manual_ect_clu_e
The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master
The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master
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EtherCAT<br />
Realtime Master Library<br />
Documentation<br />
SYBERA Copyright © 2014<br />
6 EtherCAT Library LowLevel Interface<br />
The EtherCAT Library LowLevel Interface provides all functions to control Slave devices in<br />
detail. Several LowLevel Interface groups are provided by this library.<br />
6.1 EtherCAT LowLevel Command Functions<br />
The EtherCAT realtime library allows controlling EtherCAT at low level. Therefore several<br />
commands are exported as low level functions.<br />
6.1.1 Send EtherCAT Command<br />
This is an universal function for sending EtherCAT commands<br />
ULONG Result = Ecat(32/64)SendCommand(<br />
UCHAR<br />
USHORT<br />
USHORT<br />
USHORT<br />
PUCHAR<br />
Cmd,<br />
Adp,<br />
Ado,<br />
DataSize,<br />
pData)<br />
Sample:<br />
//Send ethercat command<br />
ULONG Result = EcatSendCommand(APWR_CMD, 0xFFFE, 0x120, 2, (PUCHAR)“\x01\x00”);<br />
6.1.2 Reset Devices<br />
This command proceeds following actions:<br />
Empty any pending ethercat frames<br />
Reset DL control : BWR Offs 0x101<br />
Clear FMMUs : BWR Offs 0x600 - 0x6FF<br />
Clear SyncManager : BWR Offs 0x800 - 0x8FF<br />
Write to SystemTime : BWR Offs 0x910<br />
Write to Cycle Operation Start Time : BWR Offs 0x981<br />
Write to : BWR Offs 0x930<br />
Set event mask : BWR Offs 0x934<br />
ULONG Result = Ecat(32/64)ResetDevices(void);<br />
SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 39
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