SoE Protocol

Overview

The Servo Profile over EtherCAT (SoE) protocol enables the proven SERCOS device profile to be used, which is tailored for demanding drive technology and standardised in IEC 61491. The SERCOS service channel, and therefore access to all parameters and functions residing in the drive, is mapped to the EtherCAT mailbox.

Functions
void	EC_API_SLV_SoE_cbRegisterSendHandler (EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBSend_t cbFunc_p)
	Register user application to generate SoE in order to send them to the master. More...
void	EC_API_SLV_SoE_cbRegisterRecvHandler (EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBRecv_t cbFunc_p)
	Register user application to process SoE frames received from master. More...
void	EC_API_SLV_SoE_cbRegisterNotificationReqHandler (EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_SoE_CBNofReq_t cbFunc_p)
	Register user application to process SoE Notification Request service. More...
uint8_t	EC_API_SLV_notificationResponse (uint16_t idn_p, uint16_t channel_p, uint16_t dataState_p)
	Respond to the notification request from the master. More...