As described before, the SyncManager assignment and PDO mapping settings can be changed by the EtherCAT Master 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);

EC_API_SLV_PDO_registerMappingChanges

void EC_API_SLV_PDO_registerMappingChanges(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_PDO_CBMappingChanges_t cbFunc_p)

Register callback for PDO mapping changes.

Definition ecSlvApi_ProcDataStub.c:726

EC_API_SLV_PDO_registerAssignmentChanges

void EC_API_SLV_PDO_registerAssignmentChanges(EC_API_SLV_SHandle_t *pEcSlaveApi_p, void *pContext_p, EC_API_SLV_PDO_CBAssignmentChanges_t cbFunc_p)

Register callback for PDO assignment changes.

Definition ecSlvApi_ProcDataStub.c:674

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
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Reaload devices in menu
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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 Master.

Assignment change callback from Slave Simple example
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New assignment reflected in the Object Dictionary
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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, bool rx_p, uint8_t count_p, uint16_t* pPdoIndexArray_p)
{
    return EC_API_eERR_ABORT;
}

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

Mapping change callback from Slave Simple example
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New mapping reflected in the Object Dictionary
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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_SLV_API_PDO_SEntryMap_t* pPdoMap_p)
{
    return EC_API_eERR_ABORT;
}

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