6. Application programming interface, reference

Function prototypes, definitions etc. of the API can be found in the header file AtEthercat.h which is the main header file to include when using EC-Master.

• 6.1. Generic API return status values
• 6.2. Multiple EtherCAT Bus Support
  • 6.2.1. Licensing
  • 6.2.2. Overview
  • 6.2.3. Example application
• 6.3. General functions
  • 6.3.1. emInitMaster
  • 6.3.2. emDeinitMaster
  • 6.3.3. emGetMasterParms
  • 6.3.4. emSetMasterParms
  • 6.3.5. emScanBus
  • 6.3.6. emRescueScan
  • 6.3.7. emConfigureMaster
  • 6.3.8. emConfigGet
  • 6.3.9. emConfigExtend
  • 6.3.10. emRegisterClient
  • 6.3.11. emUnregisterClient
  • 6.3.12. emGetSrcMacAddress
  • 6.3.13. emSetMasterState
  • 6.3.14. emGetMasterState
  • 6.3.15. emGetMasterStateEx
  • 6.3.16. emStart
  • 6.3.17. emStop
  • 6.3.18. emExecJob
  • 6.3.19. emGetVersion
  • 6.3.20. emSetLicenseKey
  • 6.3.21. emSetOemKey
  • 6.3.22. emIoControl
  • 6.3.23. emIoControl - EC_IOCTL_GET_PDMEMORYSIZE
  • 6.3.24. emIoControl - EC_IOCTL_REGISTER_PDMEMORYPROVIDER
  • 6.3.25. emIoControl - EC_IOCTL_REGISTER_CYCFRAME_RX_CB
  • 6.3.26. emIoControl - EC_IOCTL_ISLINK_CONNECTED
  • 6.3.27. emIoControl - EC_IOCTL_GET_LINKLAYER_MODE
  • 6.3.28. emIoControl - EC_IOCTL_GET_CYCLIC_CONFIG_INFO
  • 6.3.29. emIoControl - EC_IOCTL_IS_SLAVETOSLAVE_COMM_CONFIGURED
  • 6.3.30. emIoControl - EC_LINKIOCTL…
  • 6.3.31. emIoControl - EC_LINKIOCTL_GET_ETHERNET_ADDRESS
  • 6.3.32. emIoControl - EC_LINKIOCTL_GET_SPEED
  • 6.3.33. emIoControl - EC_IOCTL_SET_CYCFRAME_LAYOUT
  • 6.3.34. emIoControl - EC_IOCTL_SET_MASTER_DEFAULT_TIMEOUTS
  • 6.3.35. emIoControl - EC_IOCTL_SET_COPYINFO_IN_SENDCYCFRAMES
  • 6.3.36. emIoControl - EC_IOCTL_SET_BUS_CYCLE_TIME
  • 6.3.37. emIoControl - EC_IOCTL_ADDITIONAL_VARIABLES_FOR_SPECIFIC_DATA_TYPES
  • 6.3.38. emIoControl - EC_IOCTL_SLV_ALIAS_ENABLE
  • 6.3.39. emIoControl - EC_IOCTL_SET_IGNORE_INPUTS_ON_WKC_ERROR
  • 6.3.40. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ERROR
  • 6.3.41. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ZERO
  • 6.3.42. emIoControl - EC_IOCTL_SET_GENENI_ASSIGN_EEPROM_BACK_TO_EM
  • 6.3.43. emIoControl - EC_IOCTL_SET_EOE_DEFFERED_SWITCHING_ENABLED
  • 6.3.44. emIoControl - EC_IOCTL_SET_MAILBOX_POLLING_CYCLES
  • 6.3.45. emIoControl - EC_IOCTL_SET_MASTER_MAX_STATE
• 6.4. Process Data Access
  • 6.4.1. emGetProcessData
  • 6.4.2. emGetProcessDataBits
  • 6.4.3. emSetProcessData
  • 6.4.4. emSetProcessDataBits
  • 6.4.5. emForceProcessDataBits
  • 6.4.6. emReleaseProcessDataBits
  • 6.4.7. emReleaseAllProcessDataBits
  • 6.4.8. emGetProcessImageInputPtr
  • 6.4.9. emGetProcessImageOutputPtr
  • 6.4.10. emGetDiagnosisImagePtr
  • 6.4.11. emGetSlaveInpVarInfoNumOf
  • 6.4.12. emGetSlaveInpVarInfo
  • 6.4.13. emGetSlaveInpVarInfoEx
  • 6.4.14. emGetSlaveOutpVarInfoNumOf
  • 6.4.15. emGetSlaveOutpVarInfo
  • 6.4.16. emGetSlaveOutpVarInfoEx
  • 6.4.17. emGetSlaveInpVarByObjectEx
  • 6.4.18. emGetSlaveOutpVarByObjectEx
  • 6.4.19. emFindInpVarByName
  • 6.4.20. emFindInpVarByNameEx
  • 6.4.21. emFindOutpVarByName
  • 6.4.22. emFindOutpVarByNameEx
  • 6.4.23. emTraceDataConfig
  • 6.4.24. emTraceDataGetInfo
  • 6.4.25. EC_COPYBITS
  • 6.4.26. EC_GET_FRM_WORD
  • 6.4.27. EC_GET_FRM_DWORD
  • 6.4.28. EC_GET_FRM_QWORD
  • 6.4.29. EC_SET_FRM_WORD
  • 6.4.30. EC_SET_FRM_DWORD
  • 6.4.31. EC_SET_FRM_QWORD
  • 6.4.32. EC_GETBITS
  • 6.4.33. EC_SETBITS
• 6.5. Generic notification interface
  • 6.5.1. Notification callback: emNotify
  • 6.5.2. emNotify - EC_NOTIFY_STATECHANGED
  • 6.5.3. emNotify - EC_NOTIFY_XXXX
  • 6.5.4. Feature Pack Master Redundancy Notifcations
  • 6.5.5. emNotifyApp
  • 6.5.6. emIoControl - EC_IOCTL_SET_NOTIFICATION_ENABLED
  • 6.5.7. emIoControl - EC_IOCTL_GET_NOTIFICATION_ENABLED
• 6.6. Slave control and status functions
  • 6.6.1. emGetNumConfiguredSlaves
  • 6.6.2. emGetNumConnectedSlaves
  • 6.6.3. emGetSlaveId
  • 6.6.4. emGetSlaveIdAtPosition
  • 6.6.5. emSetSlaveState
  • 6.6.6. emGetSlaveState
  • 6.6.7. emIsSlavePresent
  • 6.6.8. emGetSlaveProp
  • 6.6.9. emSlaveSerializeMbxTfers
  • 6.6.10. emSlaveParallelMbxTfers
  • 6.6.11. emIoControl - EC_IOCTL_SET_MBX_RETRYACCESS_PERIOD
  • 6.6.12. emNotify - EC_NOTIFY_SLAVE_STATECHANGED
  • 6.6.13. emNotify - EC_NOTIFY_SLAVES_STATECHANGED
  • 6.6.14. emWriteSlaveRegister
  • 6.6.15. emWriteSlaveRegisterReq
  • 6.6.16. emReadSlaveRegister
  • 6.6.17. emReadSlaveRegisterReq
  • 6.6.18. emNotify - EC_NOTIFY_SLAVE_REGISTER_TRANSFER
  • 6.6.19. emReadSlaveEEPRom
  • 6.6.20. emReadSlaveEEPRomReq
  • 6.6.21. emWriteSlaveEEPRom
  • 6.6.22. emWriteSlaveEEPRomReq
  • 6.6.23. emAssignSlaveEEPRom
  • 6.6.24. emAssignSlaveEEPRomReq
  • 6.6.25. emActiveSlaveEEPRom
  • 6.6.26. emActiveSlaveEEPRomReq
  • 6.6.27. emReloadSlaveEEPRom
  • 6.6.28. emReloadSlaveEEPRomReq
  • 6.6.29. emNotify - EC_NOTIFY_EEPROM_OPERATION
  • 6.6.30. emResetSlaveController
  • 6.6.31. emIoControl - EC_IOCTL_ALL_SLAVES_MUST_REACH_MASTER_STATE
  • 6.6.32. emGetCfgSlaveInfo
  • 6.6.33. emGetCfgSlaveEoeInfo
  • 6.6.34. emGetBusSlaveInfo
  • 6.6.35. emReadSlaveIdentification
  • 6.6.36. emReadSlaveIdentificationReq
  • 6.6.37. emNotify - EC_NOTIFY_SLAVE_IDENTIFICATION
  • 6.6.38. emIoControl - EC_IOCTL_SET_AUTO_ACK_AL_STATUS_ERROR_ENABLED
  • 6.6.39. emIoControl - EC_IOCTL_SET_AUTO_ADJUST_CYCCMD_WKC_ENABLED
  • 6.6.40. emSetSlaveDisabled
  • 6.6.41. emSetSlaveDisconnected
  • 6.6.42. emSetSlavesDisconnected
  • 6.6.43. emGetSlavePortState
  • 6.6.44. emSetSlavePortState
  • 6.6.45. emSetSlavePortStateReq
  • 6.6.46. emNotify - EC_T_PORT_OPERATION_NTFY_DESC
  • 6.6.47. emIoControl - EC_IOCTL_SET_NEW_BUSSLAVES_TO_INIT
• 6.7. Diagnosis, error detection, error notifications
  • 6.7.1. emEthDbgMsg
  • 6.7.2. emIoControl - EC_IOCTL_GET_SLVSTATISTICS
  • 6.7.3. emGetSlaveStatistics
  • 6.7.4. emIoControl - EC_IOCTL_CLR_SLVSTATISTICS
  • 6.7.5. emClearSlaveStatistics
  • 6.7.6. emIoControl - EC_IOCTL_GET_SLVSTAT_PERIOD
  • 6.7.7. emIoControl - EC_IOCTL_SET_SLVSTAT_PERIOD
  • 6.7.8. emIoControl - EC_IOCTL_FORCE_SLVSTAT_COLLECTION
  • 6.7.9. emIoControl - EC_IOCTL_CLEAR_MASTER_INFO_COUNTERS
  • 6.7.10. emIoControl - EC_IOCTL_SET_FRAME_RESPONSE_ERROR_NOTIFY_MASK
  • 6.7.11. emIoControl - EC_IOCTL_SET_FRAME_LOSS_SIMULATION
  • 6.7.12. emIoControl - EC_IOCTL_SET_RXFRAME_LOSS_SIMULATION
  • 6.7.13. emIoControl - EC_IOCTL_SET_TXFRAME_LOSS_SIMULATION
  • 6.7.14. Error notifications - general information
  • 6.7.15. emNotify - EC_NOTIFY_CYCCMD_WKC_ERROR
  • 6.7.16. emNotify - EC_NOTIFY_MASTER_INITCMD_WKC_ERROR
  • 6.7.17. emNotify - EC_NOTIFY_SLAVE_INITCMD_WKC_ERROR
  • 6.7.18. emNotify - EC_NOTIFY_FOE_MBSLAVE_ERROR
  • 6.7.19. emNotify - EC_NOTIFY_EOE_MBXSND_WKC_ERROR
  • 6.7.20. emNotify - EC_NOTIFY_COE_MBXSND_WKC_ERROR
  • 6.7.21. emNotify - EC_NOTIFY_FOE_MBXSND_WKC_ERROR
  • 6.7.22. emNotify - EC_NOTIFY_VOE_MBXSND_WKC_ERROR
  • 6.7.23. emNotify - EC_NOTIFY_S2SMBX_ERROR
  • 6.7.24. emNotify - EC_NOTIFY_FRAME_RESPONSE_ERROR
  • 6.7.25. emNotify - EC_NOTIFY_SLAVE_INITCMD_RESPONSE_ERROR
  • 6.7.26. emNotify - EC_NOTIFY_MBSLAVE_INITCMD_TIMEOUT
  • 6.7.27. emNotify - EC_NOTIFY_MASTER_INITCMD_RESPONSE_ERROR
  • 6.7.28. emNotify - EC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL
  • 6.7.29. emNotify - EC_NOTIFY_ALL_DEVICES_OPERATIONAL
  • 6.7.30. emNotify - EC_NOTIFY_STATUS_SLAVE_ERROR
  • 6.7.31. emNotify - EC_NOTIFY_SLAVE_ERROR_STATUS_INFO
  • 6.7.32. emNotify - EC_NOTIFY_SLAVES_ERROR_STATUS
  • 6.7.33. emNotify - EC_NOTIFY_SLAVE_UNEXPECTED_STATE
  • 6.7.34. emNotify - EC_NOTIFY_SLAVES_UNEXPECTED_STATE
  • 6.7.35. emNotify - EC_NOTIFY_ETH_LINK_NOT_CONNECTED
  • 6.7.36. emNotify - EC_NOTIFY_ETH_LINK_CONNECTED
  • 6.7.37. emNotify - EC_NOTIFY_CLIENTREGISTRATION_DROPPED
  • 6.7.38. emNotify - EC_NOTIFY_EEPROM_CHECKSUM_ERROR
  • 6.7.39. emNotify - EC_NOTIFY_PDIWATCHDOG
  • 6.7.40. ecatGetText
  • 6.7.41. ecatPerfMeasInit
  • 6.7.42. ecatPerfMeasDeinit
  • 6.7.43. ecatPerfMeasEnable
  • 6.7.44. ecatPerfMeasDisable
  • 6.7.45. ecatPerfMeasStart
  • 6.7.46. ecatPerfMeasEnd
  • 6.7.47. ecatPerfMeasReset
  • 6.7.48. ecatPerfMeasShow
  • 6.7.49. ecatPerfMeasSetIrqCtlEnabled
  • 6.7.50. emLogFrameEnable
  • 6.7.51. emLogFrameDisable
  • 6.7.52. emGetMasterInfo
  • 6.7.53. emGetMemoryUsage
  • 6.7.54. emGetMasterDump
  • 6.7.55. emGetMasterSyncUnitInfoNumOf
  • 6.7.56. emGetMasterSyncUnitInfo
  • 6.7.57. emBadConnectionsDetect
  • 6.7.58. emBadConnectionsReset
  • 6.7.59. emNotify - EC_NOTIFY_BAD_CONNECTION
  • 6.7.60. emSelfTestScan
• 6.8. Performance Measurement
  • 6.8.1. Enabling performance measurements
  • 6.8.2. Retrieving overall performance statistics (min/avg/max)
  • 6.8.3. Recording performance histograms
  • 6.8.4. Special benchmark types
  • 6.8.5. Application benchmarks
  • 6.8.6. API
    • 6.8.6.1. emPerfMeasAppCreate
    • 6.8.6.2. emPerfMeasAppDelete
    • 6.8.6.3. emPerfMeasAppStart
    • 6.8.6.4. emPerfMeasAppEnd
    • 6.8.6.5. emPerfMeasAppReset
    • 6.8.6.6. emPerfMeasAppGetNumOf
    • 6.8.6.7. emPerfMeasAppGetInfo
    • 6.8.6.8. emPerfMeasAppGetRaw
    • 6.8.6.9. emPerfMeasInternalResetByTaskId
    • 6.8.6.10. emPerfMeasInternalGetNumOfByTaskId
    • 6.8.6.11. emPerfMeasInternalGetInfoByTaskId
    • 6.8.6.12. emPerfMeasInternalGetRawByTaskId
• 6.9. EtherCAT Mailbox Transfer
  • 6.9.1. Mailbox transfer object states
  • 6.9.2. emMbxTferCreate
  • 6.9.3. emMbxTferAbort
  • 6.9.4. emMbxTferDelete
  • 6.9.5. emNotify - EC_NOTIFY_MBOXRCV
• 6.10. Automation Device Specification over EtherCAT (AoE)
  • 6.10.1. emAoeGetSlaveNetId
  • 6.10.2. emAoeRead
  • 6.10.3. emAoeReadReq
  • 6.10.4. emNotify - eMbxTferType_AOE_READ
  • 6.10.5. emAoeWrite
  • 6.10.6. emAoeWriteReq
  • 6.10.7. emNotify - eMbxTferType_AOE_WRITE
  • 6.10.8. emAoeReadWrite
  • 6.10.9. emAoeWriteControl
  • 6.10.10. emConvertEcErrorToAdsError
• 6.11. CAN application protocol over EtherCAT (CoE)
  • 6.11.1. emCoeSdoDownload
  • 6.11.2. emCoeSdoDownloadReq
  • 6.11.3. emNotify - eMbxTferType_COE_SDO_DOWNLOAD
  • 6.11.4. emCoeSdoUpload
  • 6.11.5. emCoeSdoUploadReq
  • 6.11.6. emNotify - eMbxTferType_COE_SDO_UPLOAD
  • 6.11.7. emCoeGetODList
  • 6.11.8. emNotify - eMbxTferType_COE_GETODLIST
  • 6.11.9. emCoeGetObjectDesc
  • 6.11.10. emNotify - eMbxTferType_COE_GETOBDESC
  • 6.11.11. emCoeGetEntryDesc
  • 6.11.12. emNotify - eMbxTferType_COE_GETENTRYDESC
  • 6.11.13. emCoeProfileGetChannelInfo
  • 6.11.14. emNotify - EC_NOTIFY_COE_INIT_CMD
  • 6.11.15. CoE Emergency (emNotify - eMbxTferType_COE_EMERGENCY)
  • 6.11.16. CoE Abort (emNotify - EC_NOTIFY_MBSLAVE_COE_SDO_ABORT)
  • 6.11.17. emConvertEcErrorToCoeError
• 6.12. File access over EtherCAT (FoE)
  • 6.12.1. Specification
    • 6.12.1.1. FoE file download
    • 6.12.1.2. FoE file upload
    • 6.12.1.3. Boot State
  • 6.12.2. emFoeFileDownload
  • 6.12.3. emFoeFileUpload
  • 6.12.4. emFoeDownloadReq
  • 6.12.5. emFoeSegmentedDownloadReq
  • 6.12.6. emFoeUploadReq
  • 6.12.7. emFoeSegmentedUploadReq
  • 6.12.8. emConvertEcErrorToFoeError
  • 6.12.9. emNotify - EC_NOTIFY_FOE_MBXSND_WKC_ERROR
  • 6.12.10. emNotify - EC_NOTIFY_FOE_MBSLAVE_ERROR
  • 6.12.11. Extending EC_T_MBX_DATA
• 6.13. Servo Drive Profil according to IEC61491 over EtherCAT (SoE)
  • 6.13.1. SoE ElementFlags
  • 6.13.2. SoE IDN coding
  • 6.13.3. emSoeWrite
  • 6.13.4. emSoeWriteReq
  • 6.13.5. emSoeRead
  • 6.13.6. emSoeReadReq
  • 6.13.7. emSoeAbortProcCmd
  • 6.13.8. emConvertEcErrorToSoeError
  • 6.13.9. emNotify - EC_NOTIFY_SOE_MBXSND_WKC_ERROR
  • 6.13.10. emNotify - EC_NOTIFY_SOE_WRITE_ERROR
• 6.14. Vendor specific protocol over EtherCAT (VoE)
  • 6.14.1. emVoeWrite
  • 6.14.2. emVoeWriteReq
  • 6.14.3. emVoeRead
  • 6.14.4. emNotify - eMbxTferType_VOE_READ
  • 6.14.5. emNotify - eMbxTferType_VOE_WRITE
• 6.15. Raw command transfer
  • 6.15.1. emTferSingleRawCmd
  • 6.15.2. emClntSendRawMbx
  • 6.15.3. emClntQueueRawCmd
  • 6.15.4. emQueueRawCmd
  • 6.15.5. emNotify - EC_NOTIFY_RAWCMD_DONE
• 6.16. EtherCAT Bus Scan
  • 6.16.1. emIoControl - EC_IOCTL_SB_ENABLE
  • 6.16.2. emIoControl - EC_IOCTL_SB_RESTART
  • 6.16.3. emIoControl - EC_IOCTL_SB_STATUS_GET
  • 6.16.4. emIoControl - EC_IOCTL_SB_SET_TOPOLOGY_CHANGED_DELAY
  • 6.16.5. emIoControl - EC_IOCTL_SB_SET_TOPOLOGY_CHANGED_DELAYS
  • 6.16.6. emIoControl - EC_IOCTL_SB_SET_ERROR_ON_CROSSED_LINES
  • 6.16.7. emIoControl - EC_IOCTL_SB_SET_ERROR_ON_LINEBREAK
  • 6.16.8. emIoControl - EC_IOCTL_SB_SET_TOPOLOGY_CHANGE_AUTO_MODE
  • 6.16.9. emIoControl - EC_IOCTL_SB_ACCEPT_TOPOLOGY_CHANGE
  • 6.16.10. emNotify - EC_NOTIFY_SB_STATUS
  • 6.16.11. emNotify - EC_NOTIFY_SB_MISMATCH
  • 6.16.12. emNotify - EC_NOTIFY_SB_DUPLICATE_HC_NODE
  • 6.16.13. emNotify - EC_NOTIFY_SLAVE_PRESENCE
  • 6.16.14. emNotify - EC_NOTIFY_SLAVES_PRESENCE
  • 6.16.15. emNotify - EC_NOTIFY_LINE_CROSSED
  • 6.16.16. emNotify - EC_NOTIFY_SLAVE_NOTSUPPORTED
  • 6.16.17. emNotify - EC_NOTIFY_FRAMELOSS_AFTER_SLAVE
  • 6.16.18. emNotify - Bus Scan notifications for Feature Packs
  • 6.16.19. emIoControl - EC_IOCTL_SB_NOTIFY_UNEXPECTED_BUS_SLAVES
  • 6.16.20. emIsTopologyChangeDetected
  • 6.16.21. emNotify - EC_NOTIFY_HC_TOPOCHGDONE
  • 6.16.22. emIoControl - EC_IOCTL_SB_SET_NO_DC_SLAVES_AFTER_JUNCTION