目录
版权 4
1 Global definitions 全局定义 7
2 Feature flags 特性标志 8
3 Data types数据类型 9
3.1 Master state.主站状态 10
3.2 Redundant link state.冗余链路状态。 11
3.3 Slave configuration state.从站配置状态 11
3.4 Master information.主站信息 12
3.5 EtherCAT slave port descriptor. EherCAT 从站端口描述 12
3.6 EtherCAT slave port information.从站端口信息 13
3.7 Slave information.从站信息 13
3.8 Domain working counter interpretation. *域工作计数解释 14
3.9 Domain state.域状态 14
3.10 Direction type for PDO assignment functions.PDO分配函数的方向类型。 15
3.11 Watchdog mode for sync manager configuration.同步管理器配置看门狗模式 15
3.12 PDO entry configuration information. PDO表项配置信息 15
3.13 PDO configuration information. PDO配置信息。 16
3.14 Sync manager configuration information.同步管理器配置信息 16
3.15 List record type for PDO entry mass-registration.列出PDO输入批量注册的记录类型 17
3.16 Request state.请求状态 18
3.17 Application-layer state.应用层状态 18
4 Global functions 全局函数 18
4.1 Returns the version magic of the realtime interface.返回实时接口的版本魔法。 18
4.2 Requests an EtherCAT master for realtime operation.请求EtherCAT主机进行实时操作。 19
4.3 Opens an EtherCAT master for userspace access.打开一个ethercat主站给应用层使用 19
4.4 Releases a requested EtherCAT master.释放请求的EtherCAT主站 20
5 Master methods 主站方法 20
5.1 Reserves an EtherCAT master for realtime operation.为实时操作保留一个EtherCAT主机。 21
5.2 Sets the locking callbacks.设置锁定回调 21
5.3 Creates a new process data domain.创建一个新的流程数据域 22
5.4 Obtains a slave configuration.获取slave配置 22
5.5 Selects the reference clock for distributed clocks.为分布式时钟选择参考时钟 23
5.6 Obtains master information.得到主站的信息 24
5.7 Obtains slave information获得从站信息 24
5.8 Returns the proposed configuration of a slave's sync manager.返回slave的同步管理器的建议配置 25
5.9 Returns information about a currently assigned PDO返回当前分配的PDO的信息 25
5.10 Returns information about a currently mapped PDO entry返回关于当前映射的PDO条目的信息 26
5.11 Executes an SDO download request to write data to a slave. 26
5.12 Executes an SDO download request to write data to a slave via complete 27
5.13 Executes an SDO upload request to read data from a slave. 27
5.14 Executes an SoE write request. 28
5.15 Executes an SoE read request. 28
5.16 Finishes the configuration phase and prepares for cyclic operation完成配置阶段并准备循环操作。 29
5.17 Deactivates the master. 29
5.18 Set interval between calls to ecrt_master_send(). 30
5.19 Sends all datagrams in the queue发送队列中的所有数据报。 30
5.20 Fetches received frames from the hardware and processes the datagrams从硬件中获取接收的帧并处理数据报 31
5.21 Sends non-application datagrams. 31
5.22 Reads the current master state读当前主站状态 31
5.23 Reads the current state of a redundant link. 32
5.24 Sets the application time.设置应用程序时间 32
5.25 Queues the DC reference clock drift compensation datagram for sending将DC参考时钟漂移补偿数据报排队以便发送 33
5.26 Queues the DC reference clock drift compensation datagram for sending. 33
5.27 Queues the DC clock drift compensation datagram for sending. 34
5.28 Get the lower 32 bit of the reference clock system time. 34
5.29 Queues the DC synchrony monitoring datagram for sending. 34
5.30 Processes the DC synchrony monitoring datagram处理DC同步监控数据 35
5.31 Retry configuring slaves重试配置从站 35
6 Slave configuration methods 从站配置方法 36
6.1 Configure a sync manager配置同步管理器 36
6.2 Configure a slave's watchdog times配置一个从站看门狗时间 36
6.3 Add a PDO to a sync manager's PDO assignment添加一个PDO到同步管理器的PDO分配中 37
6.4 Clear a sync manager's PDO assignment清除同步管理器的PDO分配 37
6.5 Add a PDO entry to the given PDO's mapping.添加一个PDO条目到给定的PDO映射 38
6.6 Clear the mapping of a given PDO清除给定PDo的映射 38
6.7 Specify a complete PDO configuration指定一个完整的PDO配置 39
6.8 Registers a PDO entry for process data exchange in a domain为域中的进程数据交换注册一个PDO条目 41
6.9 Registers a PDO entry using its position使用其位置重新注册PDO条目 41
6.10 Configure distributed clocks配置分布式时钟 42
6.11 Add an SDO configuration添加SDO配置 42
6.12 Add a configuration value for an 8-bit SDO添加一个8位SDO的配置值 43
6.13 Add a configuration value for a 16-bit SDO. 44
6.14 Add a configuration value for a 32-bit SDO. 44
6.15 Add configuration data for a complete SDO. 45
6.16 Set the size of the CoE emergency ring buffer. 45
6.17 Read and remove one record from the CoE emergency ring buffer. 46
6.18 Clears CoE emergency ring buffer and the overrun counter. 46
6.19 Read the number of CoE emergency overruns. 46
6.20 Create an SDO request to exchange SDOs during realtime operation创建一个SDO请求以在实时操作期间交换SDO 47
6.21 Create an VoE handler to exchange vendor-specific data during realtime 47
6.22 Create a register request to exchange EtherCAT register contents during 48
6.23 Outputs the state of the slave configuration输出从站的配置状态 48
6.24 Add an SoE IDN configuration. 49
7 Domain methods 域操作方法 50
7.1 Registers a bunch of PDO entries for a domain为一个域注册一堆PDO条目 50
7.2 Returns the current size of the domain's process data返回域进程数据的当前大小 50
7.3 Provide external memory to store the domain's process data提供外部内存来存储域的进程数据 51
7.4 Returns the domain's process data返回域的进程数据 51
7.5 Determines the states of the domain's datagrams确定域的数据报的状态 52
7.6 (Re-)queues all domain datagrams in the master's datagram queue.重新排列所有域数据报 52
7.7 Reads the state of a domain读取域状态 52
8 SDO request methods. SDO请求方法 53
8.1 Set the SDO index and subindex. 53
8.2 Set the timeout for an SDO request. 53
8.3 Access to the SDO request's data. 53
8.4 Returns the current SDO data size. 54
8.5 Get the current state of the SDO request. 54
8.6 Schedule an SDO write operation. 55
8.7 Schedule an SDO read operation. 55
9 VoE handler methods. VoE处理方法 55
9.1 Sets the VoE header for future send operations. 56
9.2 Reads the header data of a received VoE message. 56
9.3 Access to the VoE handler's data. 56
9.4 Returns the current data size. 57
9.5 Start a VoE write operation. 57
9.6 Start a VoE read operation. 58
9.7 Start a VoE read operation without querying the sync manager status. 58
9.8 Execute the handler. 59
10 Register request methods.寄存器请求方法 59
10.1 Access to the register request's data. 59
10.2 Schedule an register write operation. 60
10.3 Schedule a register read operation. 60
11 Bitwise read/write macros 位读/写宏 61
11.1 Read a certain bit of an EtherCAT data byte. 61
11.2 Write a certain bit of an EtherCAT data byte. 61
12 Byte-swapping functions for user space用户空间的字节交换函数 62
13 Read macros 读宏 63
14 Floating-point read functions and macros (userspace only)浮点读取函数和宏(仅限用户空间) 65
15 Write macros 写宏 66
16 Floating-point write functions and macros (userspace only)浮点写函数和宏(仅限用户空间) 67
目录
版权 4
1 Global definitions 全局定义 7
2 Feature flags 特性标志 8
3 Data types数据类型 9
3.1 Master state.主站状态 10
3.2 Redundant link state.冗余链路状态。 11
3.3 Slave configuration state.从站配置状态 11
3.4 Master information.主站信息 12
3.5 EtherCAT slave port descriptor. EherCAT 从站端口描述 12
3.6 EtherCAT slave port information.从站端口信息 13
3.7 Slave information.从站信息 13
3.8 Domain working counter interpretation. *域工作计数解释 14
3.9 Domain state.域状态 14
3.10 Direction type for PDO assignment functions.PDO分配函数的方向类型。 15
3.11 Watchdog mode for sync manager configuration.同步管理器配置看门狗模式 15
3.12 PDO entry configuration information. PDO表项配置信息 15
3.13 PDO configuration information. PDO配置信息。 16
3.14 Sync manager configuration information.同步管理器配置信息 16
3.15 List record type for PDO entry mass-registration.列出PDO输入批量注册的记录类型 17
3.16 Request state.请求状态 18
3.17 Application-layer state.应用层状态 18
4 Global functions 全局函数 18
4.1 Returns the version magic of the realtime interface.返回实时接口的版本魔法。 18
4.2 Requests an EtherCAT master for realtime operation.请求EtherCAT主机进行实时操作。 19
4.3 Opens an EtherCAT master for userspace access.打开一个ethercat主站给应用层使用 19
4.4 Releases a requested EtherCAT master.释放请求的EtherCAT主站 20
5 Master methods 主站方法 20
5.1 Reserves an EtherCAT master for realtime operation.为实时操作保留一个EtherCAT主机。 21
5.2 Sets the locking callbacks.设置锁定回调 21
5.3 Creates a new process data domain.创建一个新的流程数据域 22
5.4 Obtains a slave configuration.获取slave配置 22
5.5 Selects the reference clock for distributed clocks.为分布式时钟选择参考时钟 23
5.6 Obtains master information.得到主站的信息 24
5.7 Obtains slave information获得从站信息 24
5.8 Returns the proposed configuration of a slave's sync manager.返回slave的同步管理器的建议配置 25
5.9 Returns information about a currently assigned PDO返回当前分配的PDO的信息 25
5.10 Returns information about a currently mapped PDO entry返回关于当前映射的PDO条目的信息 26
5.11 Executes an SDO download request to write data to a slave. 26
5.12 Executes an SDO download request to write data to a slave via complete 27
5.13 Executes an SDO upload request to read data from a slave. 27
5.14 Executes an SoE write request. 28
5.15 Executes an SoE read request. 28
5.16 Finishes the configuration phase and prepares for cyclic operation完成配置阶段并准备循环操作。 29
5.17 Deactivates the master. 29
5.18 Set interval between calls to ecrt_master_send(). 30
5.19 Sends all datagrams in the queue发送队列中的所有数据报。 30
5.20 Fetches received frames from the hardware and processes the datagrams从硬件中获取接收的帧并处理数据报 31
5.21 Sends non-application datagrams. 31
5.22 Reads the current master state读当前主站状态 31
5.23 Reads the current state of a redundant link. 32
5.24 Sets the application time.设置应用程序时间 32
5.25 Queues the DC reference clock drift compensation datagram for sending将DC参考时钟漂移补偿数据报排队以便发送 33
5.26 Queues the DC reference clock drift compensation datagram for sending. 33
5.27 Queues the DC clock drift compensation datagram for sending. 34
5.28 Get the lower 32 bit of the reference clock system time. 34
5.29 Queues the DC synchrony monitoring datagram for sending. 34
5.30 Processes the DC synchrony monitoring datagram处理DC同步监控数据 35
5.31 Retry configuring slaves重试配置从站 35
6 Slave configuration methods 从站配置方法 36
6.1 Configure a sync manager配置同步管理器 36
6.2 Configure a slave's watchdog times配置一个从站看门狗时间 36
6.3 Add a PDO to a sync manager's PDO assignment添加一个PDO到同步管理器的PDO分配中 37
6.4 Clear a sync manager's PDO assignment清除同步管理器的PDO分配 37
6.5 Add a PDO entry to the given PDO's mapping.添加一个PDO条目到给定的PDO映射 38
6.6 Clear the mapping of a given PDO清除给定PDo的映射 38
6.7 Specify a complete PDO configuration指定一个完整的PDO配置 39
6.8 Registers a PDO entry for process data exchange in a domain为域中的进程数据交换注册一个PDO条目 41
6.9 Registers a PDO entry using its position使用其位置重新注册PDO条目 41
6.10 Configure distributed clocks配置分布式时钟 42
6.11 Add an SDO configuration添加SDO配置 42
6.12 Add a configuration value for an 8-bit SDO添加一个8位SDO的配置值 43
6.13 Add a configuration value for a 16-bit SDO. 44
6.14 Add a configuration value for a 32-bit SDO. 44
6.15 Add configuration data for a complete SDO. 45
6.16 Set the size of the CoE emergency ring buffer. 45
6.17 Read and remove one record from the CoE emergency ring buffer. 46
6.18 Clears CoE emergency ring buffer and the overrun counter. 46
6.19 Read the number of CoE emergency overruns. 46
6.20 Create an SDO request to exchange SDOs during realtime operation创建一个SDO请求以在实时操作期间交换SDO 47
6.21 Create an VoE handler to exchange vendor-specific data during realtime 47
6.22 Create a register request to exchange EtherCAT register contents during 48
6.23 Outputs the state of the slave configuration输出从站的配置状态 48
6.24 Add an SoE IDN configuration. 49
7 Domain methods 域操作方法 50
7.1 Registers a bunch of PDO entries for a domain为一个域注册一堆PDO条目 50
7.2 Returns the current size of the domain's process data返回域进程数据的当前大小 50
7.3 Provide external memory to store the domain's process data提供外部内存来存储域的进程数据 51
7.4 Returns the domain's process data返回域的进程数据 51
7.5 Determines the states of the domain's datagrams确定域的数据报的状态 52
7.6 (Re-)queues all domain datagrams in the master's datagram queue.重新排列所有域数据报 52
7.7 Reads the state of a domain读取域状态 52
8 SDO request methods. SDO请求方法 53
8.1 Set the SDO index and subindex. 53
8.2 Set the timeout for an SDO request. 53
8.3 Access to the SDO request's data. 53
8.4 Returns the current SDO data size. 54
8.5 Get the current state of the SDO request. 54
8.6 Schedule an SDO write operation. 55
8.7 Schedule an SDO read operation. 55
9 VoE handler methods. VoE处理方法 55
9.1 Sets the VoE header for future send operations. 56
9.2 Reads the header data of a received VoE message. 56
9.3 Access to the VoE handler's data. 56
9.4 Returns the current data size. 57
9.5 Start a VoE write operation. 57
9.6 Start a VoE read operation. 58
9.7 Start a VoE read operation without querying the sync manager status. 58
9.8 Execute the handler. 59
10 Register request methods.寄存器请求方法 59
10.1 Access to the register request's data. 59
10.2 Schedule an register write operation. 60
10.3 Schedule a register read operation. 60
11 Bitwise read/write macros 位读/写宏 61
11.1 Read a certain bit of an EtherCAT data byte. 61
11.2 Write a certain bit of an EtherCAT data byte. 61
12 Byte-swapping functions for user space用户空间的字节交换函数 62
13 Read macros 读宏 63
14 Floating-point read functions and macros (userspace only)浮点读取函数和宏(仅限用户空间) 65
15 Write macros 写宏 66
16 Floating-point write functions and macros (userspace only)浮点写函数和宏(仅限用户空间) 671 Global definitions 全局定义... 7
3.2 Redundant link state.冗余链路状态。... 11
3.3 Slave configuration state.从站配置状态... 11
3.4 Master information.主站信息... 12
3.5 EtherCAT slave port descriptor. EherCAT 从站端口描述... 12
3.6 EtherCAT slave port information.从站端口信息... 13
3.7 Slave information.从站信息... 13
3.8 Domain working counter interpretation. *域工作计数解释... 14
3.10 Direction type for PDO assignment functions.PDO分配函数的方向类型。... 15
3.11 Watchdog mode for sync manager configuration.同步管理器配置看门狗模式... 15
3.12 PDO entry configuration information. PDO表项配置信息... 15
3.13 PDO configuration information. PDO配置信息。... 16
3.14 Sync manager configuration information.同步管理器配置信息... 16
3.15 List record type for PDO entry mass-registration.列出PDO输入批量注册的记录类型 17
3.17 Application-layer state.应用层状态... 18
4.1 Returns the version magic of the realtime interface.返回实时接口的版本魔法。... 18
4.2 Requests an EtherCAT master for realtime operation.请求EtherCAT主机进行实时操作。... 19
4.3 Opens an EtherCAT master for userspace access.打开一个ethercat主站给应用层使用 19
4.4 Releases a requested EtherCAT master.释放请求的EtherCAT主站... 20
5.1 Reserves an EtherCAT master for realtime operation.为实时操作保留一个EtherCAT主机。... 21
5.2 Sets the locking callbacks.设置锁定回调... 21
5.3 Creates a new process data domain.创建一个新的流程数据域... 22
5.4 Obtains a slave configuration.获取slave配置... 22
5.5 Selects the reference clock for distributed clocks.为分布式时钟选择参考时钟... 23
5.6 Obtains master information.得到主站的信息... 24
5.7 Obtains slave information获得从站信息... 24
5.8 Returns the proposed configuration of a slave's sync manager.返回slave的同步管理器的建议配置... 25
5.9 Returns information about a currently assigned PDO返回当前分配的PDO的信息 25
5.10 Returns information about a currently mapped PDO entry返回关于当前映射的PDO条目的信息... 26
5.11 Executes an SDO download request to write data to a slave. 26
5.12 Executes an SDO download request to write data to a slave via complete. 27
5.13 Executes an SDO upload request to read data from a slave. 27
5.14 Executes an SoE write request. 28
5.15 Executes an SoE read request. 28
5.16 Finishes the configuration phase and prepares for cyclic operation完成配置阶段并准备循环操作。... 29
5.17 Deactivates the master. 29
5.18 Set interval between calls to ecrt_master_send(). 30
5.19 Sends all datagrams in the queue发送队列中的所有数据报。... 30
5.20 Fetches received frames from the hardware and processes the datagrams从硬件中获取接收的帧并处理数据报... 31
5.21 Sends non-application datagrams. 31
5.22 Reads the current master state读当前主站状态... 31
5.23 Reads the current state of a redundant link. 32
5.24 Sets the application time.设置应用程序时间... 32
5.25 Queues the DC reference clock drift compensation datagram for sending将DC参考时钟漂移补偿数据报排队以便发送... 33
5.26 Queues the DC reference clock drift compensation datagram for sending. 33
5.27 Queues the DC clock drift compensation datagram for sending. 34
5.28 Get the lower 32 bit of the reference clock system time. 34
5.29 Queues the DC synchrony monitoring datagram for sending. 34
5.30 Processes the DC synchrony monitoring datagram处理DC同步监控数据... 35
5.31 Retry configuring slaves重试配置从站... 35
6 Slave configuration methods 从站配置方法... 36
6.1 Configure a sync manager配置同步管理器... 36
6.2 Configure a slave's watchdog times配置一个从站看门狗时间... 36
6.3 Add a PDO to a sync manager's PDO assignment添加一个PDO到同步管理器的PDO分配中... 37
6.4 Clear a sync manager's PDO assignment清除同步管理器的PDO分配... 37
6.5 Add a PDO entry to the given PDO's mapping.添加一个PDO条目到给定的PDO映射 38
6.6 Clear the mapping of a given PDO清除给定PDo的映射... 38
6.7 Specify a complete PDO configuration指定一个完整的PDO配置... 39
6.8 Registers a PDO entry for process data exchange in a domain为域中的进程数据交换注册一个PDO条目... 41
6.9 Registers a PDO entry using its position使用其位置重新注册PDO条目... 41
6.10 Configure distributed clocks配置分布式时钟... 42
6.11 Add an SDO configuration添加SDO配置... 42
6.12 Add a configuration value for an 8-bit SDO添加一个8位SDO的配置值... 43
6.13 Add a configuration value for a 16-bit SDO. 44
6.14 Add a configuration value for a 32-bit SDO. 44
6.15 Add configuration data for a complete SDO. 45
6.16 Set the size of the CoE emergency ring buffer. 45
6.17 Read and remove one record from the CoE emergency ring buffer. 46
6.18 Clears CoE emergency ring buffer and the overrun counter. 46
6.19 Read the number of CoE emergency overruns. 46
6.20 Create an SDO request to exchange SDOs during realtime operation创建一个SDO请求以在实时操作期间交换SDO.. 47
6.21 Create an VoE handler to exchange vendor-specific data during realtime. 47
6.22 Create a register request to exchange EtherCAT register contents during. 48
6.23 Outputs the state of the slave configuration输出从站的配置状态... 48
6.24 Add an SoE IDN configuration. 49
7.1 Registers a bunch of PDO entries for a domain为一个域注册一堆PDO条目... 50
7.2 Returns the current size of the domain's process data返回域进程数据的当前大小 50
7.3 Provide external memory to store the domain's process data提供外部内存来存储域的进程数据... 51
7.4 Returns the domain's process data返回域的进程数据... 51
7.5 Determines the states of the domain's datagrams确定域的数据报的状态... 52
7.6 (Re-)queues all domain datagrams in the master's datagram queue.重新排列所有域数据报... 52
7.7 Reads the state of a domain读取域状态... 52
8 SDO request methods. SDO请求方法... 53
8.1 Set the SDO index and subindex. 53
8.2 Set the timeout for an SDO request. 53
8.3 Access to the SDO request's data. 53
8.4 Returns the current SDO data size. 54
8.5 Get the current state of the SDO request. 54
8.6 Schedule an SDO write operation. 55
8.7 Schedule an SDO read operation. 55
9 VoE handler methods. VoE处理方法... 55
9.1 Sets the VoE header for future send operations. 56
9.2 Reads the header data of a received VoE message. 56
9.3 Access to the VoE handler's data. 56
9.4 Returns the current data size. 57
9.5 Start a VoE write operation. 57
9.6 Start a VoE read operation. 58
9.7 Start a VoE read operation without querying the sync manager status. 58
10 Register request methods.寄存器请求方法... 59
10.1 Access to the register request's data. 59
10.2 Schedule an register write operation. 60
10.3 Schedule a register read operation. 60
11 Bitwise read/write macros 位读/写宏... 61
11.1 Read a certain bit of an EtherCAT data byte. 61
11.2 Write a certain bit of an EtherCAT data byte. 61
12 Byte-swapping functions for user space用户空间的字节交换函数... 62
14 Floating-point read functions and macros (userspace only)浮点读取函数和宏(仅限用户空间) 65
16 Floating-point write functions and macros (userspace only)浮点写函数和宏(仅限用户空间) 67
837
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
