8 months ago


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 The Wrapper Functions require as parameters the Ethernet Stack pointer (e.g.__pSystemStack), the station list pointer (e.g.__pSystemList) and the number of stations (e.g. __StationNum). These parameters and others are returned when initializing the EtherCAT Realtime Library and are set as global elements. //Declare global elements PETH_STACK __pUserStack = NULL; //Ethernet Core Stack //(used outside Realtime Task) PETH_STACK __pSystemStack = NULL; //Ethernet Core Stack //(used inside Realtime Task) PSTATION_INFO __pUserList = NULL; //Station List //(used outside Realtime Task) PSTATION_INFO __pSystemList = NULL; //Station List //(used inside Realtime Task) USHORT __StationNum = 0; //Number of Stations FP_ECAT_ENTER __fpEcatEnter = NULL; //Function pointer to Wrapper EcatEnter FP_ECAT_EXIT __fpEcatExit = NULL; //Function pointer to Wrapper EcatExit ULONG __EcatState = ECAT_STATE_STOP; //Initial Wrapper State ULONG __UpdateCnt = 0; //Station Update Counter ULONG __LoopCnt = 0; //Realtime Loop Counter ULONG __ReadyCnt = 0; //Ready state counter SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 36

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 The realtime task returns the EtherCAT wrapper state with each sampling period (e.g. 200 µsec). When the wrapper indicate the state ECAT_STATE_READY it means, that all stations are updated. Within one synchronisation cycle (e.g. 2msec), the data should updated just once. Since in the following sample the state ECAT_STATE_READY would last 7 sampling periods, its useful to keep track by a ready counter and update the data just once within one synchronisation cycle: UpdateCycle Idle PLC Data Operation 0 1 2 3 4 5 6 ReadyCnt State Update State Ready 7 State Update TX-Frame RX-Frame 100 200 300 400 500 600 700 800 900 1000 µsec Sampling Period = 100 µsec SyncCycles = 10 SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 37

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