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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 //Change state to SAFE OPERATIONAL cyclic if (ERROR_SUCCESS == Ecat64CyclicStateControl( &__StateObject, AL_STATE_SAFE_OP)) { //Do some delay Sleep(500); //Change state to SAFE OPERATIONAL cyclic if (ERROR_SUCCESS == Ecat64CyclicStateControl( &__StateObject, AL_STATE_OP)) { //Do some delay Sleep(100); … SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 46

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 6.3 EtherCAT LowLevel COE Functions The EtherCAT realtime library allows COE-SDO communication with corresponding modules at low level. Therefore several functions are exported as low level SDO functions. 6.3.1 Initiate SDO Download Expedited Request This function initiates a SDO Download Expedited Request ULONG SHAAPI Ecat(32/64)SdoInitDownloadReq( PSTATION_INFO pStation, USHORT SdoIndex, UCHAR SdoSubIndex, ULONG SdoDataSize, PUCHAR pSdoData) 6.3.2 Initiate SDO Download Expedited Response This function initiates a SDO Download Expedited Response ULONG Ecat(32/64)SdoInitDownloadResp(PSTATION_INFO pStation); 6.3.3 Initiate SDO Upload Expedited Request This function initiates a SDO Upload Expedited Request ULONG Ecat(32/64)SdoInitUploadReq( PSTATION_INFO pStation, USHORT SdoIndex, UCHAR SdoSubIndex); 6.3.4 Initiate SDO Download Expedited Response This function initiates a SDO Download Expedited Response ULONG Ecat(32/64)SdoInitUploadResp( PSTATION_INFO pStation, PULONG pSdoDataSize, PUCHAR* ppSdoData) SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 47

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