Class B

• 1. Introduction
  • 1.1. What is EtherCAT?
  • 1.2. The EC-Master - Features
  • 1.3. Protected version
    • 1.3.1. Licensing procedure for Development Licenses
    • 1.3.2. Licensing procedure for Runtime Licenses
  • 1.4. License
    • 1.4.1. EC-Master license
    • 1.4.2. Free Open Source Software contained in EC-Master
    • 1.4.3. Free Open Source Software supported by EC-Master
  • 1.5. Versioning
• 2. Getting Started
  • 2.1. EC-Master Architecture
  • 2.2. EtherCAT Network Configuration (ENI)
  • 2.3. Operating system configuration
  • 2.4. Running EcMasterDemo
    • 2.4.1. Command line parameters
  • 2.5. Compiling the EcMasterDemo
    • 2.5.1. EtherCAT Master Software Development Kit (SDK)
    • 2.5.2. Include search path
    • 2.5.3. Libraries
• 3. Software Integration
  • 3.1. Network Timing
    • 3.1.1. Standard Timing: Short output dead time
    • 3.1.2. Alternative Timing: Short Input dead time
  • 3.2. Example application
    • 3.2.1. File reference
    • 3.2.2. Master lifecycle
    • 3.2.3. Synchronization
    • 3.2.4. Event notification
    • 3.2.5. Logging
  • 3.3. Master startup
    • 3.3.1. Asynchronous (deferred) startup
    • 3.3.2. Synchronous startup
  • 3.4. EtherCAT Network Configuration ENI
    • 3.4.1. Single cyclic entry configuration
    • 3.4.2. Multiple cyclic entries configuration
    • 3.4.3. Copy Information for Slave-to-Slave communication
    • 3.4.4. Swap variables’ bytes according to ENI
  • 3.5. Process Data Access
    • 3.5.1. Process Data Access Functions
    • 3.5.2. Process variables’ offset and size
    • 3.5.3. Process variable access via hard coded offsets
    • 3.5.4. Process variable access via generated PD Layout
    • 3.5.5. Process variable access dynamically from ENI
  • 3.6. Process Data Memory
    • 3.6.1. EC-Master as process data memory provider
    • 3.6.2. Application as process data memory provider with fixed buffers
    • 3.6.3. Application as process data memory provider with dynamic buffers
  • 3.7. Error detection and diagnosis
    • 3.7.1. Cyclic cmd WKC validation
    • 3.7.2. WKC State in Diagnosis Image
    • 3.7.3. Master Sync Units
  • 3.8. Trace Data
    • 3.8.1. Trace Data configuration via EC-Engineer
    • 3.8.2. Trace Data configuration via API
  • 3.9. EtherCAT Master Stack Source Code
    • 3.9.1. Components
    • 3.9.2. Excluding features
  • 3.10. Reduced Feature Set
    • 3.10.1. Rfs1: Convenience functionality excluded
    • 3.10.2. Rfs2: Rare functionalities excluded
    • 3.10.3. Rfs3: Common functionalities excluded
    • 3.10.4. Rfs4: Error detection and diagnosis excluded
    • 3.10.5. Rfs5: Only CoE slaves supported
• 4. Platform and Operating Systems (OS)
  • 4.1. CMSIS-RTOS for STM32
    • 4.1.1. Setting up and running EcMasterDemo in Keil µVision IDE
    • 4.1.2. OS Compiler settings
    • 4.1.3. Setting up and running EcMasterDemo in STM32CubeIDE for STM32H747I-DISCO
  • 4.2. eCos
    • 4.2.1. Setting up and running EcMasterDemo
    • 4.2.2. OS Compiler settings
  • 4.3. FreeRTOS
    • 4.3.1. Setting up and running EcMasterDemo on Xilinx Zynq UltraScale+ (ZCU104) and Xilinx Zynq-7000 (ZC702 Evaluation Kit)
    • 4.3.2. Setting up and running EcMasterDemo on TI AM64x EVM for R5 Core
    • 4.3.3. Setting up and running EcMasterDemo on TI AM243x LP and TI AM243x EVM
    • 4.3.4. Setting up and running EcMasterDemo on TI J784s4 EVM for R5 Core
  • 4.4. tenAsys INtime
    • 4.4.1. Setting up and running EcMasterDemo
    • 4.4.2. OS Compiler settings
  • 4.5. Linux
    • 4.5.1. OS optimizations
    • 4.5.2. atemsys kernel module
    • 4.5.3. Unbind Ethernet Driver instance
    • 4.5.4. Docker
    • 4.5.5. Setting up and running EcMasterDemo
    • 4.5.6. OS Compiler settings
    • 4.5.7. Cross-platform development under Windows
  • 4.6. PC / BIOS
  • 4.7. QNX Neutrino
    • 4.7.1. Thread priority
    • 4.7.2. Unbind Ethernet Driver instance
    • 4.7.3. IOMMU/SMMU support
    • 4.7.4. Setting up and running EcMasterDemo
    • 4.7.5. OS Compiler settings
  • 4.8. Renesas
    • 4.8.1. R-IN32M3
    • 4.8.2. R-IN32M4
  • 4.9. IntervalZero RTX
    • 4.9.1. Unbind Ethernet Driver instance
    • 4.9.2. Setting up and running EcMasterDemo
    • 4.9.3. OS Compiler settings
  • 4.10. SylixOS
    • 4.10.1. Setting up and running EcMasterDemo on SylixOS
  • 4.11. TI-RTOS
    • 4.11.1. Setting up and running EcMasterDemo
    • 4.11.2. OS Compiler settings
  • 4.12. µC3 for STM32
    • 4.12.1. Setting up and running EcMasterDemo in IAR for ARM IDE
    • 4.12.2. OS Compiler settings
  • 4.13. Windriver VxWorks
    • 4.13.1. VxWorks native
    • 4.13.2. SNARF Ethernet Driver
    • 4.13.3. Setting up and running EcMasterDemo
    • 4.13.4. OS Compiler settings
  • 4.14. Microsoft Windows
    • 4.14.1. EcMasterDemo - Microsoft Windows
    • 4.14.2. EcMasterDemoDotNet (.NET) - Microsoft Windows
    • 4.14.3. EcMasterDemoGuiDotNet (.NET) - Microsoft Windows
    • 4.14.4. OS Compiler settings
    • 4.14.5. RtaccDevice for Real-time Ethernet Driver
  • 4.15. Microsoft Windows CE
    • 4.15.1. Identification of the Real-time Ethernet Driver
    • 4.15.2. KUKA CeWin
    • 4.15.3. Windows CE 5.0
    • 4.15.4. Windows CE 6.0
    • 4.15.5. Windows CE 2013
    • 4.15.6. Setting up and running EcMasterDemo
    • 4.15.7. OS Compiler settings
  • 4.16. Xenomai
    • 4.16.1. Setting up and running EcMasterDemo
    • 4.16.2. OS compiler settings
  • 4.17. Zephyr
    • 4.17.1. Setting up and running EcMasterDemo
    • 4.17.2. OS Compiler settings
• 5. Real-time Ethernet Driver
  • 5.1. Real-time Ethernet Driver initialization
    • 5.1.1. Real-time Ethernet Driver instance selection via PCI location
  • 5.2. Intel Pro/1000 - emllIntelGbe
    • 5.2.1. TTS Feature
    • 5.2.2. Supported PCI devices
  • 5.3. Intel Pro/100 - emllI8255x
    • 5.3.1. Supported PCI devices
  • 5.4. Broadcom Genet - emllBcmGenet
  • 5.5. Broadcom NetXtreme - emllBcmNetXtreme
    • 5.5.1. Supported PCI devices
  • 5.6. Berkeley Packet Filter - emllBPF
  • 5.7. Beckhoff CCAT - emllCCAT
    • 5.7.1. Supported PCI devices
  • 5.8. CMSIS - emllCmsisEth
  • 5.9. Texas Instruments CPSW - emllCPSW
    • 5.9.1. CPSW usage under Linux
  • 5.10. Texas Instruments CPSWG for AM6x and Jacinto 7 - emllCPSWG
    • 5.10.1. CPSWG usage under Linux
  • 5.11. Linux DPDK - emllDpdk
  • 5.12. DW3504 - emllDW3504
    • 5.12.1. Supported PCI devices
  • 5.13. Freescale TSEC / eTSEC - emllETSEC
    • 5.13.1. ETSEC supported MAC’s
    • 5.13.2. Shared MII bus
    • 5.13.3. Locking
    • 5.13.4. Link check
    • 5.13.5. Fixed Link
  • 5.14. Freescale FslFec - emllFslFec
  • 5.15. Xilinx Zynq-7000/Ultrascale (GEM) - emllGEM
  • 5.16. Texas Instruments ICSS - emllICSS
    • 5.16.1. TTS Feature
    • 5.16.2. TI AM335x ICEV2
    • 5.16.3. TI AM57xx IDK
    • 5.16.4. AM5728 IDK and AM5718 IDK boards and Technical Limitations
  • 5.17. Texas Instruments ICSSG - emllICSSG on AM654x
    • 5.17.1. TI AM654x IDK
  • 5.18. Microchip LAN743x - emlllan743x
    • 5.18.1. Supported PCI devices
  • 5.19. Beckhoff CUxxxx Multiplier - emllMultiplier
    • 5.19.1. Configuration with EC-Engineer
  • 5.20. Windows NDIS - emllNdis
  • 5.21. Windows WinPcap - emllPcap
    • 5.21.1. WinPcap, Npcap support
  • 5.22. RDC R6040 - emllR6040
    • 5.22.1. Supported PCI devices
  • 5.23. emllRemote
  • 5.24. Realtek RTL8169 - emllRTL8169
    • 5.24.1. RTL8169 usage under Linux
    • 5.24.2. Supported PCI devices
  • 5.25. Renesas RZ/T1 - emllRZT1
  • 5.26. Renesas SHEth - emllSHEth
    • 5.26.1. SHEth link status update
    • 5.26.2. SHEth usage under Linux
  • 5.27. VxWorks SNARF - emllSNARF
  • 5.28. Linux SockRaw - emllSockRaw
  • 5.29. Linux SockXdp - emllSockXdp
    • 5.29.1. Linux System Requirements
    • 5.29.2. Getting started
  • 5.30. Texas Instruments CPSWG for AM6x and Jacinto 7 based on Enet LLD - emllTiEnetCpswg
    • 5.30.1. TI J784S4X EVM
  • 5.31. Texas Instruments ICSSG for AM6x and Jacinto 7 based on Enet LLD - emllTiEnetIcssg
    • 5.31.1. TI AM64x EVM
    • 5.31.2. TI AM243x LP and TI AM243x EVM
  • 5.32. Virtual Local Area Network - emllVlan
• 6. Application programming interface, reference
  • 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. emConfigureNetwork
    • 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_LINKIOCTL_GET_PCI_INFO
    • 6.3.34. emIoControl - EC_IOCTL_SET_CYCFRAME_LAYOUT
    • 6.3.35. emIoControl - EC_IOCTL_SET_MASTER_DEFAULT_TIMEOUTS
    • 6.3.36. emIoControl - EC_IOCTL_SET_COPYINFO_IN_SENDCYCFRAMES
    • 6.3.37. emIoControl - EC_IOCTL_SET_BUS_CYCLE_TIME
    • 6.3.38. emIoControl - EC_IOCTL_ADDITIONAL_VARIABLES_FOR_SPECIFIC_DATA_TYPES
    • 6.3.39. emIoControl - EC_IOCTL_SLV_ALIAS_ENABLE
    • 6.3.40. emIoControl - EC_IOCTL_SET_IGNORE_INPUTS_ON_WKC_ERROR
    • 6.3.41. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ERROR
    • 6.3.42. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ZERO
    • 6.3.43. emIoControl - EC_IOCTL_SET_GENENI_ASSIGN_EEPROM_BACK_TO_EM
    • 6.3.44. emIoControl - EC_IOCTL_SET_EOE_DEFFERED_SWITCHING_ENABLED
    • 6.3.45. emIoControl - EC_IOCTL_SET_MAILBOX_POLLING_CYCLES
    • 6.3.46. emIoControl - EC_IOCTL_SET_MASTER_MAX_STATE
    • 6.3.47. emIoControl - EC_IOCTL_ACTIVATE_VOE_RECV_FIFO
    • 6.3.48. emIoControl - EC_IOCTL_SET_GEN_ENI_PARM
  • 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. emGetDiagnosisImageSize
    • 6.4.12. emGetSlaveInpVarInfoNumOf
    • 6.4.13. emGetSlaveInpVarInfo
    • 6.4.14. emGetSlaveInpVarInfoEx
    • 6.4.15. emGetSlaveOutpVarInfoNumOf
    • 6.4.16. emGetSlaveOutpVarInfo
    • 6.4.17. emGetSlaveOutpVarInfoEx
    • 6.4.18. emGetSlaveInpVarByObjectEx
    • 6.4.19. emGetSlaveOutpVarByObjectEx
    • 6.4.20. emFindInpVarByName
    • 6.4.21. emFindInpVarByNameEx
    • 6.4.22. emFindOutpVarByName
    • 6.4.23. emFindOutpVarByNameEx
    • 6.4.24. emTraceDataConfig
    • 6.4.25. emTraceDataGetInfo
    • 6.4.26. EC_COPYBITS
    • 6.4.27. EC_COMPAREBITS
    • 6.4.28. EC_GET_FRM_WORD
    • 6.4.29. EC_GET_FRM_DWORD
    • 6.4.30. EC_GET_FRM_QWORD
    • 6.4.31. EC_SET_FRM_WORD
    • 6.4.32. EC_SET_FRM_DWORD
    • 6.4.33. EC_SET_FRM_QWORD
    • 6.4.34. EC_GETBITS
    • 6.4.35. 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_NOTIFY_PORT_OPERATION
    • 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_MBXRCV_INVALID_DATA
    • 6.7.40. emNotify - EC_NOTIFY_PDIWATCHDOG
    • 6.7.41. ecatGetText
    • 6.7.42. emLogFrameEnable
    • 6.7.43. emLogFrameDisable
    • 6.7.44. emGetMasterInfo
    • 6.7.45. emGetMemoryUsage
    • 6.7.46. emGetMasterDump
    • 6.7.47. emGetMasterSyncUnitInfoNumOf
    • 6.7.48. emGetMasterSyncUnitInfo
    • 6.7.49. emBadConnectionsDetect
    • 6.7.50. emBadConnectionsReset
    • 6.7.51. emNotify - EC_NOTIFY_BAD_CONNECTION
    • 6.7.52. 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
  • 6.9. 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. emCoeGetODListReq
    • 6.11.8. emNotify - eMbxTferType_COE_GETODLIST
    • 6.11.9. emCoeGetObjectDescReq
    • 6.11.10. emNotify - eMbxTferType_COE_GETOBDESC
    • 6.11.11. emCoeGetEntryDescReq
    • 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
    • 6.12.2. 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
• 7. RAS-Server for EC-Lyser and EC-Engineer
  • 7.1. Integration Requirements
  • 7.2. Application programming interface, reference
    • 7.2.1. emRasSrvStart
    • 7.2.2. emRasSrvStop
    • 7.2.3. emRasNotify - xxx
    • 7.2.4. emRasNotify - ECMASTERRAS_NOTIFY_CONNECTION
    • 7.2.5. emRasNotify - ECMASTERRAS_NOTIFY_REGISTER
    • 7.2.6. emRasNotify - ECMASTERRAS_NOTIFY_UNREGISTER
    • 7.2.7. emRasNotify - ECMASTERRAS_NOTIFY_MARSHALERROR
    • 7.2.8. emRasNotify - ECMASTERRAS_NOTIFY_ACKERROR
    • 7.2.9. emRasNotify - ECMASTERRAS_NOTIFY_NONOTIFYMEMORY
    • 7.2.10. emRasNotify - ECMASTERRAS_NOTIFY_STDNOTIFYMEMORYSMALL
    • 7.2.11. emRasNotify - ECMASTERRAS_NOTIFY_MBXNOTIFYMEMORYSMALL
• 8. Error Codes
  • 8.1. Groups
  • 8.2. Generic Error Codes
  • 8.3. DCM Error Codes
  • 8.4. ADS over EtherCAT (AoE) Error Codes
  • 8.5. CAN application protocol over EtherCAT (CoE) SDO Error Codes
  • 8.6. File Transfer over EtherCAT (FoE) Error Codes
  • 8.7. Servo Drive Profil over EtherCAT (SoE) Error Codes
  • 8.8. Remote API Error Codes