ECMC: EtherCAT open source motion control.
Motion control based on the open source EtherCAT master (www.etherlab.org). The motion package is integerated into the ESS EPCIS environment (E3).
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ecmcGeneral.h
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1/*************************************************************************\
2* Copyright (c) 2019 European Spallation Source ERIC
3* ecmc is distributed subject to a Software License Agreement found
4* in file LICENSE that is included with this distribution.
5*
6* ecmcGeneral.h
7*
8* Created on: Jan 10, 2019
9* Author: anderssandstrom
10*
11\*************************************************************************/
12
18#ifndef ECMC_GENERAL_H_
19#define ECMC_GENERAL_H_
20
21# ifdef __cplusplus
22extern "C" {
23# endif // ifdef __cplusplus
24
32int getControllerError();
33
41int controllerErrorReset();
42
54const char* getErrorString(int errorNumber);
55
64int validateConfig();
65
94int linkEcEntryToObject(char *ecPath,
95 char *objPath);
96
107int setEnableTimeDiag(int value);
108
119int setEnableFunctionCallDiag(int value);
120
121# ifdef __cplusplus
122}
123# endif // ifdef __cplusplus
124
125#endif /* ECMC_GENERAL_H_ */
linkEcEntryToObject
int linkEcEntryToObject(char *ecPath, char *objPath)
Links an EtherCAT entry to an object.
controllerErrorReset
int controllerErrorReset()
Resets the controller error code. .
setEnableFunctionCallDiag
int setEnableFunctionCallDiag(int value)
Enable printouts of which functions in hw_motor.cpp are being called. .
setEnableTimeDiag
int setEnableTimeDiag(int value)
Enable printouts of timing information related to the realtime thread. .
getControllerError
int getControllerError()
Returns the controller error code. .
getErrorString
const char * getErrorString(int errorNumber)
Get axis error code in string format. .
validateConfig
int validateConfig()
Validates the current configuration)".
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