Process data reconfiguration

As described before, the SyncManager assignment and PDO mapping settings can be changed by the EtherCAT MainDevice during the transition from PreOP to SafeOP.

Register Process Data configuration change callbacks

In order to get notifications of any mapping or assignment change, use the register functions.

EC_API_SLV_PDO_registerAssignmentChanges(pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, EC_SLAVE_APP_assignmentChangedHandler);
EC_API_SLV_PDO_registerMappingChanges(pAppInstance_p->ptEcSlvApi, pAppInstance_p->ptEcSlvApi, EC_SLAVE_APP_mappingChangedHandler);

Apply new configuration to the device

If the process data configuration is changed by the user, to apply those changes, it is necessary to reload the devices in TwinCAT.

Reaload devices button

Reaload devices in menu

Assignment changes callback

If the assignment change setting is enabled and the assignment callback registered, then the SDK informs the application about the changes requested by the MainDevice.

Assignment change callback from SubDevice Simple example

New assignment reflected in the Object Dictionary

Accept or refuse SyncManager assignment changes

The syncManager assignment change request can be refused from the application. To do so, use an error code different to EC_API_eERR_NONE.

uint32_t EC_SLAVE_APP_assignmentChangedHandler(void* pContext_p,EC_API_SLV_PDO_SReconfigAssignMap_t *pRxPdoAssignMap_p,EC_API_SLV_PDO_SReconfigAssignMap_t *pTxPdoAssignMap_p)
{
    return EC_API_eERR_ABORT;
}

Application refuses to transit to SafeOP and reports an AL Status Code error

PDO changes callback

If the PDO mapping is not fixed and the mapping changes callback registered, then the SDK informs the application about the changes requested by the MainDevice.

Mapping change callback from SubDevice Simple example

New mapping reflected in the Object Dictionary

Accept or refuse PDO mapping changes

The PDO mapping change request can be refused from the application. To do so, use an error code different to EC_API_eERR_NONE.

uint32_t EC_SLAVE_APP_mappingChangedHandler(void* pContext_p, uint16_t pdoIndex_p, uint8_t count_p, EC_API_SLV_PDO_SEntryMap_t* pPdoMap_p)
{
    return EC_API_eERR_ABORT;
}

Application refuses to transit to SafeOP and reports an AL Status Code error.