Ethercat Coe Standard Communication - Delta EtherCAT Programming Manual

EtherCAT CoE Standard
Communication
This chapter introduces the use of API for CoE (CANopen over EtherCAT) standard
communication. EtherCAT protocol allows issuing SDO or PDO command to the Slave
directly via CoE standard communication.
7
7.1 _ECAT_Slave_SDO_Send_Message ····················································· 7-3
7.2 _ECAT_Slave_SDO_Read_Message····················································· 7-4
7.3 _ECAT_Slave_SDO_Quick_Send_Message ··········································· 7-5
7.4 _ECAT_Slave_SDO_Quick_Read_Message ··········································· 7-6
7.5 _ECAT_Slave_SDO_Read_Response ··················································· 7-7
7.6 _ECAT_Slave_SDO_Wait_All_Done ······················································ 7-8
7.7 _ECAT_Slave_SDO_Get_ErrorCode ····················································· 7-9
7.8 _ECAT_Slave_SDO_Check_Done ······················································ 7-11
7.9 _ECAT_Slave_PDO_Get_OD_Data ···················································· 7-12
7.10 _ECAT_Slave_PDO_Set_OD_Data ··················································· 7-13
7.11 _ECAT_Slave_PDO_Get_Information ················································· 7-14
7.12 _ECAT_Slave_PDO_Get_Detail_Mapping ··········································· 7-15
7.13 _ECAT_Slave_PDO_Get_Rx_Data ···················································· 7-16
7.14 _ECAT_Slave_PDO_Get_Tx_Data ···················································· 7-17
7.15 _ECAT_Slave_PDO_Set_Tx_Data ···················································· 7-18
7.16 _ECAT_Slave_PDO_Set_Tx_Detail_Data ··········································· 7-19
March, 2017
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