Collaboration diagram for Data link layer:

Functions
MLPIRESULT	mlpiEthercatGetSlavePortState (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, USHORT *portState)

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

MLPIRESULT	mlpiEthercatWriteSlaveRegister (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT registerOffset, UCHAR *data, const ULONG dataSize)

MLPIRESULT	mlpiEthercatResetSlaveController (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address)

MLPIRESULT	mlpiEthercatReadSlaveEeprom (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT eepromOffset, USHORT data, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiEthercatWriteSlaveEeprom (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT eepromOffset, USHORT *data, const ULONG numElements)

MLPIRESULT	mlpiEthercatReloadSlaveEeprom (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address)

MLPIRESULT	mlpiEthercatAssignSlaveEeprom (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const BOOL8 slavePdiAccessEnable, const BOOL8 forceAssign)

MLPIRESULT	mlpiEthercatCheckSlaveEeprom (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, BOOL8 *slavePdiAccessActive)

MLPIRESULT	mlpiEthercatReadSlaveIdentification (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const USHORT ado, USHORT *value)

MLPIRESULT	mlpiEthercatGetSlaveStatistics (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveStatistics *slaveStatistics)

MLPIRESULT	mlpiEthercatResetSlaveStatistics (const MLPIHANDLE connection, const ULONG interfaceNumber)

MLPIRESULT	mlpiEthercatSetSlaveStatisticsPeriod (const MLPIHANDLE connection, const ULONG interfaceNumber, const ULONG periodMs)

MLPIRESULT	mlpiEthercatGetSlaveStatisticsPeriod (const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *periodMs)

Detailed Description

Contains functions to read/write information on the data link layer.

Function Documentation

MLPIRESULT mlpiEthercatGetSlavePortState	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		USHORT *	portState
	)

This function returns the state of the slave ports.

Slave port state is encoded as follows: USHORT consists out of four nibble. Each nibble signals one information for all four ports.

Port order within each nibble: 3210

Nibble: wwww.xxxx.yyyy.zzzz wwww: Signal detected 1=TRUE 0=FALSE xxxx: Loop closed 1=TRUE 0=FALSE yyyy: Link established 1=TRUE 0=FALSE zzzz: Slave connected 1=TRUE 0=FALSE (logical result of w,x,y)

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[out]	portState	Slave port state.

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

Example:: 1 // Get the state of the slave ports.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT portState = 0;
6 MLPIRESULT result = mlpiEthercatGetSlavePortState(connection, interfaceNumber, addressType, address, &portState);

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

This function reads data from the EtherCAT Slave Controller memory of a specific 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]	registerOffset	Register offset, e.g. 0x0120 for AL Control register.
[out]	data	Data buffer for uploaded data.
[in]	dataSize	Number of bytes in 'data' available to read.
[out]	dataSizeRet	Number of bytes used.

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

Example:: 1 // Read data from the EtherCAT Slave Controller memory of a specific device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT registerOffset = 5;
6 UCHAR data[128] = {0};
7 ULONG dataSize = _countof(data);
8 ULONG dataSizeRet = 0;
9 MLPIRESULT result = mlpiEthercatReadSlaveRegister(connection, interfaceNumber, addressType, address, registerOffset, data, dataSize, &dataSizeRet);

MLPIRESULT mlpiEthercatWriteSlaveRegister	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	registerOffset,
		UCHAR *	data,
		const ULONG	dataSize
	)

This function writes data into the EtherCAT Slave Controller memory of a specific device.

Attention: Changing contents of ESC registers may lead to unpredictable behavior of the slaves and/or 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]	registerOffset	Register offset, e.g. 0x0120 for AL Control register.
[in]	data	Data to be transferred.
[in]	dataSize	Number of bytes in 'data' available to write.

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

Example:: 1 // Write data into the EtherCAT Slave Controller memory of a specific device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT registerOffset = 5;
6 UCHAR data[100] = {0};
7 ULONG dataSize = _countof(data);
8 MLPIRESULT result = mlpiEthercatWriteSlaveRegister(connection, interfaceNumber, addressType, address, registerOffset, data, dataSize);

MLPIRESULT mlpiEthercatResetSlaveController	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address
	)

This function resets a ESC (e.g., ET1100, ET1200, and IP Core) if it is capable of issuing a hardware reset. A special sequence of three independent and consecutive frames/commands has to be sent do the slave (Reset register ECAT 0x0040 or PDI 0x0041). Afterwards, the slave is reset.

Parameters

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

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

Example:: 1 // Reset a ESC if it is capable of issuing a hardware reset.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MLPIRESULT result = mlpiEthercatResetSlaveController(connection, interfaceNumber, addressType, address);

MLPIRESULT mlpiEthercatReadSlaveEeprom	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	eepromOffset,
		USHORT *	data,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function reads data from the EEPROM of a specific 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]	eepromOffset	EEPROM offset (word address to start reading from).
[out]	data	Data buffer for EEPROM content.
[in]	numElements	Number of words in 'data' available to read.
[out]	numElementsRet	Number of words used.

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

Example:: 1 // Read data from the EEPROM of a specific device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT eepromOffset = 5;
6 USHORT data[128] = {0};
7 ULONG numElements = _countof(data);
8 ULONG numElementsRet = 0;
9 MLPIRESULT result = mlpiEthercatReadSlaveEeprom(connection, interfaceNumber, addressType, address, eepromOffset, data, numElements, &numElementsRet);

MLPIRESULT mlpiEthercatWriteSlaveEeprom	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	eepromOffset,
		USHORT *	data,
		const ULONG	numElements
	)

This function writes data into the EEPROM of a specific 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]	eepromOffset	EEPROM offset (word address to start reading from).
[in]	data	Data buffer for EEPROM content.
[in]	numElements	Number of words in 'data' available to write.

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

Example:: 1 // Write data into the EEPROM of a specific device.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT eepromOffset = 5;
6 USHORT data[128] = {0};
7 ULONG numElements = _countof(data);
8 MLPIRESULT result = mlpiEthercatWriteSlaveEeprom(connection, interfaceNumber, addressType, address, eepromOffset, data, numElements);

MLPIRESULT mlpiEthercatReloadSlaveEeprom	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address
	)

This function causes a specific slave to reload its EEPROM values to ESC registers.

Note: Alias address 0x12 is not reloaded through this command. This is prevented by the slave hardware. To reload the alias address use mlpiEthercatResetSlaveController.

Parameters

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

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

Example:: 1 // Cause a specific slave to reload its EEPROM values to ESC registers.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MLPIRESULT result = mlpiEthercatReloadSlaveEeprom(connection, interfaceNumber, addressType, address);

MLPIRESULT mlpiEthercatAssignSlaveEeprom	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const BOOL8	slavePdiAccessEnable,
		const BOOL8	forceAssign
	)

This function assigns the slave EEPROM either to Slave PDI or EtherCAT 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]	slavePdiAccessEnable	Assigns EEPROM to Slave PDI (TRUE) or EtherCAT master (FALSE).
[in]	forceAssign	Force Assignment of EEPROM (only in case of assignment to EtherCAT master).

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

Example:: 1 // Assign the slave EEPROM either to Slave PDI or EtherCAT Master.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 BOOL8 slavePdiAccessEnable = TRUE;
6 BOOL8 forceAssign = FALSE;
7 MLPIRESULT result = mlpiEthercatAssignSlaveEeprom(connection, interfaceNumber, addressType, address, slavePdiAccessEnable, forceAssign);

MLPIRESULT mlpiEthercatCheckSlaveEeprom	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		BOOL8 *	slavePdiAccessActive
	)

This function checks if the slave EEPROM is marked for slave PDI access or not.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[out]	slavePdiAccessActive	Assigns EEPROM to Slave PDI (TRUE) or EtherCAT master (FALSE).

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

Example:: 1 // Check if the slave EEPROM is marked for slave PDI access or not.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 BOOL8 slavePdiAccessActive = TRUE;
6 MLPIRESULT result = mlpiEthercatCheckSlaveEeprom(connection, interfaceNumber, addressType, address, &slavePdiAccessActive);

MLPIRESULT mlpiEthercatReadSlaveIdentification	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const USHORT	ado,
		USHORT *	value
	)

This function reads the identification value from a slave.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	ado	ADO used for identification.
[out]	value	Identification value.

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

Example:: 1 // Read the identification value from a slave.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT ado = 4;
6 USHORT value = 0;
7 MLPIRESULT result = mlpiEthercatReadSlaveIdentification(connection, interfaceNumber, addressType, address, ado, &value);

MLPIRESULT mlpiEthercatGetSlaveStatistics	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		MlpiEthercatSlaveStatistics *	slaveStatistics
	)

This function returns the slave's statistics counter. Counter can be used to detect errors on Ethernet Layer.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[out]	slaveStatistics	Statistics of a slave.

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

Example:: 1 // Get the slave's statistics counter. Counter can be used to detect errors on Ethernet Layer.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MlpiEthercatSlaveStatistics slaveStatistics;
6 memset (&slaveStatistics, 0, sizeof(MlpiEthercatSlaveStatistics));
7 MLPIRESULT result = mlpiEthercatGetSlaveStatistics(connection, interfaceNumber, addressType, address, &slaveStatistics);

MLPIRESULT mlpiEthercatResetSlaveStatistics	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber
	)

This function clears all error registers (statistics counter) in all slaves.

Parameters

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

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

Example:: 1 // Clear all error registers (statistics counter) in all slaves.
2 ULONG interfaceNumber = 0;
3 MLPIRESULT result = mlpiEthercatResetSlaveStatistics(connection, interfaceNumber);

MLPIRESULT mlpiEthercatSetSlaveStatisticsPeriod	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const ULONG	periodMs
	)

This function sets the update period of internal slave statistics collection.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	periodMs	Update period in unit of milliseconds (0 means disable feature).

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

Example:: 1 // Set the update period of internal slave statistics collection.
2 ULONG interfaceNumber = 0;
3 ULONG periodMs = 1000;
4 MLPIRESULT result = mlpiEthercatSetSlaveStatisticsPeriod(connection, interfaceNumber, periodMs);

MLPIRESULT mlpiEthercatGetSlaveStatisticsPeriod	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		ULONG *	periodMs
	)

This function returns the update period of internal slave statistics collection.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	periodMs	Update period in unit of milliseconds (0 means disabled feature).

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

Example:: 1 // Get the update period of internal slave statistics collection.
2 ULONG interfaceNumber = 0;
3 ULONG periodMs = 0;
4 MLPIRESULT result = mlpiEthercatGetSlaveStatisticsPeriod(connection, interfaceNumber, &periodMs);

Functions

Detailed Description

Function Documentation