EC_API_SLV_CiA402_registerStateMachine()

void EC_API_SLV_CiA402_registerStateMachine	(	EC_API_SLV_SHandle_t *	pEcSlaveApi_p,
		void *	pContext_p,
		EC_API_SLV_CiA402_CBUsrApplSM_t	cbFunc_p
	)

Register the CiA402 state machine.

The state sachine is required for controlling the power drive system. This state machine (FSA SM) is different to the EtherCAT communication State machine (ESM). It handles different state, sortetd by the low level power states, the high level power states and the torque enabled states.

Parameters

[in]	pEcSlaveApi_p	EtherCAT DTK instance.
[in]	pContext_p	callback context
[in]	cbFunc_p	CiA402 State Machine function.

Remarks

The DTK has a default CiA402 state machine. This DTK state machine is only used if no function is registered.

Example

#include <ecSlvApi.h>
 
*  // required variables
EC_API_SLV_SHandle_t *ecSlaveApi;
EC_API_SLV_CiA402_CBUsrApplSM_t cbFunc;
 
// the Call
EC_API_SLV_CiA402_registerStateMachine(ecSlaveApi, cbFunc);

See also

EC_API_SLV_CiA402_registerApplication