13ed3052: EL5101 incremental encoder input.
[in]	direction	Data transfer direction.. direction = 1: Output (from master). direction = 2: Input (to master).
[in]	syncMangerIndex	Index of sync manager.
[in]	pdoIndex	Index of process data object. Needs to be entered in hex format.
[in]	entryIndex	Index of process data object entry. Needs to be entered in hex format.
[in]	entrySubIndex	Index of process data object sub entry. Needs to be entered in hex format.
[in]	bits	Bit count.
[in]	entryIDString	Identification string used for addressing the entry.
[in]	signedValue	1 if value is of signed type otherwise 0

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Add an EtherCAT entry for the actual position of an EL5101 incremental encoder card.
"Cfg.EcAddEntryComplete(2,0x2,0x13ed3052,2,3,0x1a03,0x6010,0x10,16,POSITION)" //Command string to ecmcCmdParser.c; Example: Add an EtherCAT entry for the velocity setpoint of an EL7037 stepper drive card.
"Cfg.EcAddEntryComplete(7,0x2,0x1b7d3052,1,2,0x1604,0x7010,0x21,16, VELOCITY_SETPOINT)" //Command string to ecmcCmdParser.c

◆ ecAddMemMap()

int ecAddMemMap	(	uint16_t	startEntryBusPosition,
		char *	startEntryIDString,
		size_t	byteSize,
		int	direction,
		char *	memMapIDString )

Adds a memory map object to access data directly from EtherCAT
domain. Support for this syntax might be dropped in newer releases.
Please use new syntax.
.

The start of the memory map is addressed by a previously configured EtherCAT entry and a size.

Parameters

[in]	startEntryBusPosition	Position of the EtherCAT slave on the bus where the start entry is configured. startEntryBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	startEntryIDString	I Identification string of the start EtherCAT entry.
[in]	byteSize	Size of memory map objects (size to access).
[in]	direction	Data transfer direction.. direction = 1: Output (from master). direction = 2: Input (to master).
[in]	entryIDString	Identification string used for addressing the object.

Returns: 0 if success or otherwise an error code.

Note: Example: Add an EtherCAT input memory map of size 200 bytes starting at entry "AI1" on slave 10. Name the memory map WAVEFORM. Type argument is excluded.
"Cfg.EcAddMemMap(10,AI1,200,2,ec0.mm.WAVEFORM)" //Command string to ecmcCmdParser.c

◆ ecAddMemMapDT()

int ecAddMemMapDT	(	char *	ecPath,
		size_t	byteSize,
		int	direction,
		char *	dataType,
		char *	memMapIDString )

Adds a memory map object to access data directly from EtherCAT domain. This is the preferred syntax.
.

The start of the memory map is addressed by a previously configured EtherCAT entry and a size.

Parameters

[in]	ecPath	Identification string of the start EtherCAT entry (example "ec0.s1.AI_1").
[in]	byteSize	Size of memory map objects (size to access).
[in]	direction	Data transfer direction.. direction = 1: Output (from master). direction = 2: Input (to master).
[in]	dataType	DataType of ethercat data: U8: Unsigned 8-bit S8: Signed 8-bit U16: Unsigned 16-bit S16: Signed 16-bit U32: Unsigned 32-bit S32: Signed 32-bit U64: Unsigned 64-bit S64: Signed 64-bit F32: Real 32-bit F64: Double 64-bit
[in]	memMapIdString	Identification string used for addressing the object.

Returns: 0 if success or otherwise an error code.

Note: Example: Add an EtherCAT input memory map of size 200 bytes of type S32 starting at entry "AI1" on slave 10 with name WAVEFORM.

"Cfg.EcAddMemMapDT(ec0.s10.AI1,200,2,S32,ec0.s10.mm.WAVEFORM)" //Command string to ecmcCmdParser.c

◆ ecAddSdo()

int ecAddSdo	(	uint16_t	slaveBusPosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		uint32_t	value,
		int	byteSize )

Adds a Service Data Object for writing.

Adds a Service Data Object for writing to the sdo registers of EtherCAT slaves. An sdo object will be added to the hardware configuration. The writing will occur when the hardware configuration is applied.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object . Needs to be entered in hex format.
[in]	value	Value to write.
[in]	byteSize	Byte count to write.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Write 1A (1000mA) to maximum current of the EL7037 stepper drive card on slave position 2.
"Cfg.EcAddSdo(2,0x8010,0x1,1000,2)" //Command string to ecmcCmdParser.c

◆ ecAddSdoAsync()

int ecAddSdoAsync	(	uint16_t	slaveBusPosition,
		uint16_t	entryIndex,
		uint8_t	entrySubIndex,
		char *	datatype,
		char *	idString )

Adds an async SDO object.
.

Adds a SDO object for SDO read and write during realtime.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	index	Index of process data object entry. Needs to be entered in hex format.
[in]	subIndex	Index of process data object sub entry. Needs to be entered in hex format.
[in]	dataType	DataType of ethercat data: U8: Unsigned 8-bit S8: Signed 8-bit U16: Unsigned 16-bit S16: Signed 16-bit U32: Unsigned 32-bit S32: Signed 32-bit U64: Unsigned 64-bit S64: Signed 64-bit F32: Real 32-bit F64: Double 64-bit
[in]	idString	Identification string used for addressing the entry.

Returns: 0 if success or otherwise an error code.

Note: Example: Add an SDO for async reads and writes in runtime.
Setting the input 1 as HWE enable for an EL70xx stepper drive:
"Cfg.EcAddSdoAsync(3,0x8012,0x32,U8,"hwenable")" //Command string to ecmcCmdParser.c

◆ ecAddSdoBuffer()

int ecAddSdoBuffer	(	uint16_t	slavePosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		const char *	valueBuffer,
		int	byteSize )

Adds a Service Data Object for writing.

Adds a Service Data Object for writing to the sdo registers of EtherCAT slaves. An sdo object will be added to the hardware configuration. The writing will occur when the hardware configuration is applied.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object. Needs to be entered in hex format.
[in]	valueBuffer	Values to be written as hex string, each byte separted with space.
[in]	byteSize	Byte count to write.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Write a hex string of data to slave position 2.
"Cfg.EcAddSdoBuffer(2,0x8010,0x1,0A FF CA 01 25 F1,6)" //Command string to ecmcCmdParser.c

◆ ecAddSdoComplete()

int ecAddSdoComplete	(	uint16_t	slaveBusPosition,
		uint16_t	sdoIndex,
		const char *	valueBuffer,
		int	byteSize )

Adds a Service Data Object for writing.

Adds a Service Data Object for writing to the sdo registers of EtherCAT slaves. An sdo object will be added to the hardware configuration. The writing will occur when the hardware configuration is applied.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	valueBuffer	Values to be written as hex string, each byte separted with space.
[in]	byteSize	Byte count to write.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Write a hex string of data to slave position 2.
"Cfg.EcAddSdoComplete(2,0x8010,0A FF CA 01 25 F1,6)" //Command string to ecmcCmdParser.c

◆ ecAddSdoDT()

int ecAddSdoDT	(	uint16_t	slavePosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		char *	valueString,
		char *	datatype )

Adds a Service Data Object for writing.

Adds a Service Data Object for writing to the sdo registers of EtherCAT slaves. An sdo object will be added to the hardware configuration. The writing will occur when the hardware configuration is applied.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object . Needs to be entered in hex format.
[in]	valueString	Value to write.
[in]	dataType	ecmc data type string. U8: Unsigned 8-bit S8: Signed 8-bit U16: Unsigned 16-bit S16: Signed 16-bit U32: Unsigned 32-bit S32: Signed 32-bit U64: Unsigned 64-bit S64: Signed 64-bit F32: Real 32-bit F64: Double 64-bit

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Write 1A (1000mA) to maximum current of the EL7037 stepper drive card on slave position 2.
"Cfg.EcAddSdoDT(2,0x8010,0x1,1000.0,F64)" //Command string to ecmcCmdParser.c

◆ ecAddSlave()

int ecAddSlave	(	uint16_t	alias,
		uint16_t	position,
		uint32_t	vendorId,
		uint32_t	productCode )

Adds an EtherCAT slave to the hardware configuration.
.

Each added slave will be assigned an additional index which will be zero for the first successfully added slave and then incremented for each successful call to "Cfg.EcAddSlave()".
NOTE: if an complete entry needs to be configured the command "Cfg.EcAddEntryComplete()" should be used. This command will add slave, sync. manger, pdo and entry if needed.

Parameters

alias	Alias of slave. Set to zero to disable.
slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
vendorId	Identification value for slave vendor. vendorId = 0x2: Beckhoff. vendorId = 0x48554B: Kendrion Kuhnke Automation GmbH.
productCode	Product identification code. productCode=0x13ed3052: EL5101 incremental encoder input.

Note: All configuration data can be found in the documentaion of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Add a EL5101 Beckhoff slave at slave position 1.
"Cfg.EcAddSlave(0,1,0x2,0x13ed3052)" //Command string to ecmcCmdParser.c

◆ ecApplyConfig()

int ecApplyConfig ( int masterIndex )

Apply hardware configuration to master.
.

This command needs to be executed before entering runtime.

Note: This command can only be used in configuration mode.

Parameters

[in] masterIndex Index of master, see command ecSetMaster().

Returns: 0 if success or otherwise an error code.

Note: Example: Apply hardware configuration to master 0 (/dev/EtherCAT0).
"Cfg.EcApplyConfig(0)" //Command string to ecmcCmdParser.c

◆ ecEnablePrintouts()

int ecEnablePrintouts ( int value )

Enable diagnostic printouts from EtherCAT objects.
.

Enables/Disables diagnostic printouts from:

ecmcEc().
ecmcEcSlave().
ecmcEcSyncManager().
ecmcEcPdo().
ecmcEcSDO().
ecmcEcEntry().

Parameters

[in] enable Enable diagnostic printouts.

Returns
0 if success or otherwise an error code.

Note
Example: Enable EtherCAT related diagnostic printouts.
"Cfg.EcEnablePrintouts(1)" //Command string to ecmcCmdParser.c

◆ ecGetMemMapId()

int ecGetMemMapId	(	char *	memMapIDString,
		int *	id )

Get index of a memmap object based on its name id string.

Parameters

[in]	memMapIDString	memmap name
[out]	index	index of memmap corresponding to memMapIDString

Returns: 0 if success or otherwise an error code.

Note: Example: Get memmap id.
"EcGetMemMapId("ec0.s2.mm.CH1_ARRAY")" //Command string to ecmcCmdParser.c

◆ ecGetSlaveProductCode()

int ecGetSlaveProductCode	(	uint16_t	alias,
		uint16_t	slavePos,
		uint32_t *	result )

Read product code of selected ethercat slave.

Parameters

[in]	alias	Alias of slave. Set to zero to disable.
[in]	slaveIn	Position of the EtherCAT slave on the bus. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[out]	result	Product code.

Returns: 0 if success or otherwise an error code.

Note: Example: Product Code of slave 3:
"EcGetSlaveProductCode(0,3)" //Command string to ecmcCmdParser.c

Parameters

alias	Slave alias.
slavePos	Slave position.

◆ ecGetSlaveRevisionNum()

int ecGetSlaveRevisionNum	(	uint16_t	alias,
		uint16_t	slavePos,
		uint32_t *	result )

revision number id of selected ethercat slave

Parameters

[in]	alias	Alias of slave. Set to zero to disable.
[in]	slaveIn	Position of the EtherCAT slave on the bus. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[out]	result	Revision number.

Returns: 0 if success or otherwise an error code.

Note: Example: Read revision number of slave 3:
"EcGetSlaveRevisionNum(0,3)" //Command string to ecmcCmdParser.c

Parameters

alias	Slave alias.
slavePos	Slave position.

◆ ecGetSlaveSerialNum()

int ecGetSlaveSerialNum	(	uint16_t	alias,
		uint16_t	slavePos,
		uint32_t *	result )

Read serial number of selected ethercat slave.

Parameters

[in]	alias	Alias of slave. Set to zero to disable.
[in]	slaveIn	Position of the EtherCAT slave on the bus. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[out]	result	Serial number.

Returns: 0 if success or otherwise an error code.

Note: Example: Read serial number of slave 3:
"EcGetSlaveSerialNum(0,3)" //Command string to ecmcCmdParser.c

Parameters

alias	Slave alias.
slavePos	Slave position.

◆ ecGetSlaveVendorId()

int ecGetSlaveVendorId	(	uint16_t	alias,
		uint16_t	slavePos,
		uint32_t *	result )

Read vendor id of selected ethercat slave.

Parameters

[in]	alias	Alias of slave. Set to zero to disable.
[in]	slaveIn	Position of the EtherCAT slave on the bus. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[out]	result	Vendor id.

Returns: 0 if success or otherwise an error code.
*

Note: Example: Read vendor id of slave 3:
"EcGetSlaveVendorId(0,3)" //Command string to ecmcCmdParser.c

Parameters

alias	Slave alias.
slavePos	Slave position.

◆ ecPrintAllHardware()

int ecPrintAllHardware ( )

Prints all hardware connected to selected master.
.

Returns: 0 if success or otherwise an error code.

Note: Example: "EcPrintAllHardware()" //Command string to ecmcCmdParser.c

◆ ecPrintSlaveConfig()

int ecPrintSlaveConfig ( int slaveIndex )

Prints hardware configuration for a selected slave.
.

Returns: 0 if success or otherwise an error code.

Note: Example:Print hardware configuration for slave 1 "EcPrintSlaveConfig(1)" //Command string to ecmcCmdParser.c

◆ ecReadSdo()

int ecReadSdo	(	uint16_t	slavePosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		int	byteSize,
		uint32_t *	value )

Write to a Service Data Object.

Note: same as "ecWriteSdo(uint16_t slavePposition,uint16_t sdoIndex,uint8_t sdoSubIndex, uint32_t value,int byteSize)" but without subindex. Complete SDO access will be used.

Read a Service Data Object.

Read will occur directly when the command is issued.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object . Needs to be entered in hex format.
[in]	byteSize	Byte count to read.
[out]	data	Read data.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success other wise an error code.

Note: Example: Read maximum current setting of the EL7037 stepper drive card on slave position 2.
"Cfg.EcReadSdo(2,0x8010,0x1,2)" //Command string to ecmcCmdParser.c

◆ ecReadSoE()

int ecReadSoE	(	uint16_t	slavePosition,
		uint8_t	driveNo,
		uint16_t	idn,
		size_t	byteSize,
		uint8_t *	value )

Read SoE
.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	driveNo	SoE drive number.
[in]	idn	SoE IDN.
[in]	byteSize	Byte count to read.
[out]	value	Pointer to read data.

Note: All configuration data can be found in the documentation of the slave

Returns: 0 if success other wise an error code.

Note: Example: Read data for drive 0 on slave position 2.
"Cfg.EcReadSoE(2,0,0x1000,2)" //Command string to ecmcCmdParser.c

Parameters

slavePosition	Slave position.
driveNo	Drive number.
idn	SoE IDN (see ecrt_slave_config_idn()).
byteSize	Size of data to write.
value	Pointer to data to write.

◆ ecResetError()

int ecResetError ( )

Reset error on all EtherCat objects.
.

Resets error on the following object types:

ecmcEc().
ecmcEcSlave().
ecmcEcSyncManager().
ecmcEcPdo().
ecmcEcSDO().
ecmcEcEntry().

Returns
0 if success or otherwise an error code.

Note
Example: Reset EtherCAT errors.
"Cfg.EcResetError()" //Command string to ecmcCmdParser.c

◆ ecResetMaster()

int ecResetMaster ( int masterIndex )

Retry configuring slaves for an selected EtherCAT master.
.

Via this method, the application can tell the master to bring all slaves to OP state. In general, this is not necessary, because it is automatically done by the master. But with special slaves, that can be reconfigured by the vendor during runtime, it can be useful.

Note: masterIndex is not used. Currently only one master is supported and this master will be reset. The masterIndex is for future use.

Parameters

[in] masterIndex EtherCAT master index.

Returns: 0 if success or otherwise an error code.

Note: Example: Reset master. Master index is NOT currently supported.
"Cfg.EcResetMaster(10)" //Command string to ecmcCmdParser.c

◆ ecSelectReferenceDC()

int ecSelectReferenceDC	(	int	masterIndex,
		int	slaveBusPosition )

Select EtherCAT reference clock.
.

Parameters

[in]	masterIndex	Index of master, see command ecSetMaster().
[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. Note: the slave needs to be equipped with a DC. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves. *

Returns: 0 if success or otherwise an error code.

Note: Example: Select slave 3 as reference clock for master 0.
"Cfg.EcSelectReferenceDC(0,3)" //Command string to ecmcCmdParser.c

◆ ecSetDelayECOkAtStartup()

int ecSetDelayECOkAtStartup ( int milliseconds )

Delay ethercat OK status for a time.

This can be usefull to allow extra time foir DC clocks to syncronize or
for slave that do not report correct data directlly when enter OP.

Parameters

[in] milliseconds Delay time for ecOK status at startup (after slaves in OP).

Returns: 0 if success or otherwise an error code.

Note: Example: Delay ethercat OK for 2000ms at startup "Cfg.ecSetDelayECOkAtStartup(2000)" //Command string to ecmcCmdParser.c

◆ ecSetDiagnostics()

int ecSetDiagnostics ( int enable )

Enable EtherCAT bus diagnostics.
.

Diagnostics are made at three different levels:

Slave level.
Domain level.
Master level.
All three levels of diagnostics are enabled or disabled with this command. If the diagnostics are enabled the motion axes are interlocked if any of the above levels report issues. If the diagnostics are disabled the motion axes are not interlocked even if there's alarms on the EtherCAT bus.

Parameters

[in] enable Enable diagnostics.

Returns
0 if success or otherwise an error code.

Note
Example: Enable EtherCAT diagnostics.
"Cfg.EcSetDiagnostics(1)" //Command string to ecmcCmdParser.c

◆ ecSetDomainFailedCyclesLimit()

int ecSetDomainFailedCyclesLimit ( int cycles )

Set allowed bus cycles in row of none complete domain data transfer.
.

Allows a certain number of bus cycles of non-complete domain data transfer before alarming.

Note: Normally the application is correct configured all domain data transfers should be complete. This command should therefor only be used for testing purpose when the final configuration is not yet made.

Parameters

[in] cycles Number of cycles.

Returns: 0 if success or otherwise an error code.

Note: Example: Set the allowd bus cycles of non complete domain data to 10.
"Cfg.EcSetDomainFailedCyclesLimit(10)" //Command string to ecmcCmdParser.c

◆ ecSetDomAllowOffline()

int ecSetDomAllowOffline ( int allow )

Allow domain to be offline.

Parameters

[in] allow 0 ==dont't allow (default), 1 == allow

Returns: 0 if success or otherwise an error code.

Note: Example: Allow current domain to be offline. "Cfg.EcSetDomAllowOffline(1)" //Command string to ecmcCmdParser.c

◆ ecSetEcAllowOffline()

int ecSetEcAllowOffline ( int allow )

Allow master to be offline.

Parameters

[in] allow 0 ==dont't allow (default), 1 == allow

Returns: 0 if success or otherwise an error code.

Note: Example: Allow master to be offline. "Cfg.EcSetEcAllowOffline(1)" //Command string to ecmcCmdParser.c

◆ ecSetEntryUpdateInRealtime()

int ecSetEntryUpdateInRealtime	(	uint16_t	slavePosition,
		char *	entryIDString,
		int	updateInRealtime )

Set update in realtime bit for an entry.

If set to zero the entry will not be updated during realtime operation.
Useful when accessing data with memory maps instead covering many entries like oversampling arrays (it's then unnecessary to update each entry in array).

Parameters

[in]	slavePosition	Position of the EtherCAT slave on the bus. slavePosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	updateInRealtime	1 for update of entry data in realtime and 0 not to update data in realtime.

Note: Example: Disable update of value in realtime for entry with name "AI_1" on bus position 5.
"Cfg.EcSetEntryUpdateInRealtime(5,AI_1,0)" //Command string to ecmcCmdParser.c

◆ ecSetMaster()

int ecSetMaster ( int masterIndex )

Selects EtherCAT master to use.
.

Parameters

[in] masterIndex EtherCAT master index.

Returns: 0 if success or otherwise an error code.

Note: Example: Select /dev/EtherCAT0.
"Cfg.EcSetMaster(0)" //Command string to ecmcCmdParser.c

◆ ecSlaveConfigDC()

int ecSlaveConfigDC	(	int	slaveBusPosition,
		uint16_t	assignActivate,
		uint32_t	sync0Cycle,
		int32_t	sync0Shift,
		uint32_t	sync1Cycle,
		int32_t	sync1Shift )

Configure slave DC clock.
.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves. *
[in]	assignActivate	A* Each added slave will be assigned an additional index which will be zero for the first successfully added slave and then incremented for each successful call to "Cfg.EcAddSlave()". assign active word. This information can be found in the ESI slave description file. Needs to be entered in hex format.
[in]	sync0Cycle	Cycle time in ns.
[in]	sync0Shift	Phase shift in ns.
[in]	sync1Cycle	Cycle time in ns.
[in]	sync1Shift	Not used.

Returns: 0 if success or otherwise an error code.

Note: Example: Configure the DC clock of an EL5101 incremental encoder input card: slaveBusPosition=1, assignActivate=0x320, sync0Cycle=1000000 (1kHz), sync0Shift=10, sync1Cycle=1000000 (1kHz).
"Cfg.EcSlaveConfigDC(1,0x320,1000000,10,1000000,0)" //Command string to ecmcCmdParser.c

Parameters

assignActivate	AssignActivate word.
sync0Cycle	SYNC0 cycle time [ns].
sync0Shift	SYNC0 shift time [ns].
sync1Cycle	SYNC1 cycle time [ns].
sync1Shift	SYNC1 shift time [ns].

◆ ecSlaveConfigWatchDog()

int ecSlaveConfigWatchDog	(	int	slaveBusPosition,
		int	watchdogDivider,
		int	watchdogIntervals )

Configure Slave watch dog.
.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. Note: the slave needs to be equipped with a DC. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	watchdogDivider	Number of 40 ns intervals. Used as a base unit for all slave watchdogs. If set to zero, the value is not written, so the default is used.
[in]	watchdogIntervals	Number of base intervals for process data watchdog. If set to zero, the value is not written, so the default is used.

Note: Example: Set watchdog times to 100,100 for slave at busposition 1.
"Cfg.EcSlaveConfigWatchDog(1,100,100)" //Command string to ecmcCmdParser.c

Returns: 0 if success or otherwise an error code.

◆ ecUseClockRealtime()

int ecUseClockRealtime ( int useClkRT )

Use CLOCK_REALTIME.

Ecmc will as default use CLOCK_MONOTONIC as clock source both for
the RT loop and the ethercat bus.

Parameters

[in] useClkRT Select clock useClkRT = 0: Use CLOCK_MONOTONIC.
useClkRT = 1: Use CLOCK_REALTIME.

Returns: 0 if success or otherwise an error code.

Note: Example: Use CLOCK_REALTIME:
"Cfg.EcUseClockRealtime(1)" //Command string to ecmcCmdParser.c

◆ ecVerifySdo()

int ecVerifySdo	(	uint16_t	slavePosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		uint32_t	verValue,
		int	byteSize )

Verify a Service Data Object.

Read will occur directly when the command is issued.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object . Needs to be entered in hex format.
[in]	byteSize	Byte count to read.
[in]	verValue	Expected value of SDO.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success other wise an error code.

Note: Example: Verify maximum current setting of the EL7037 stepper drive card on slave position 2 is set to 1000mA.
"Cfg.EcVerifySdo(2,0x8010,0x1,1000,2)" //Command string to ecmcCmdParser.c

◆ ecVerifySlave()

int ecVerifySlave	(	uint16_t	alias,
		uint16_t	slavePos,
		uint32_t	vendorId,
		uint32_t	productCode,
		uint32_t	revisionNum )

Verfy slave at position.

The command verifys that the actual slave at a certain position\ have the correct alias, position, vendor id, product code and revision number.
Check of slave revsion number will be skipped if set to 0.

Parameters

[in]	alias	Alias of slave. Set to zero to disable.
[in]	slaveIn	Position of the EtherCAT slave on the bus. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[in]	vendorId	Identification value for slave vendor. vendorId = 0x2: Beckhoff. vendorId = 0x48554B: Kendrion Kuhnke Automation GmbH.
	productCode	Product identification code. productCode=0x13ed3052: EL5101 incremental encoder input.
	revisionNum	Product revision number. The revsion number of the actual slave needs to equal or newer than that of the configuration. if revisionNum==0 then this function will not check revsionNum of the slave. revisionNum=0x04000000: EL5101 incremental encoder input.

Returns: 0 if success or otherwise an error code.

Note: Example: Verify that slave 3 is an EL5101 with a revsion >= 0x04000000
"Cfg.EcVerifySlave(0,3,0x2,0x13ed3052,0x04000000)" //Command string to ecmcCmdParser.c

Parameters

alias	Slave alias.
slavePos	Slave position.
vendorId	Expected vendor ID.
productCode	Expected product code.
revisionNum	Revision number

◆ ecWriteSdo()

int ecWriteSdo	(	uint16_t	slavePosition,
		uint16_t	sdoIndex,
		uint8_t	sdoSubIndex,
		uint32_t	value,
		int	byteSize )

Write to a Service Data Object.

Writing will occur directly when the command is issued.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	sdoIndex	Index of service data object. Needs to be entered in hex format.
[in]	sdoSubIndex	Sub index of service data object . Needs to be entered in hex format.
[in]	value	Value to write.
[in]	byteSize	Byte count to write.

Note: All configuration data can be found in the documentation of the slave, in the ESI slave description file or by using the etherlab (www.etherlab.org) ethercat tool.

Returns: 0 if success or otherwise an error code.

Note: Example: Write 1A (1000mA) to maximum current of the EL7037 stepper drive card on slave position 2.
"Cfg.EcWriteSdo(2,0x8010,0x1,1000,2)" //Command string to ecmcCmdParser.c

◆ ecWriteSoE()

int ecWriteSoE	(	uint16_t	slavePosition,
		uint8_t	driveNo,
		uint16_t	idn,
		size_t	byteSize,
		uint8_t *	value )

Write SoE
.

Note: This command can only be used in configuration mode.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = 0..65535: Addressing of EtherCAT slaves.
[in]	driveNo	SoE drive number.
[in]	idn	SoE IDN.
[in]	byteSize	Byte count to write.
[out]	value	Pointer to data to write.

Note: All configuration data can be found in the documentation of the slave

Returns: 0 if success other wise an error code.

Note: Example: Read data for drive 0 on slave position 2.
"Cfg.EcWriteSoE(2,0,0x1000,2)" //Command string to ecmcCmdParser.c

Parameters

slavePosition	Slave position.
driveNo	Drive number.
idn	SoE IDN (see ecrt_slave_config_idn()).
byteSize	Size of data to write.
value	Pointer to data to write.

◆ linkEcEntryToEcStatusOutput()

int linkEcEntryToEcStatusOutput	(	int	slaveIndex,
		char *	entryIDString )

Links an EtherCAT entry to the ethecat master object for hardware status output
.

The output will be high when the EtherCAT master is without error code and otherwise zero.

Parameters

[in]	slaveIndex	Position of the EtherCAT slave on the bus. slaveIndex = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveIndex = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").

Returns: 0 if success or otherwise an error code.

Note: Example 1: Link an EtherCAT entry configured as "OUTPUT_0" in slave 1 as status output for ethercat master.
"Cfg.LinkEcEntryToEcStatusOutput(1,"OUTPUT_0")" //Command string to ecmcCmdParser.c

◆ readEcEntry()

int readEcEntry	(	int	slaveIndex,
		int	entryIndex,
		uint64_t *	value )

Read a value from an EtherCAT entry.
.

Parameters

[in]	slaveIndex	Index of order of added slave (not bus position), see command EcAddSlave()).
[in]	entryIndex	Index of order of added entry (within slave).
[out]	value	Read value (result).

Note: the slaveIndex and entryIndex can be read with the commands readEcSlaveIndex() and readEcEntryIndexIDString().

Returns: 0 if success or otherwise an error code.

Note: Example: Read the 2:nd added entry (entryIndex=1) in the 4:th added slave (slaveIndex=3).
"ReadEcEntry(3,1)" //Command string to ecmcCmdParser.c

◆ readEcEntryIDString()

int readEcEntryIDString	(	int	slavePosition,
		char *	entryIDString,
		uint64_t *	value )

Read a value from an EtherCAT entry addressed by slaveBusPosition and entryIdString.
.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[out]	value	Read value (result). Note: This command should not be used when realtime performance is needed (also see "WriteECEntry()" command).

Returns: 0 if success or otherwise an error code.

Note: Example: Read a digital input configured as "INPUT_0" on slave 1
"ReadEcEntryIDString(1,INPUT_0)" //Command string to ecmcCmdParser.c

◆ readEcEntryIndexIDString()

int readEcEntryIndexIDString	(	int	slavePosition,
		char *	entryIDString,
		int *	value )

Read the object Index of an entry addressed by slaveBusPosition and entryIdString.
.

The first entry added in a slave will receive index 0, then for each added entry, its index will be incremented by one. This index will be returned by this function. This index is needed to address a certain slave with the commands readEcEntry() and writeEcEntry() (for use in realtime, since these functions address the slave and entry arrays directly via indices).

Note: This is not the same as the entryIndex in EcAddEntryComplete().

Todo: Change confusing naming of this function. entryIndex and index of entry is easily confused.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[out]	value	Entry index (the order is was added).

Returns: 0 if success or otherwise an error code.

Note: Example: Read a the index of an entry configured as "INPUT_0" on slave 1
"ReadEcEntryIndexIDString(1,INPUT_0)" //Command string to ecmcCmdParser.c

◆ readEcMemMap()

int readEcMemMap	(	const char *	memMapIDString,
		uint8_t *	data,
		size_t	bytesToRead,
		size_t *	bytesRead )

Read EtherCAT memory map object.

Fast access of EtherCAT data from EPICS records is possible by linking an EtherCAT memory map to an ASYN parameter. The memory map objects is most usefull for acquire arrays of data (waveforms).This function is called by the iocsh command"ecmcAsynPortDriverAddParameter()". For more information see documentation of ecmcAsynPortDriverAddParameter(), ecAddMemMap(), readEcMemMap() and ecSetEntryUpdateInRealtime().

Parameters

[in]	memMapIDString	String for addressing ethercat entry: ec.mm.<memory map id>
[out]	*data	Output data buffer. *
[in]	bytesToRead	Output data buffer size. *
[out]	bytesRead	Bytes read. *

Returns: 0 if success or otherwise an error code.

Note: Example: memMapIDString for an memory map called "AI_1_ARRAY": "ec.mm.AI_1_ARRAY".; There's no ascii command in ecmcCmdParser.c for this method.

◆ readEcSlaveIndex()

int readEcSlaveIndex	(	int	slavePosition,
		int *	value )

Read the object Index of an slave addressed by slaveBusPosition.
.

The first slave added in will receive index 0, then for each added slave, its index will be incremented by one. This index will be returned by this function. This index is needed to address a certain slave with the commands readEcEntry() and writeEcEntry() (for use in realtime, since these functions address the slave and entry arrays directly via indices).

Note: slaveIndex and slaveBusPosition is not the same.

Parameters

[in] slaveBusPosition Position of the EtherCAT slave on the bus.
slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1.
slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.

Returns: 0 if success or otherwise an error code.

Note: Example: Read the slave index of the slave with bus position 5.
"ReadEcSlaveIndex(5)" //Command string to ecmcCmdParser.c

◆ writeEcEntry()

int writeEcEntry	(	int	slaveIndex,
		int	entryIndex,
		uint64_t	value )

Writes a value to an EtherCAT entry.
.

Parameters

[in]	slaveIndex	Index of order of added slave (not bus position), see command EcAddSlave()).
[in]	entryIndex	Index of order of added entry (within slave).
[in]	value	Value to be written.

Note: the slaveIndex and entryIndex can be read with the commands readEcSlaveIndex() and readEcEntryIndexIDString().

Returns: 0 if success or otherwise an error code.

Note: Example: Write a 0 to the 2:nd added entry (entryIndex=1) in the 4:th added slave (slaveIndex=3).
"WriteEcEntry(3,1,0)" //Command string to ecmcCmdParser.c

◆ writeEcEntryIDString()

int writeEcEntryIDString	(	int	slaveBusPosition,
		char *	entryIdString,
		uint64_t	value )

Writes a value to an EtherCAT entry addressed by slaveBusPosition and entryIdString.
.

Parameters

[in]	slaveBusPosition	Position of the EtherCAT slave on the bus. slaveBusPosition = -1: Used to address the simulation slave. Only two entries are configured, "ZERO" with default value 0 and "ONE" with default value 1. slaveBusPosition = 0..65535: Addressing of normal EtherCAT slaves.
[in]	entryIdString	String for addressing purpose (see command "Cfg.EcAddEntryComplete() for more information").
[in]	value	Value to be written. Note: This command should not be used when realtime performance is needed (also see "WriteECEntry()" command).

Returns: 0 if success or otherwise an error code.

Note: Example: Write a 1 to a digital output configured as "OUTPUT_0" on slave 1
"Cfg.WriteEcEntryIDString(1,OUTPUT_1,1)" //Command string to ecmcCmdParser.c

Functions

Detailed Description

Function Documentation

◆ ecAddDataDT()

◆ ecAddDomain()

◆ ecAddEntry()

◆ ecAddEntryComplete()

◆ ecAddMemMap()

◆ ecAddMemMapDT()

◆ ecAddSdo()

◆ ecAddSdoAsync()

◆ ecAddSdoBuffer()

◆ ecAddSdoComplete()

◆ ecAddSdoDT()

◆ ecAddSlave()

◆ ecApplyConfig()

◆ ecEnablePrintouts()

◆ ecGetMemMapId()

◆ ecGetSlaveProductCode()

◆ ecGetSlaveRevisionNum()

◆ ecGetSlaveSerialNum()

◆ ecGetSlaveVendorId()

◆ ecPrintAllHardware()

◆ ecPrintSlaveConfig()

◆ ecReadSdo()

◆ ecReadSoE()

◆ ecResetError()

◆ ecResetMaster()

◆ ecSelectReferenceDC()

◆ ecSetDelayECOkAtStartup()

◆ ecSetDiagnostics()

◆ ecSetDomainFailedCyclesLimit()

◆ ecSetDomAllowOffline()

◆ ecSetEcAllowOffline()

◆ ecSetEntryUpdateInRealtime()

◆ ecSetMaster()

◆ ecSlaveConfigDC()

◆ ecSlaveConfigWatchDog()

◆ ecUseClockRealtime()

◆ ecVerifySdo()

◆ ecVerifySlave()

◆ ecWriteSdo()

◆ ecWriteSoE()

◆ linkEcEntryToEcStatusOutput()

◆ readEcEntry()

◆ readEcEntryIDString()

◆ readEcEntryIndexIDString()

◆ readEcMemMap()

◆ readEcSlaveIndex()

◆ writeEcEntry()

◆ writeEcEntryIDString()