SDK_Bussystem_EtherCat.mh File Reference

Declaration of the EtherCat functions. More...

Go to the source code of this file.

Functions
long	sdkEtherCATMasterInitialize (void)
	Initialization of an EtherCAT master. More...
long	sdkEtherCATMasterDoMapping (void)
	Mapping of EtherCAT Master IO Image. More...
long	sdkEtherCATMasterStart (void)
	Start an EtherCAT Master. More...
long	sdkEtherCATSetupDC (long slaveNo, long cycleTime_ms, long offset_us)
	Sets the DC cycle for an individual slave. More...

Detailed Description

Declaration of the EtherCat functions.

Revision

228

Definition in file SDK_Bussystem_EtherCat.mh.

Function Documentation

sdkEtherCATMasterDoMapping()

long sdkEtherCATMasterDoMapping

(

void

)

Mapping of EtherCAT Master IO Image.

Scans through the slave's PDO setup and generates mapping. The slaves PDO setup has to be done by SDO commands before this function is called. The slaves are SAFEOP state after this function.

Parameters

-

Returns

value: Number of slaves found on bus
value > 0 Process successful
value < 0 Error

Definition at line 46 of file SDK_Bussystem_EtherCat.mc.

{
    print("map input/output");
    return ECatMasterCommand(0x1000, 2);    //  Map Input and Output buffers (go to safeop)
}

sdkEtherCATMasterInitialize()

long sdkEtherCATMasterInitialize

(

void

)

Initialization of an EtherCAT master.

Initializes an EtherCAT master and scans the EtherCat bus for slaves. The slaves are now in PREOP state.

Parameters

-

Returns

value: Number of slaves found on bus
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 23 of file SDK_Bussystem_EtherCat.mc.

{
    long slaveCount = 0;
 
    ECatMasterCommand(0x1000, 0);               // disable Master
    ECatMasterCommand(0x1000, 1);               // start Master
    ECatMasterInfo(0x1000, 0, slaveCount);      // slave count
 
    print(" ECAT salve count: ",slaveCount);
    return(slaveCount);
}

sdkEtherCATMasterStart()

long sdkEtherCATMasterStart

(

void

)

Start an EtherCAT Master.

If DC is configured, this function will block until the slaves are synchronized to the master. This can take some seconds. After that the system waits until all slaves are in the OP state.

Parameters

-

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 86 of file SDK_Bussystem_EtherCat.mc.

{
    long offsetValue;
    long dcActive = 0;
 
    Delay(2);   //Wait for ECatMasterInfo(0x1000, 12) value to be updated the first time
 
    ECatMasterInfo(0, 30, dcActive);    //is DC configured?
    print("DC Active: ", dcActive);
 
    if(dcActive)
    {
        print("wait for DC to lock");
        offsetValue = 100001;
        while(abs(offsetValue) > 1000)
        {
            ECatMasterInfo(0x1000, 12, offsetValue);
            print("Offset time [ns]: ",offsetValue);
            Delay(300);
        }
    }
 
    print("wait for op");
    ECatMasterCommand(0x1000, 3);   //  request & wait OP state for all slaves
 
    return(1);
}

sdkEtherCATSetupDC()

long sdkEtherCATSetupDC	(	long	slaveNo,
		long	cycleTime_ms,
		long	offset_us
	)

Sets the DC cycle for an individual slave.

DC0 clock output will be configured with the selected cycle time and offset. Typically, Cycle time is 1ms and offset 0. This function has to be called after sdkEtherCATMasterDoMapping.

Parameters

slaveNo	ID of the EhterCAT slave
cycleTime_ms	cycletime in milliseconds
offset_us	shift offset

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 67 of file SDK_Bussystem_EtherCat.mc.

{
    ECatMasterCommand(slaveNo, ( (cycleTime_ms<<8) + (offset_us<<16)));
 
    return(1);
}