Delta EtherCAT Programming Manual page 78

EtherCAT Programming Guide
_ECAT_Master_Open
_ECAT_Master_Initial
_ECAT_Master_Reset
_ECAT_Master_Close
_ECAT_Master_Get_CardSeq
_ECAT_Master_Get_SlaveNum
_ECAT_Master_Get_Slave_Info
_ECAT_Master_Get_DC_Status
_ECAT_Master_Get_Connect_Status
_ECAT_Master_Get_Api_BufferLength
_ECAT_Master_Get_Cycle_SpendTime
_ECAT_Master_Check_Initial_Done
_ECAT_Master_Get_Initial_ErrorCode
_ECAT_Master_Check_Working_Counter
_ECAT_Master_Get_Return_Code_Message
_ECAT_Slave_SDO_Send_Message
_ECAT_Slave_SDO_Read_Message
_ECAT_Slave_SDO_Quick_Send_Message
_ECAT_Slave_SDO_Quick_Read_Message
_ECAT_Slave_SDO_Read_Response
_ECAT_Slave_SDO_Wait_All_Done
_ECAT_Slave_SDO_Get_ErrorCode
_ECAT_Slave_SDO_Check_Done
_ECAT_Slave_PDO_Get_OD_Data
_ECAT_Slave_PDO_Set_OD_Data
March, 2017
EtherCAT Master Initialization
Check the number of motion cards and EtherCAT
kernels, as well as creating memory block.
Initialize EtherCAT communication and switch the
slave to OP mode
Reset the EtherCAT master's status and switch
the slave to initial mode.
Disable all functions of EtherCAT master and
kernels and release the memory
Acquire motion card No.
Acquire slave quantity on the communication bus
of the specified EtherCAT master
Acquire EtherCAT slave information
Acquire the motion card's DC status, time and
time offset
Acquire EtherCAT master's connection status
Acquire the command amount of each slave that
has not been completed
Acquire the time spent on Tx and Rx every cycle
and the maximum consuming time in the log
Check whether the DLL initialization has been
completed.
Acquire the error code when error occurs
Acquire the current connection status of EtherCAT
communication
Acquire the corresponding message of each
return code
EtherCAT CoE Standard Communication
Issue SDO command (CANopen) to the slave
Acquire the current SDO data (CANopen) of the
slave
Issue SDO command (CANopen) to the slave
without waiting for the response
Issue SDO read command (CANopen) to the
slave without waiting for the response
Read the returned data from the slave.
Wait multiple slaves to complete all the SDO
commands.
Acquire the error code of
ERR_ECAT_SDO_Return that returned during the
execution of SDO Send_Message or
Read_Message. Please refer to CANopen
protocol or the definition of each device for error
code.
Check if the specified slave has completed all the
SDO commands
Read the data of an OD index in the PDO
mapping
Send the data of an OD index in the PDO
mapping
API List of EtherCAT Dynamic-Link Library
4
4-3