ecmcGeneral.h File Reference

General commands. More...

Go to the source code of this file.

Functions
int	getControllerError ()
	Returns the controller error code. .
int	controllerErrorReset ()
	Resets the controller error code. .
const char *	getErrorString (int errorNumber)
	Get axis error code in string format. .
int	validateConfig ()
	Validates the current configuration)".
int	linkEcEntryToObject (char *ecPath, char *objPath)
	Links an EtherCAT entry to an object.
int	setEnableTimeDiag (int value)
	Enable printouts of timing information related to the realtime thread. .
int	setEnableFunctionCallDiag (int value)
	Enable printouts of which functions in hw_motor.cpp are being called. .

Detailed Description

General commands.

Function Documentation

controllerErrorReset()

int controllerErrorReset

(

)

Resets the controller error code.
.

Returns

0

Note

Example: Reset controller error.
"ControllerErrorReset()" //Command string to ecmcCmdParser.c

getControllerError()

int getControllerError

(

)

Returns the controller error code.
.

Returns

current error code of controller.

Note

Example: Get current controller error code.
"GetControllerError()" //Command string to ecmcCmdParser.c

getErrorString()

const char * getErrorString

(

int

errorNumber

)

Get axis error code in string format.
.

Parameters

[in]

errorNumber

Error code.

Returns

axis error string.

Note

Example: Get error code of axis 3.
"Main.M3.sErrorMessage?" //Command string to ecmcCmdParser.c.

Todo

"TwinCAT syntax. Needs to be changed.

linkEcEntryToObject()

int linkEcEntryToObject	(	char *	ecPath,
		char *	objPath )

Links an EtherCAT entry to an object.

Parameters

[in]	ecPath	EtherCAT entry path in the following format: ec<masterId>.s<slaveId>.<alias>.<bitId> ec<masterId>.s<slaveId>.<alias>
[in]	axPath	Axis parameter path in the following format: ax<id>.enc.actpos ax<id>.drv.enable ax<id>.drv.velocity ax<id>.drv.enabled ax<id>.drv.break ax<id>.drv.reducetorque ax<id>.mon.lowlim ax<id>.mon.highlim ax<id>.mon.homesensor ax<id>.mon.extinterlock ax<id>.health ec<masterId>.health

Returns

0 if success or otherwise an error code.

Note

Example: Link an EtherCAT entry configured as "POSITION_ACT" in slave 1 as actual position for the encoder of axis 5.
"Cfg.LinkEcEntryToObject(ec0.s1.POSITION_ACT,ax5.enc.actpos)" //Command string to ecmcCmdParser.c

setEnableFunctionCallDiag()

int setEnableFunctionCallDiag

(

int

value

)

Enable printouts of which functions in hw_motor.cpp are being called.
.

Parameters

[in]

enable

Enable printouts.

Returns

0 if success or otherwise an error code.

Note

Example: Enable function call diagnostics.
"Cfg.SetEnableFuncCallDiag(1)" //Command string to ecmcCmdParser.c

setEnableTimeDiag()

int setEnableTimeDiag

(

int

value

)

Enable printouts of timing information related to the realtime thread.
.

Parameters

[in]

enable

Enable printouts.

Returns

0 if success or otherwise an error code.

Note

Example: Enable printout time diagnostics.
"Cfg.SetEnableTimeDiag(1)" //Command string to ecmcCmdParser.c

validateConfig()

int validateConfig

(

)

Validates the current configuration)".

Returns

0 if the current configuration is valid for runtime otherwise an error code.

Note

Example: Validate configuration.
"Cfg.ValidateConfig()" //Command string to ecmcCmdParser.c