Collaboration diagram for Servo drive over EtherCAT:

Functions
MLPIRESULT	mlpiEthercatSoeRead (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const UCHAR driveNumber, MlpiEthercatSoeElementFlags elementFlags, const USHORT idn, UCHAR data, const ULONG dataSize, ULONG *dataSizeRet)

MLPIRESULT	mlpiEthercatSoeWrite (const MLPIHANDLE connection, const ULONG interfaceNumber, const MlpiEthercatAddressType addressType, const USHORT address, const UCHAR driveNumber, MlpiEthercatSoeElementFlags elementFlags, const USHORT idn, UCHAR data, const ULONG dataSize)

Detailed Description

Contains functions to communicate with slaves over Servo drive over EtherCAT.

Function Documentation

MLPIRESULT mlpiEthercatSoeRead	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const UCHAR	driveNumber,
		MlpiEthercatSoeElementFlags *	elementFlags,
		const USHORT	idn,
		UCHAR *	data,
		const ULONG	dataSize,
		ULONG *	dataSizeRet
	)

This function reads Sercos parameters.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	driveNumber	Number of the servo drive to read from.
[in,out]	elementFlags	Elements requested and afterwards returned.
[in]	idn	Identifier for the element to read.
[out]	data	RAW data.
[in]	dataSize	Number of bytes in 'data' available to read.
[out]	dataSizeRet	Number of bytes used for reading.

Example:: 1 // Read the Sercos parameter.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 UCHAR driveNumber = 5;
6 MlpiEthercatSoeElementFlags elementFlags;
7 memset (&elementFlags, 0, sizeof(MlpiEthercatSoeElementFlags));
8 elementFlags.dataState = TRUE;
9 elementFlags.name = FALSE;
10 elementFlags.attribute = TRUE;
11 elementFlags.unit = FALSE;
12 elementFlags.minValue = TRUE;
13 elementFlags.maxValue = FALSE;
14 elementFlags.value = TRUE;
15 elementFlags.defaultValue = TRUE;
16 USHORT idn = 100;
17 UCHAR data[512] = {0};
18 ULONG dataSize = _countof(data);
19 ULONG dataSizeRet = 0;
20 MLPIRESULT result = mlpiEthercatSoeRead(connection, interfaceNumber, addressType, address, driveNumber, &elementFlags, idn, data, dataSize, &dataSizeRet);

MLPIRESULT mlpiEthercatSoeWrite	(	const MLPIHANDLE	connection,
		const ULONG	interfaceNumber,
		const MlpiEthercatAddressType	addressType,
		const USHORT	address,
		const UCHAR	driveNumber,
		MlpiEthercatSoeElementFlags *	elementFlags,
		const USHORT	idn,
		UCHAR *	data,
		const ULONG	dataSize
	)

This function writes Sercos parameters.

Parameters

[in]	connection	Handle for multiple connections.
[in]	interfaceNumber	Master interface number.
[in]	addressType	Address type.
[in]	address	Slave address (depending on addressType).
[in]	driveNumber	Number of the servo drive to write on.
[in,out]	elementFlags	Elements requested and afterwards returned.
[in]	idn	Identifier for the element to write.
[in]	data	RAW data.
[in]	dataSize	Number of bytes in 'data' available to write.

Example:: 1 // Write the Sercos parameter.
2 ULONG interfaceNumber = 0;
3 MlpiEthercatAddressType addressType = MLPI_ETHERCAT_AUTO_INCREMENT;
4 USHORT address = 0;
5 UCHAR driveNumber = 5;
6 MlpiEthercatSoeElementFlags elementFlags;
7 memset (&elementFlags, 0, sizeof(MlpiEthercatSoeElementFlags));
8 elementFlags.dataState = TRUE;
9 elementFlags.name = FALSE;
10 elementFlags.attribute = TRUE;
11 elementFlags.unit = FALSE;
12 elementFlags.minValue = TRUE;
13 elementFlags.maxValue = FALSE;
14 elementFlags.value = TRUE;
15 elementFlags.defaultValue = TRUE;
16 USHORT idn = 20;
17 UCHAR data[128] = {0};
18 ULONG dataSize = _countof(data);
19 MLPIRESULT result = mlpiEthercatSoeWrite(connection, interfaceNumber, addressType, address, driveNumber, &elementFlags, idn, data, dataSize);