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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 Note: Library LowLevel Routines implemented by ShaEcatCreate //Clear CRC Fault Counter and reset devices Ecat(32/64)ResetDevices(); Ecat(32/64)CheckErrorCounters(BOOLEAN bReset); //Get DL and PDI information for each module Ecat(32/64)ReadDlInfo(); Ecat(32/64)ReadDlStatus(); Ecat(32/64)ReadPDIControl(); //Init DC Ecat(32/64)ReadDcLocalTime(); Ecat(32/64)CompDcPropDelay(); Ecat(32/64)CompDcOffset(); Ecat(32/64)CompDcDrift(PULONG &DriftTimePerMsec); Ecat(32/64)ReadDcSyncInfo(); Note: Logical Addessing Sheme The EtherCAT Realtime Library provides an integrated logical addressing sheme. Thereby all EtherCAT stations get an logical address due to the following algorithm: for (ULONG i=0; i LogicalAddr += pStation->FmmuList[FmmuIndex].s.Length; pStation->LogicalAddr += 0x10; pStation->LogicalAddr = ALIGN_SIZE(LogicalAddr, 0x10); } SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 30

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 4.1.3 Sha(32/64)EcatDestroy This function closes the EtherCAT communication. VC ULONG Sha(32/64)ECatDestroy(PECAT_PARAMS); 4.1.4 Sha(32/64)EcatEnable This function enables the EtherCAT station list and must follow the function ShaEcatCreate. VC ULONG Sha(32/64)ECatEnable(PECAT_PARAMS); Note: Library LowLevel Routines implemented by this Function EcatChangeAllStates(AL_STATE_INIT) EcatInitStationAddresses(pParams->PhysAddr) EcatInitFmmus(pParams->LogicalAddr) EcatInitSyncManagers() EcatChangeAllStates(AL_STATE_PRE_OP) EcatPdoAssignment() EcatChangeAllStates(AL_STATE_SAFE_OP) EcatChangeAllStates(AL_STATE_OP) //Change state to INIT //Set fixed station addresses //Init FMMUs and SYNCMANs //Change state to PRE OPERATIONAL //Init PDO assignment //Change state to SAFE //OPERATIONAL //Change state to OPERATIONAL 4.1.5 Sha(32/64)EcatDisable This function disables the EtherCAT station list VC ULONG Sha(32/64)ECatDisable(PECAT_PARAMS); SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 31

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