The process data transferred by an EtherCAT slave during each cycle (Process Data Objects, PDOs) are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave 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 slave. Incorrect configuration can prevent successful start-up of the slave.
Functions | |
uint32_t | EC_API_SLV_PDO_create (EC_API_SLV_SHandle_t *pEcSlaveApi_p, char *pName_p, uint16_t mapIndex_p, EC_API_SLV_SPdo_t **pOutPdo_p) |
Creates an empty PDO. More... | |
uint32_t | EC_API_SLV_PDO_get (EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint16_t index_p, EC_API_SLV_SPdo_t **pOutPdo_p) |
Search for PDO and fetch it. More... | |
uint16_t | EC_API_SLV_PDO_getOffset (EC_API_SLV_SPdo_t *pPdo_p) |
This function return the offset of the PDO in the process image in bytes. More... | |
uint16_t | EC_API_SLV_PDO_getLength (EC_API_SLV_SPdo_t *pPdo_p) |
This function returns the Byte size of a PDO. More... | |
uint32_t | EC_API_SLV_PDO_createEntry (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, char *pName_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p) |
This function maps an object entry from the Object Dictionary as a PDO. More... | |
uint32_t | EC_API_SLV_PDO_setData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint32_t length_p, uint8_t *pData_p) |
Write PDO content into Process Image. All PDO entries are written in a data chunk. More... | |
uint32_t | EC_API_SLV_PDO_getData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint32_t length_p, uint8_t *pData_p) |
Read PDO content from Process Image, all entries are read in a data chunk. More... | |
uint32_t | EC_API_SLV_PDO_setEntryData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p, uint32_t length_p, uint8_t *pData_p) |
Write data to an individual PDO Entry Variable. More... | |
uint32_t | EC_API_SLV_PDO_getEntryData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p, uint32_t length_p, uint8_t *pData_p) |
Read data from an individual PDO Entry Variable. More... | |
uint32_t | EC_API_SLV_PDO_setFixedMapping (EC_API_SLV_SHandle_t *pEcSlaveApi_p, bool fixed_p) |
This is the function to set a PDO as fixed or not. Download of PDO Configuration during start up. More... | |
uint32_t | EC_API_SLV_PDO_setAssignment (EC_API_SLV_SHandle_t *pEcSlaveApi_p, bool assignment_p) |
Enable or disable PDO assignments of the SyncManagers. Download of PDO assignment (e.g. 0x1C12, 0x1C13, etc) during start up. More... | |
uint32_t | EC_API_SLV_PDO_addPadding (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, uint8_t length_p) |
Add padding to the PDO. More... | |
uint32_t | EC_API_SLV_getInputProcDataLength (EC_API_SLV_SHandle_t *pEcSlaveApi_p) |
Read the input process data length. More... | |
uint32_t | EC_API_SLV_getOutputProcDataLength (EC_API_SLV_SHandle_t *pEcSlaveApi_p) |
Read the output process data length. More... | |
uint8_t | EC_API_SLV_PDO_getEntryCount (EC_API_SLV_SPdo_t *pPdo_p) |
Read PDO entry count. More... | |
uint32_t | EC_API_SLV_PDO_getEntryDataLength (EC_API_SLV_SPdo_t *pPdo_p, uint8_t subIndex_p) |
Read PDO entry data length. More... | |
uint32_t | EC_API_SLV_setInputData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, uint8_t *pInputData_p) |
Write input process data to the EtherCAT Master. More... | |
uint32_t | EC_API_SLV_getOutputData (EC_API_SLV_SHandle_t *pEcSlaveApi_p, uint32_t length_p, uint8_t *pOutputData_p) |
Read output process from the EtherCAT Master. More... | |
uint32_t | EC_API_SLV_PDO_enable (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p) |
Enable PDO assignment to the syncManager. More... | |
uint32_t | EC_API_SLV_PDO_disable (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p) |
Disable PDO assignment to the syncManager. More... | |
uint32_t | EC_API_SLV_PDO_enabled (EC_API_SLV_SHandle_t *pEcSlaveApi_p, EC_API_SLV_SPdo_t *pPdo_p, bool *pEnabled_p) |
Return if the PDO is assigned to the syncManager. More... | |