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manual_ect_clu_e

The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master

EtherCAT Realtime Master

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 { Cmd = LRW_CMD; DataSize = DataSize; Addr.bit32 = LogicalAddr; } if ((pStation->OutDescNum != 0) && (pStation->InDescNum == 0)) { Cmd = LWR_CMD; DataSize = DataSize; Addr.bit32 = LogicalAddr; } if ((pStation->OutDescNum == 0) && (pStation->InDescNum != 0)) { Cmd = LRD_CMD; DataSize = DataSize; Addr.bit32 = LogicalAddr; } if ((pStation->OutDescNum == 0) && (pStation->InDescNum == 0)) { Cmd = BRD_CMD; DataSize = sizeof(AL_STATUS); Addr.bit16[0] = 0x0000; Addr.bit16[1] = 0x0130; } //Set cyclic telegram __EcatSetCyclicTelegram( &pStation->TxTel, (UCHAR)pStation->Index, Cmd, Addr.bit16[0], Addr.bit16[1], DataSize, NULL, 0x0000); } //Set station update pStation->bUpdate = TRUE; SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 22

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 3.3 Header File ECAT(32/64)MACROS.H This header file defines all macros required for handling realtime level 2. This Inline-Macro is to set telegram information: __EcatSetTelegram(__pTel,__index,__cmd,__adp,__ado,__DataSize,__pData,__WorkCnt) __pTel Type: PECAT_TELEGRAM //EtherCAT Telegram __index Type: UCHAR //Telegram index __cmd Type: UCHAR //Telegram command __adp Type: USHORT //Telegram ADP __ado Type: USHORT //Telegram ADO __DataSize Type: ULONG //Telegram Data Size __pData Type: PUCHAR //Telegram Data pointer __WorkCnt Type: USHORT //Telegram Working Count This Inline-Macro is to set cyclic telegram information: __EcatSetCyclicTelegram(__pTel,__index,__cmd,__adp,__ado,__DataSize,__pData,__Wor kCnt) This Inline-Macro is to get telegram information: __EcatGetTelegram(__pTel,__pIndex,__pCmd,__pAdp,__pAdo,__DataSize,__pData,__pWor kCnt) __pTel Type: PECAT_TELEGRAM //EtherCAT Telegram __pIndex Type: PUCHAR //Telegram index __pCmd Type: PUCHAR //Telegram command __pAdp Type: PUSHORT //Telegram ADP __pAdo Type: PUSHORT //Telegram ADO __DataSize Type: ULONG //Telegram Data bytes to copy __pData Type: PUCHAR //Telegram Data pointer __pWorkCnt Type: PUSHORT //Telegram Working Count This Inline-Macro is to copy telegrams: __EcatCpyTelegram(__pDstTel,__pSrcTel) __pDstTel __pSrcTel Type: PECAT_TELEGRAM Type: PECAT_TELEGRAM SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 23

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