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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 void static AppTask(void) { //Check if system memory is present if ((!__pSystemStack) || (!__pSystemList)) return; //Call enter wrapper function __EcatState = __fpEcatEnter( __pSystemStack, __pSystemList, (USHORT)__StationNum, NULL); //Check operation state and increase ready count if (__EcatState == ECAT_STATE_READY) { __ReadyCnt++; } else { __ReadyCnt=0; } //Check ready count for cycle operation if (__ReadyCnt == 1) { //DBG_INITIAL_BREAK(); //********************************* //Do the logical station operation //e.g. toogle output value (station index == 2) // __pSystemList[2].TxTel.s.data[0] = (__pSystemList[1].TxTel.s.data[2]) ? 0x00 : 0x03; //********************************* } __UpdateCnt++; //Call exit function __fpEcatExit(); } //Increase loop count __LoopCnt++; SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 38

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

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