slave mailbox init commands More...

#include <slave.h>

Public Member Functions
	LIST_ENTRY (ec_init_cmd) le
	List entry handle.

Data Fields
int	type
	Mailbox type.

int	transition
	ECat transition.

int	id
	index

int	si_el
	sub index

int	ca_atn
	flags

osal_char_t	data [LEC_MAX_INIT_CMD_DATA]
	new id data

osal_size_t	datalen
	new id data length

Detailed Description

slave mailbox init commands

Field Documentation

◆ ca_atn

int ec_init_cmd::ca_atn

flags

The flags define some additional setting depending on the Mailbox protocol. (e.g. CoE complete access mode, SoE atn, ...)

◆ id

int ec_init_cmd::id

index

This depends of which Mailbox protocol is beeing used. For CoE it defines the dictionary identifier, for SoE the id number, ...

◆ si_el

int ec_init_cmd::si_el

sub index

This depends of which Mailbox protocol is beeing used. For CoE it defines the sub identifier, for SoE the id element, ...

◆ transition

int ec_init_cmd::transition

ECat transition.

This defines at which EtherCAT state machine transition the init command will be sent to the EtherCAT slave. The upper 4 bits specify the actual state and the lower 4 bits the target state. (e.g. 0x24 -> PRE to SAFE, ..)

◆ type

int ec_init_cmd::type

Mailbox type.

The type defines which kind of Mailbox protocol to use for the init command. This can be one of EC_MBX_COE, EC_MBX_SOE, ...

The documentation for this struct was generated from the following file:

include/libethercat/slave.h

Public Member Functions