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EtherCAT SubDevice |
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EtherCAT SubDevice |
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The process data transferred by an EtherCAT subdevice during each cycle (Process Data Objects, PDOs) are user data which the application expects to be updated cyclically or which are sent to the subdevice. To this end the EtherCAT MainDevice (Beckhoff TwinCAT) parameterizes each EtherCAT subdevice during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this subdevice. Incorrect configuration can prevent successful start-up of the subdevice.
Functions | |
| uint32_t | EC_API_SLV_PDO_create (EC_API_SLV_SHandle_t *pHandle, char *pName, uint16_t mapIndex, EC_API_SLV_Pdo_t **pOutPdo) |
| Creates an empty PDO. | |
| uint32_t | EC_API_SLV_PDO_get (EC_API_SLV_SHandle_t *pHandle, uint16_t index, EC_API_SLV_Pdo_t **pOutPdo) |
| Search for PDO and fetch it. | |
| uint32_t | EC_API_SLV_PDO_getOffset (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint16_t *pOffset) |
| This function return the offset of the PDO in the process image in bytes. | |
| uint32_t | EC_API_SLV_PDO_getLength (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint16_t *pLength) |
| This function returns the Byte size of a PDO. | |
| uint32_t | EC_API_SLV_PDO_createEntry (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, char *pName, EC_API_SLV_SCoE_ObjEntry_t *pObjEntry) |
| This function maps an object entry from the Object Dictionary as a PDO. | |
| uint32_t | EC_API_SLV_PDO_getEntry (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t subIndex, EC_API_SLV_SPdoEntry_t **ppPdoEntry) |
| PDO get entry. | |
| uint32_t | EC_API_SLV_PDO_setData (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint32_t length, uint8_t *pData) |
| Write PDO content into Process Image. All PDO entries are written in a data chunk. | |
| uint32_t | EC_API_SLV_PDO_getData (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint32_t length, uint8_t *pData) |
| Read PDO content from Process Image, all entries are read in a data chunk. | |
| uint32_t | EC_API_SLV_PDO_setEntryData (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t subIndex, uint32_t length, uint8_t *pData) |
| Write data to an individual PDO Entry Variable. | |
| uint32_t | EC_API_SLV_PDO_getEntryData (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t subIndex, uint32_t length, uint8_t *pData) |
| Read data from an individual PDO Entry Variable. | |
| uint32_t | EC_API_SLV_PDO_setFixed (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, bool fixed) |
| This is the function to set a PDO as fixed or not. Download of PDO Configuration during start up. | |
| uint32_t | EC_API_SLV_PDO_setAssignment (EC_API_SLV_SHandle_t *pHandle, bool assignment) |
| Enable or disable PDO assignments of the SyncManagers. Download of PDO assignment (e.g. 0x1C12, 0x1C13, etc) during start up. | |
| uint32_t | EC_API_SLV_PDO_addPadding (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t length) |
| Add padding to the PDO Mapping. | |
| uint32_t | EC_API_SLV_getInputProcDataLength (EC_API_SLV_SHandle_t *pHandle, uint32_t *pLength) |
| Read the input process data length. | |
| uint32_t | EC_API_SLV_getOutputProcDataLength (EC_API_SLV_SHandle_t *pHandle, uint32_t *pLength) |
| Read the output process data length. | |
| uint32_t | EC_API_SLV_PDO_getEntryCount (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t *pCount) |
| Read PDO entry count. | |
| uint32_t | EC_API_SLV_PDO_getEntryDataLength (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t subIndex, uint32_t *pLength) |
| Read PDO entry data length. | |
| uint32_t | EC_API_SLV_setInputData (EC_API_SLV_SHandle_t *pHandle, uint32_t length, uint8_t *pInputData) |
| Write input process data to the EtherCAT Master. | |
| uint32_t | EC_API_SLV_getOutputData (EC_API_SLV_SHandle_t *pHandle, uint32_t length, uint8_t *pOutputData) |
| Read output process from the EtherCAT Master. | |
| uint32_t | EC_API_SLV_PDO_enable (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo) |
| Enable PDO assignment to syncManager. | |
| uint32_t | EC_API_SLV_PDO_enabled (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, bool *pEnabled) |
| PDO assignment to syncManager. | |
| uint32_t | EC_API_SLV_PDO_disable (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo) |
| Disable PDO assignment to syncManager. | |
| uint32_t | EC_API_SLV_PDO_registerAssignmentChanges (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_PDO_CBAssignmentChanges_t cbFunc, void *pContext) |
| Report PDO assignment changes. | |
| uint32_t | EC_API_SLV_PDO_registerMappingChanges (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_PDO_CBMappingChanges_t cbFunc, void *pContext) |
| Report PDO mapping changes. | |
| uint32_t | EC_API_SLV_PDO_getMappingInfo (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t *pCount, EC_API_SLV_PDO_SEntryMap_t *pPdoMapArray) |
| Read PDO mapping information. | |
| uint32_t | EC_API_SLV_PDO_getAssignmentInfo (EC_API_SLV_SHandle_t *pHandle, bool rx, uint8_t *pCount, uint16_t *pPdoIndexArray) |
| Read Assigned PDOs to SyncManager. | |
| uint32_t | EC_API_SLV_PDO_setMaxSubIndex (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, uint8_t pMaxSubIndex) |
| Set Maximum permitted subIndexes for a PDO. | |
| uint32_t | EC_API_SLV_PDO_setSyncManMaxSubIndex (EC_API_SLV_SHandle_t *pHandle, uint8_t syncMan, uint8_t maxSubIndex) |
| Set Maximum permitted subIndexes for a PDO. | |
1.9.8