Collaboration diagram for EtherCAT information:

Functions
MLPIRESULT	mlpiEthercatGetTopologyStatus (const MLPIHANDLE connection, const ULONG interfaceNumber, MlpiEthercatTopologyStatus topologyStatus, ULONG numChanges)

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

MLPIRESULT	mlpiEthercatGetMasterState (const MLPIHANDLE connection, const ULONG interfaceNumber, MlpiEthercatState *state)

MLPIRESULT	mlpiEthercatGetMasterStatus (const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *status)

MLPIRESULT	mlpiEthercatGetNumConfiguredSlaves (const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *numSlaves)

MLPIRESULT	mlpiEthercatGetNumConnectedSlaves (const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG *numSlaves)

MLPIRESULT	mlpiEthercatGetSlaveState (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, USHORT currentState, USHORT requestedState)

MLPIRESULT	mlpiEthercatGetSlaveStatus (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, ULONG *status)

MLPIRESULT	mlpiEthercatGetSlaveOnlineInfo (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveOnlineInfo *slaveOnlineInfo)

MLPIRESULT	mlpiEthercatGetSlaveConfigInfo (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, MlpiEthercatSlaveConfigInfo *slaveConfigInfo)

MLPIRESULT	mlpiEthercatGetVendorInfo (const MLPIHANDLE connection, const ULONG vendorId, MlpiEthercatVendorInfo *vendorInfo)

MLPIRESULT	mlpiEthercatGetBusScanStatus (const MLPIHANDLE connection, const ULONG interfaceNumber, MLPIRESULT status, ULONG slaveCount)

MLPIRESULT	mlpiEthercatGetBusScanSlaveInfo (const MLPIHANDLE connection, const ULONG interfaceNumber, const USHORT autoIncAddr, MlpiEthercatSlaveBusScanInfo slaveBusScanInfo, const ULONG numElements, ULONG numElementsRet)

MLPIRESULT	mlpiEthercatGetProcessData (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatProcessDataType pdType, const ULONG offset, UCHAR data, const ULONG dataSize, ULONG dataSizeRet)

MLPIRESULT	mlpiEthercatGetProcessDataSize (const MLPIHANDLE connection, const ULONG interfaceNumber, ULONG numOutputBytes, ULONG numInputBytes)

Detailed Description

Contains functions to read information of the EtherCAT master and its slaves.

Function Documentation

MLPIRESULT mlpiEthercatGetTopologyStatus	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		MlpiEthercatTopologyStatus *	topologyStatus,
		ULONG *	numChanges
	)

This function returns the status of topology detection.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	topologyStatus	Status of topology detection.
[out]	numChanges	Number of topology changes (incremented each time a topology change event occurs).

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

Example:: 1 // Return the status of topology detection.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatTopologyStatus topologyStatus = MLPI_ETHERCAT_TOPOLOGY_STATUS_UNKNOWN;
4 ULONG numChanges = 0;
5 MLPIRESULT result = mlpiEthercatGetTopologyStatus(connection, interfaceNumber, &topologyStatus, &numChanges);

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

This function returns the master configuration (files will be stored on 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 // Return the master configuration (files will be stored on 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 = mlpiEthercatGetConfigFiles(connection, interfaceNumber, iniPathFileName, eniPathFileName);

MLPIRESULT mlpiEthercatGetMasterState	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		MlpiEthercatState *	state
	)

This function returns the current master state.

Parameters

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

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

Example:: 1 // Get the current master state.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatState state = MLPI_ETHERCAT_STATE_UNKNOWN;
4 MLPIRESULT result = mlpiEthercatGetMasterState(connection, interfaceNumber, &state);

MLPIRESULT mlpiEthercatGetMasterStatus	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		ULONG *	status
	)

This function returns the master status.

Parameters

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

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

Example:: 1 // Get the master status.
2 ULONG interfaceNumber = 0;
3 ULONG status = 0;
4 MLPIRESULT result = mlpiEthercatGetMasterStatus(connection, interfaceNumber, &status);

MLPIRESULT mlpiEthercatGetNumConfiguredSlaves	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		ULONG *	numSlaves
	)

This function returns the number of configured slaves.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	numSlaves	Number of configured slaves.

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

Example:: 1 // Get the number of configured slaves.
2 ULONG interfaceNumber = 0;
3 ULONG numSlaves = 0;
4 MLPIRESULT result = mlpiEthercatGetNumConfiguredSlaves(connection, interfaceNumber, &numSlaves);

MLPIRESULT mlpiEthercatGetNumConnectedSlaves	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		ULONG *	numSlaves
	)

This function returns the number of connected slaves.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	numSlaves	Number of connected slaves.

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

Example:: 1 // Get the number of connected slaves.
2 ULONG interfaceNumber = 0;
3 ULONG numSlaves = 0;
4 MLPIRESULT result = mlpiEthercatGetNumConnectedSlaves(connection, interfaceNumber, &numSlaves);

MLPIRESULT mlpiEthercatGetSlaveState	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		USHORT *	currentState,
		USHORT *	requestedState
	)

This function returns the current and requested 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).
[out]	currentState	Current slave state.
[out]	requestedState	Requested slave state.

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

Example:: 1 // Get the current and requested slave state.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 USHORT currentState = 0;
6 USHORT requestedState = 0;
7 MLPIRESULT result = mlpiEthercatGetSlaveState(connection, interfaceNumber, addressType, address, &currentState, &requestedState);

MLPIRESULT mlpiEthercatGetSlaveStatus	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		ULONG *	status
	)

This function returns the slave status.

Parameters

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

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

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

MLPIRESULT mlpiEthercatGetSlaveOnlineInfo	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		MlpiEthercatSlaveOnlineInfo *	slaveOnlineInfo
	)

This function returns information about a slave connected to the EtherCAT bus.

Parameters

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

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

Example:: 1 // Get information about a slave connected to the EtherCAT bus.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MlpiEthercatSlaveOnlineInfo slaveOnlineInfo;
6 memset (&slaveOnlineInfo, 0, sizeof(MlpiEthercatSlaveOnlineInfo));
7 MLPIRESULT result = mlpiEthercatGetSlaveOnlineInfo(connection, interfaceNumber, addressType, address, &slaveOnlineInfo);

MLPIRESULT mlpiEthercatGetSlaveConfigInfo	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		MlpiEthercatSlaveConfigInfo *	slaveConfigInfo
	)

This function returns information about a slave configured within the ENI file.

Parameters

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

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

Example:: 1 // Get information about a slave configured within the ENI file.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 MlpiEthercatSlaveConfigInfo slaveConfigInfo;
6 memset (&slaveConfigInfo, 0, sizeof(MlpiEthercatSlaveConfigInfo));
7 MLPIRESULT result = mlpiEthercatGetSlaveConfigInfo(connection, interfaceNumber, addressType, address, &slaveConfigInfo);

MLPIRESULT mlpiEthercatGetVendorInfo	(	const MLPIHANDLE	connection,
		const ULONG	vendorId,
		MlpiEthercatVendorInfo *	vendorInfo
	)

This function returns the vendor information which is connected to a specific vendor id.

Parameters

[in]	connection	Handle for multiple connections.
[in]	vendorId	EtherCAT vendor id.
[out]	vendorInfo	Vendor information.

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

Example:: 1 // Get the vendor information which is connected to a specific vendor id.
2 ULONG vendorId = 1;
3 MlpiEthercatVendorInfo vendorInfo;
4 MLPIRESULT result = mlpiEthercatGetVendorInfo(connection, vendorId, &vendorInfo);

MLPIRESULT mlpiEthercatGetBusScanStatus	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		MLPIRESULT *	status,
		ULONG *	slaveCount
	)

This function returns the status of the bus scan.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	status	Status indicating if bus scan has been executed or not.
[out]	slaveCount	Number of connected slaves (in case of executed bus scan).

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

Example:: 1 // Return the status of the bus scan.
2 ULONG interfaceNumber = 0;
3 MLPIRESULT status = 0;
4 ULONG slaveCount = 0;
5 MLPIRESULT result = mlpiEthercatGetBusScanStatus(connection, interfaceNumber, &status, &slaveCount);

MLPIRESULT mlpiEthercatGetBusScanSlaveInfo	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const USHORT	autoIncAddr,
		MlpiEthercatSlaveBusScanInfo *	slaveBusScanInfo,
		const ULONG	numElements,
		ULONG *	numElementsRet
	)

This function returns the slave information collected during bus scan.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	autoIncAddr	Auto increment address from which on slave infos should be returned.
[out]	slaveBusScanInfo	Pointer to slave infos.
[in]	numElements	Number of elements provided by slaveBusScanInfo.
[out]	numElementsRet	Number of elements written to slaveBusScanInfo.

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

Example:: 1 // Return the slave information collected during bus scan.
2 ULONG interfaceNumber = 0;
3 USHORT autoIncAddr = 5;
4 ULONG numElements = 128;
5 MlpiEthercatSlaveBusScanInfo slaveBusScanInfo[numElements];
6 ULONG numElementsRet = 0;
7 MLPIRESULT result = mlpiEthercatGetBusScanSlaveInfo(connection, interfaceNumber, autoIncAddr, slaveBusScanInfo, numElements, &numElementsRet);

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

This function reads process data (consistent) and returns them as byte stream.

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 reading starts).
[out]	data	Pointer to data image where data will be copied to. pbyData has to provide at least ulNumBytes of space.
[in]	dataSize	Number of bytes to be read.
[out]	dataSizeRet	Number of bytes used.

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

Example:: 1 // Read process data (consistent) and returns them as byte stream.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatProcessDataType pdType = MLPI_ETHERCAT_PD_TYPE_INPUTS;
4 ULONG offset = 2;
5 UCHAR data[100] = {0};
6 ULONG dataSize = _countof(data);
7 ULONG dataSizeRet = 0;
8 MLPIRESULT result = mlpiEthercatGetProcessData(connection, interfaceNumber, pdType, offset, data, dataSize, &dataSizeRet);

MLPIRESULT mlpiEthercatGetProcessDataSize	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		ULONG *	numOutputBytes,
		ULONG *	numInputBytes
	)

This function returns the size of the current process data image, e.g. use for diagnosis purpose.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[out]	numOutputBytes	Size of output image in bytes.
[out]	numInputBytes	Size of image image in bytes.

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

Example:: 1 // Read the size of the current process data image, e.g. use for diagnosis purpose.
2 ULONG interfaceNumber = 0;
3 ULONG numOutputBytes = 0;
4 ULONG numInputBytes = 0;
5 MLPIRESULT result = mlpiEthercatGetProcessDataSize(connection, interfaceNumber, &numOutputBytes, &numInputBytes);

Functions

Detailed Description

Function Documentation