Servodrive over EtherCAT (SoE)

Data Structures
struct	ec_soe
struct	ec_soe_idn_attribute
	ServoDrive attributes of an IDN. More...

Typedefs
typedef struct ec_soe	ec_soe_t
	SoE mailbox struct type.
typedef struct PACKED ec_soe_idn_attribute	ec_soe_idn_attribute_t
	ServoDrive attributes of an IDN.

Enumerations
enum	ec_soe_element {   EC_SOE_DATASTATE = 0x01 , EC_SOE_NAME = 0x02 , EC_SOE_ATTRIBUTE = 0x04 , EC_SOE_UNIT = 0x08 ,   EC_SOE_MIN = 0x10 , EC_SOE_MAX = 0x20 , EC_SOE_VALUE = 0x40 , EC_SOE_DEFAULT = 0x80 }
	ServoDrive elements of an IDN. More...

Functions
void	ec_soe_init (ec_t *pec, osal_uint16_t slave)
	initialize SoE structure
void	ec_soe_deinit (ec_t *pec, osal_uint16_t slave)
	deinitialize SoE structure
void	ec_soe_enqueue (ec_t *pec, osal_uint16_t slave, pool_entry_t *p_entry)
	Enqueue SoE message received from slave.
int	ec_soe_read (ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, osal_uint8_t *elements, osal_uint8_t *buf, osal_size_t *len)
	Read elements of soe ID number.
int	ec_soe_write (ec_t *pec, osal_uint16_t slave, osal_uint8_t atn, osal_uint16_t idn, osal_uint8_t elements, osal_uint8_t *buf, osal_size_t len)
	Write elements of soe ID number.
int	ec_soe_generate_mapping (ec_t *pec, osal_uint16_t slave)
	Generate sync manager process data mapping via soe.

Detailed Description

This modules contains EtherCAT SoE mailbox functions.

Enumeration Type Documentation

ec_soe_element

enum ec_soe_element

ServoDrive elements of an IDN.

Enumerator
EC_SOE_DATASTATE	idn data state
EC_SOE_NAME	idn name
EC_SOE_ATTRIBUTE	idn attributes
EC_SOE_UNIT	idn unit
EC_SOE_MIN	idn minimum value
EC_SOE_MAX	idn maximum value
EC_SOE_VALUE	idn value
EC_SOE_DEFAULT	idn data/default

Function Documentation

ec_soe_deinit()

void ec_soe_deinit	(	ec_t *	pec,
		osal_uint16_t	slave
	)

deinitialize SoE structure

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_soe_enqueue()

void ec_soe_enqueue	(	ec_t *	pec,
		osal_uint16_t	slave,
		pool_entry_t *	p_entry
	)

Enqueue SoE message received from slave.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	p_entry	Pointer to pool entry containing received mailbox message from slave.

ec_soe_generate_mapping()

int ec_soe_generate_mapping	(	ec_t *	pec,
		osal_uint16_t	slave
	)

Generate sync manager process data mapping via soe.

This calculates the sync managers size according to the slave's ServoDrive configuration. Therefore it reads IDN 16 and IDN 24 to calculate the sync manager 2/3 sizes.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

Return values

EC_OK	SoE transfer was successfull.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_MAILBOX_NOT_SUPPORTED_SOE	No SoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_WRITE_BUFFERS	No more free write buffer available.

ec_soe_init()

void ec_soe_init	(	ec_t *	pec,
		osal_uint16_t	slave
	)

initialize SoE structure

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).

ec_soe_read()

int ec_soe_read	(	ec_t *	pec,
		osal_uint16_t	slave,
		osal_uint8_t	atn,
		osal_uint16_t	idn,
		osal_uint8_t *	elements,
		osal_uint8_t *	buf,
		osal_size_t *	len
	)

Read elements of soe ID number.

This reads all ID number elements from given EtherCAT slave's drive number. This function enables read access to the ServoDrive dictionary on SoE enabled devices. The call to ec_soe_read is a synchronous call and will block until it's either finished or aborted.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	atn	AT number according to ServoDrive Bus Specification. In most cases this will be 0, if you are using a multi-drive device this may be 0,1,... .
[in]	idn	ID number according to ServoDrive Bus Specification. IDN's in range 1...32767 are described in the Specification, IDN's greater 32768 are manufacturer specific.
[in,out]	elements	ServoDrive elements according to ServoDrive Bus Specification.
[in,out]	buf	Buffer for where to store the answer.
[in,out]	len	Length of buf, see 'buf' descriptions. Returns length of answer.

Return values

EC_OK	SoE transfer was successfull.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_MAILBOX_NOT_SUPPORTED_SOE	No SoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_WRITE_BUFFERS	No more free write buffer available.

ec_soe_write()

int ec_soe_write	(	ec_t *	pec,
		osal_uint16_t	slave,
		osal_uint8_t	atn,
		osal_uint16_t	idn,
		osal_uint8_t	elements,
		osal_uint8_t *	buf,
		osal_size_t	len
	)

Write elements of soe ID number.

This writes all ID number elements from given EtherCAT slave's drive number. This function enables write access to the ServoDrive dictionary on SoE enabled devices. The call to ec_soe_read is a synchronous call and will block until it's either finished or aborted.

Parameters

[in]	pec	Pointer to ethercat master structure, which you got from ec_open.
[in]	slave	Number of ethercat slave. this depends on the physical order of the ethercat slaves (usually the n'th slave attached).
[in]	atn	AT number according to ServoDrive Bus Specification. In most cases this will be 0, if you are using a multi-drive device this may be 0,1,... .
[in]	idn	ID number according to ServoDrive Bus Specification. IDN's in range 1...32767 are described in the Specification, IDN's greater 32768 are manufacturer specific.
[in]	elements	ServoDrive elements according to ServoDrive Bus Specification.
[in]	buf	Buffer with values to write to the given idn.
[in]	len	Length of buf.

Return values

EC_OK	SoE transfer was successfull.
EC_ERROR_MAILBOX_TIMEOUT	Got timeout waiting for message.
EC_ERROR_MAILBOX_NOT_SUPPORTED_SOE	No SoE support on slave's mailbox.
EC_ERROR_MAILBOX_OUT_OF_WRITE_BUFFERS	No more free write buffer available.