Collaboration diagram for CANopen over EtherCAT:

Functions
MLPIRESULT	mlpiEthercatCoeGetOdList (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const MlpiEthercatOdListType listType, USHORT indicies, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiEthercatCoeGetObjectDescription (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, UCHAR data, const ULONG dataSize, ULONG dataSizeRet)

MLPIRESULT	mlpiEthercatCoeGetEntryDescription (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const UCHAR valueInfo, UCHAR data, const ULONG dataSize, ULONG dataSizeRet)

MLPIRESULT	mlpiEthercatCoeSdoUpload (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const ULONG flags, UCHAR data, const ULONG dataSize, ULONG dataSizeRet)

MLPIRESULT	mlpiEthercatCoeSdoDownload (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT objectIndex, const UCHAR subIndex, const ULONG flags, UCHAR *data, const ULONG dataSize)

Detailed Description

Contains functions to communicate with slaves over CANopen application protocol over EtherCAT.

Function Documentation

MLPIRESULT mlpiEthercatCoeGetOdList	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const MlpiEthercatOdListType	listType,
		USHORT *	indicies,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function gets a list of object indices which are available in a EtherCAT CoE device.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	listType	List type.
[out]	indicies	Data buffer for object list.
[in]	numElements	Number of elements in 'indicies' available to read.
[out]	numElementsRet	Number of elements used.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get a list of object indices which are available in a EtherCAT CoE device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MlpiEthercatOdListType listType = MLPI_ETHERCAT_OD_LIST_TYPE_ALL;
6 USHORT indicies[30] = {0};
7 ULONG numElements = _countof(indicies);
8 ULONG numElementsRet = 0;
9 MLPIRESULT result = mlpiEthercatCoeGetOdList(connection, interfaceNumber, addressType, address, listType, indicies, numElements, &numElementsRet);

MLPIRESULT mlpiEthercatCoeGetObjectDescription	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	objectIndex,
		UCHAR *	data,
		const ULONG	dataSize,
		ULONG *	dataSizeRet
	)

This function gets the object description for a specific object (SDO) in EtherCAT CoE device.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	objectIndex	Object index.
[out]	data	Data buffer for object description (see ETG 1000 specification).
[in]	dataSize	Size of buffer provided by data in bytes.
[out]	dataSizeRet	Size of data written to data in bytes.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get the object description for a specific object (SDO) in EtherCAT CoE device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT objectIndex = 0;
6 UCHAR data[1024] = {0};
7 ULONG dataSize = _countof(data);
8 ULONG dataSizeRet = 0;
9 MLPIRESULT result = mlpiEthercatCoeGetObjectDescription(connection, interfaceNumber, addressType, address, objectIndex, data, dataSize, &dataSizeRet);

MLPIRESULT mlpiEthercatCoeGetEntryDescription	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	objectIndex,
		const UCHAR	subIndex,
		const UCHAR	valueInfo,
		UCHAR *	data,
		const ULONG	dataSize,
		ULONG *	dataSizeRet
	)

This function gets the object entry description for a specific object (SDO) in EtherCAT CoE device.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	objectIndex	Object index.
[in]	subIndex	Sub index.
[in]	valueInfo	Bit mask to define which information to determine (see ETG 1000 specification).
[out]	data	Data buffer for entry description (see ETG 1000 specification).
[in]	dataSize	Size of buffer provided by data in bytes.
[out]	dataSizeRet	Size of data written to data in bytes.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Get the object entry description for a specific object (SDO) in EtherCAT CoE device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT objectIndex = 0;
6 UCHAR subIndex = 0;
7 UCHAR valueInfo = 20;
8 UCHAR data[1024] = {0};
9 ULONG dataSize = _countof(data);
10 ULONG dataSizeRet = 0;
11 MLPIRESULT result = mlpiEthercatCoeGetObjectDescription(connection, interfaceNumber, addressType, address, objectIndex, subIndex, valueInfo, data, dataSize, &dataSizeRet);

MLPIRESULT mlpiEthercatCoeSdoUpload	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	objectIndex,
		const UCHAR	subIndex,
		const ULONG	flags,
		UCHAR *	data,
		const ULONG	dataSize,
		ULONG *	dataSizeRet
	)

This function performs a CoE SDO upload from an EtherCAT slave device to the master.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	objectIndex	Object index.
[in]	subIndex	Sub index.
[in]	flags	Mailbox flags specifying the upload behavior. Bit 0: Complete Access, Bit 1-31: Reserved (see ETG 1000.6 specification).
[out]	data	Data buffer for uploaded data.
[in]	dataSize	Number of bytes in 'data' available to upload.
[out]	dataSizeRet	Number of bytes used for upload.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Perform a CoE SDO upload from an EtherCAT slave device to the master.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT objectIndex = 4;
6 UCHAR subIndex = 0;
7 ULONG flags = 0;
8 UCHAR data[1024] = {0};
9 ULONG dataSize = _countof(data);
10 ULONG dataSizeRet = 0;
11 for (subIndex = 1; subIndex <= 4; subIndex++)
12 {
13 result = mlpiEthercatCoeSdoUpload(connection, interfaceNumber, addressType, address, objectIndex, subIndex, flags, data, dataSize, &dataSizeRet);
14 }

MLPIRESULT mlpiEthercatCoeSdoDownload	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	objectIndex,
		const UCHAR	subIndex,
		const ULONG	flags,
		UCHAR *	data,
		const ULONG	dataSize
	)

This function performs a CoE SDO download from the master to an EtherCAT slave device.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	objectIndex	Object index.
[in]	subIndex	Sub index.
[in]	flags	Mailbox flags specifying the upload behavior. Bit 0: Complete Access, Bit 1-31: Reserved (see ETG 1000.6 specification).
[in]	data	Data to be transferred.
[in]	dataSize	Number of bytes in 'data' available to download.

Returns: Return value indicating success (>=0) or error (<0).

Example:: 1 // Perform a CoE SDO download from the master to an EtherCAT slave device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT objectIndex = 0x4000;
6 UCHAR subIndex = 5;
7 ULONG flags = 0;
8 UCHAR data[1024] = {0};
9 ULONG dataSize = _countof(data);
10 MLPIRESULT result = mlpiEthercatCoeSdoDownload(connection, interfaceNumber, addressType, address, objectIndex, subIndex, flags, data, dataSize);

Functions

Detailed Description

Function Documentation