Collaboration diagram for Configuration functions:

Functions
MLPIRESULT	mlpiEthercatSetConfigFiles (const MLPIHANDLE connection, const ULONG interfaceNumber, const WCHAR16 iniPathFileName, const WCHAR16 eniPathFileName)

MLPIRESULT	mlpiEthercatControl (const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG command, UCHAR dataIn, const ULONG dataSizeIn, UCHAR dataOut, const ULONG dataSizeOut, ULONG *dataSizeOutRet)

MLPIRESULT	mlpiEthercatSetMasterState (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatState state)

MLPIRESULT	mlpiEthercatSetSlaveState (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const MlpiEthercatState slaveState)

MLPIRESULT	mlpiEthercatGenerateEsi (const MLPIHANDLE connection, const WCHAR16 eepromPathFileName, const WCHAR16 esiPathFileName, const ULONG flags)

MLPIRESULT	mlpiEthercatStartBusScan (const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG flags)

MLPIRESULT	mlpiEthercatSetProcessData (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatProcessDataType pdType, const ULONG offset, UCHAR *data, const ULONG dataSize)

Detailed Description

Contains functions to configure the EtherCAT master and its slaves.

Function Documentation

MLPIRESULT mlpiEthercatSetConfigFiles	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const WCHAR16 *	iniPathFileName,
		const WCHAR16 *	eniPathFileName
	)

This function sets the master configuration (files will be loaded from local drive of control).

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	iniPathFileName	Path and filename of master configuration file (Bosch Rexroth specific).
[in]	eniPathFileName	Path and filename of EtherCAT network information file.

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

Example:: 1 // Set the master configuration (files will be loaded from local drive of control).
2 ULONG interfaceNumber = 0;
3 WCHAR16 iniPathFileName[] = L"/USER/EtherCAT.ini";
4 WCHAR16 eniPathFileName[] = L"/USER/EtherCAT.xml";
5 MLPIRESULT result = mlpiEthercatSetConfigFiles(connection, interfaceNumber, iniPathFileName, eniPathFileName);

MLPIRESULT mlpiEthercatControl	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const ULONG	command,
		UCHAR *	dataIn,
		const ULONG	dataSizeIn,
		UCHAR *	dataOut,
		const ULONG	dataSizeOut,
		ULONG *	dataSizeOutRet
	)

This function enables raw data exchange with the EtherCAT master stack.

Attention: It is mainly intended to be used by engineering systems like Bosch Rexroth IndraWorks. In standard use cases please use type specified functions instead.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	command	Internal command number.
[in]	dataIn	Pointer to input bytes.
[in]	dataSizeIn	Number of input bytes.
[out]	dataOut	Pointer to output bytes.
[in]	dataSizeOut	Maximum number of output bytes (size provided by dataSizeOutRet).
[out]	dataSizeOutRet	Number of output bytes returned.

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

Example:: 1 // This function should only be used internally.

MLPIRESULT mlpiEthercatSetMasterState	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatState	state
	)

This function sets the a new master state.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	state	New master state.

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

Example:: 1 // Set a new master state.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatState state = MLPI_ETHERCAT_STATE_INIT;
4 MLPIRESULT result = mlpiEthercatSetMasterState(connection, interfaceNumber, state);

MLPIRESULT mlpiEthercatSetSlaveState	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const MlpiEthercatState	slaveState
	)

This function sets a new slave state.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	slaveState	New slave state.

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

Example:: 1 // Set a new slave state.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MlpiEthercatState slaveState = MLPI_ETHERCAT_STATE_PREOP;
6 MLPIRESULT result = mlpiEthercatSetSlaveState(connection, interfaceNumber, addressType, address, slaveState);

MLPIRESULT mlpiEthercatGenerateEsi	(	const MLPIHANDLE	connection,
		const WCHAR16 *	eepromPathFileName,
		const WCHAR16 *	esiPathFileName,
		const ULONG	flags
	)

This function generates an EtherCAT Slave Information (Device Description) from an EEPROM image.

Parameters

[in]	connection	Handle for multiple connections.
[in]	eepromPathFileName	Path and filename of SII image.
[in]	esiPathFileName	Path and filename where ESI will be generated.
[in]	flags	Behavior of Esi generator. Currently set to zero.

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

Example:: 1 // Generate an EtherCAT Slave Information (Device Description) from an EEPROM image.
2 WCHAR16 eepromPathFileName[] = L"/USER/Eeprom.bin";
3 WCHAR16 esiPathFileName[] = L"/USER/Box1.xml";
4 ULONG flags = 0x00;
5 MLPIRESULT result = mlpiEthercatGenerateEsi(connection, eepromPathFileName, esiPathFileName, flags);

MLPIRESULT mlpiEthercatStartBusScan	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const ULONG	flags
	)

This function starts the bus scan procedure of the master.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	flags	Flags specifying the behavior of bus scan (e.g. if serial number should be checked).

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

Example:: 1 // Start the bus scan procedure of the master.
2 ULONG interfaceNumber = 0;
3 ULONG flags = 0;
4 MLPIRESULT result = mlpiEthercatStartBusScan(connection, interfaceNumber, flags);

MLPIRESULT mlpiEthercatSetProcessData	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatProcessDataType	pdType,
		const ULONG	offset,
		UCHAR *	data,
		const ULONG	dataSize
	)

This function writes byte stream to process data (consistent).

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	pdType	Process data type.
[in]	offset	Byte offset inside process data (where writing starts).
[in]	data	Pointer to data image where data will be copied from. pbyData has to provide at least ulNumBytes of content.
[in]	dataSize	Number of bytes to be written.

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

Example:: 1 // Write byte stream to process data (consistent).
2 ULONG interfaceNumber = 0;
3 MlpiEthercatProcessDataType pdType = MLPI_ETHERCAT_PD_TYPE_INPUTS;
4 ULONG offset = 5;
5 UCHAR data[100] = {0};
6 ULONG dataSize = _countof(data);
7 MLPIRESULT result = mlpiEthercatSetProcessData(connection, interfaceNumber, pdType, offset, data, dataSize);

Functions

Detailed Description

Function Documentation