3. Application programming interface, reference

Function prototypes, definitions etc. of the API can be found in EcWrapperPython.py and EcWrapperPythonTypes.py

3.1. CEcMasterPython

class EcWrapperPython.CEcMasterPython

Bases: CEcWrapperPython

CEcMaster for Python

Close()

Deinitialize EcMaster

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

DoOpen(oParms, bStartTimingTask)

Initialize EcMaster

Parameters

  • oParms – Parameter definitions

  • bStartTimingTask – Start the EcWrapper provided timing task

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static Open(oParms, bStartTimingTask)

Initialize EcMaster and return instance

Parameters

  • oParms – Parameter definitions

  • bStartTimingTask – Start the EcWrapper provided timing task

Returns

Instance on success, otherwise Null.

3.2. CEcWrapperPython

class EcWrapperPython.CEcWrapperPython
ActiveSlaveEEPRom(bFixedAddressing: bool, wSlaveAddress: int, out_pbSlavePDIAccessActive: bool, dwTimeout: int) → ECError

Check whether EEPROM is marked access active by Slave PDI application.

This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pbSlavePDIAccessActive – Pointer to Boolean value: EC_TRUE: EEPROM active by PDI application, EC_FALSE: EEPROM not active

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT.

  • out_pbSlavePDIAccessActive (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

ActiveSlaveEEPRomReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, out_pbSlavePDIAccessActive: bool, dwTimeout: int) → ECError

Requests EEPROM is marked access active by Slave PDI application check and returns immediately.

An EC_NOTIFY_EEPROM_OPERATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_EEPROM_OPERATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pbSlavePDIAccessActive – Pointer to Boolean value: EC_TRUE: EEPROM active by PDI application, EC_FALSE: EEPROM not active. Must be valid until operation complete.

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT.

  • out_pbSlavePDIAccessActive (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

AddDbgMsg(strDbgMsg: str)

Adds a debug message to the print message queue

Parameters

strDbgMsg (str) – debug message

AdsAdapterStart(poStartParams: DN_EC_T_ADS_ADAPTER_START_PARMS, dwTimeout: int) → ECError

Starts the ADS Pass Through Server

  • #EC_E_NOERROR if successful

  • #EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • #EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer

  • #EC_E_NOMEMORY if the mailbox protocol queue of the slave if full

  • #EC_E_ADS_IS_RUNNING if the ADS server is running

Parameters
Return type

ECError

Returns:

AdsAdapterStop(dwTimeout: int) → ECError

Stops the ADS Pass Through Server

Parameters

dwTimeout (int) – Timeout

Returns

EC_E_NOERROR or error code

Return type

ECError

AoeGetSlaveNetId(dwSlaveId: int, out_poAoeNetId: DN_EC_T_AOE_NETID) → ECError

Retrieve the NetID of a specific EtherCAT device

Parameters

  • dwSlaveId (int) – Slave ID

  • poAoeNetId – AoE NetID of the corresponding slave

  • out_poAoeNetId (DN_EC_T_AOE_NETID) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_ADS_IS_RUNNING if ADS server is running

Return type

ECError

AoeRead(dwSlaveId: int, ref_poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, dwIndexGroup: int, dwIndexOffset: int, dwDataLen: int, pbyData: List[int], out_pdwDataOutLen: int, out_pdwErrorCode: int, out_pdwCmdResult: int, dwTimeout: int) → ECError

Execute an AoE mailbox read request to an EtherCAT slave device.

This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • poTargetNetId – Target NetID

  • wTargetPort (int) – Target port

  • dwIndexGroup (int) – AoE read command index group

  • dwIndexOffset (int) – AoE read command index offset

  • dwDataLen (int) – Buffer length [bytes]

  • pbyData (List[int]) – Buffer receiving transferred data

  • pdwDataOutLen – Number of bytes read from the target device

  • pdwErrorCode – AoE response error code

  • pdwCmdResult – AoE read command result code

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

  • ref_poTargetNetId (DN_EC_T_AOE_NETID) –

  • out_pdwDataOutLen (int) –

  • out_pdwErrorCode (int) –

  • out_pdwCmdResult (int) –

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AoeReadReq(pMbxTfer: object, dwSlaveId: int, poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, dwIndexGroup: int, dwIndexOffset: int, dwTimeout: int) → ECError

Execute a non-blocking AoE mailbox read request to an EtherCAT slave device.

If the functions returns EC_E_AOE_DEVICE_XXXX (well known device errors) or EC_E_AOE_VENDOR_SPECIFIC the original ADS error can be retrieved from the mailbox transfer object at EC_T_MBXTFER.MbxData.AoE_Response. A unique transfer ID must be written into EC_T_MBXTFER.dwTferId.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • poTargetNetId (DN_EC_T_AOE_NETID) – Target NetID

  • wTargetPort (int) – Target port

  • dwIndexGroup (int) – AoE read command index group

  • dwIndexOffset (int) – AoE read command index offset

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AoeReadWrite(dwSlaveId: int, ref_poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, dwIndexGroup: int, dwIndexOffset: int, dwReadDataLen: int, dwWriteDataLen: int, pbyData: List[int], out_pdwDataOutLen: int, out_pdwErrorCode: int, out_pdwCmdResult: int, dwTimeout: int) → ECError

Execute an AoE mailbox read/write request to an EtherCAT slave device.

Parameters

  • dwSlaveId (int) – Slave ID

  • poTargetNetId – Target NetID

  • wTargetPort (int) – Target port

  • dwIndexGroup (int) – AoE read/write command index group

  • dwIndexOffset (int) – AoE read/write command index offset

  • dwReadDataLen (int) – Number of bytes to read from the target device

  • dwWriteDataLen (int) – Number of bytes to write to the target device

  • pbyData (List[int]) – [in, out] Buffer containing and receiving transfered data

  • pdwDataOutLen – Number of bytes read from the target device

  • pdwErrorCode – Pointer to AoE response error code

  • pdwCmdResult – Pointer to AoE write command result code

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. EC_NOWAIT is not valid.

  • ref_poTargetNetId (DN_EC_T_AOE_NETID) –

  • out_pdwDataOutLen (int) –

  • out_pdwErrorCode (int) –

  • out_pdwCmdResult (int) –

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AoeWrite(dwSlaveId: int, ref_poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, dwIndexGroup: int, dwIndexOffset: int, dwDataLen: int, pbyData: List[int], out_pdwErrorCode: int, out_pdwCmdResult: int, dwTimeout: int) → ECError

Execute an AoE mailbox write request to an EtherCAT slave device.

This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • poTargetNetId – Target NetID

  • wTargetPort (int) – Target port

  • dwIndexGroup (int) – AoE write command index group

  • dwIndexOffset (int) – AoE write command index offset

  • dwDataLen (int) – Buffer length [bytes]

  • pbyData (List[int]) – Buffer containing transfered data

  • pdwErrorCode – Pointer to AoE response error code

  • pdwCmdResult – Pointer to AoE write command result code

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

  • ref_poTargetNetId (DN_EC_T_AOE_NETID) –

  • out_pdwErrorCode (int) –

  • out_pdwCmdResult (int) –

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AoeWriteControl(dwSlaveId: int, poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, wAoEState: int, wDeviceState: int, dwDataLen: int, pbyData: List[int], ref_pdwErrorCode: int, ref_pdwCmdResult: int, dwTimeout: int) → ECError

Execute an AoE mailbox write control request to an EtherCAT slave device.

Parameters

  • dwSlaveId (int) – Slave ID

  • poTargetNetId (DN_EC_T_AOE_NETID) – Target NetID. The Target NetID of a AoE slave device can be retrieved by ecatAoeGetSlaveNetId().

  • wTargetPort (int) – Target port

  • wAoEState (int) – AoE state

  • wDeviceState (int) – Device specific state

  • dwDataLen (int) – Buffer length [bytes]

  • pbyData (List[int]) – Buffer containing transfered data

  • pdwErrorCode – Pointer to AoE response error code

  • pdwCmdResult – Pointer to AoE write command result code

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. EC_NOWAIT is not valid.

  • ref_pdwErrorCode (int) –

  • ref_pdwCmdResult (int) –

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AoeWriteReq(pMbxTfer: object, dwSlaveId: int, poTargetNetId: DN_EC_T_AOE_NETID, wTargetPort: int, dwIndexGroup: int, dwIndexOffset: int, dwTimeout: int) → ECError

Execute a non-blocking AoE mailbox write request to an EtherCAT slave device.

If the function returns EC_E_AOE_DEVICE_XXXX (well known device errors) or EC_E_AOE_VENDOR_SPECIFIC the original ADS error can be retrieved from the mailbox transfer object at EC_T_MBXTFER.MbxData.AoE_Response. A unique transfer ID must be written into EC_T_MBXTFER.dwTferId.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • poTargetNetId (DN_EC_T_AOE_NETID) – Target NetID

  • wTargetPort (int) – Target port

  • dwIndexGroup (int) – AoE write command index group

  • dwIndexOffset (int) – AoE write command index offset

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR on success

  • EC_E_AOE_VENDOR_SPECIFIC if the AoE device has responded with a user defined error code

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

AssignSlaveEEPRom(bFixedAddressing: bool, wSlaveAddress: int, bSlavePDIAccessEnable: bool, bForceAssign: bool, dwTimeout: int) → ECError

Set EEPROM Assignment to PDI or EtherCAT Master.

This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • bSlavePDIAccessEnable (bool) – EC_TRUE: EEPROM assigned to slave PDI application,

  • bForceAssign (bool) – Force Assignment of EEPROM (only for ECat Master Assignment)

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

AssignSlaveEEPRomReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, bSlavePDIAccessEnable: bool, bForceAssign: bool, dwTimeout: int) → ECError

Requests EEPROM Assignment to PDI or EtherCAT Master operation and returns immediately

EC_NOTIFY_EEPROM_OPERATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_EEPROM_OPERATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • bSlavePDIAccessEnable (bool) – EC_TRUE: EEPROM assigned to slave PDI application, EC_FALSE: EEPROM assigned to EC-Master

  • bForceAssign (bool) – Force Assignment of EEPROM (only for ECat Master Assignment)

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

BadConnectionsDetect(bRefreshSlaveStatistics: bool, dwTimeout: int) → ECError

Detects bad connections

Analyzes the slave ESC error counters: - Invalid Frame Counter (0x0300), - RX Error Counter (0x0301), - Lost Link Counter (0x0310),

whether there is a problem in the area PHY - connector - cable - connector - PHY. If one of the above error counters shows a value not equal to zero, an EC_NOTIFY_BAD_CONNECTION is generated, which contains the exact position of the faulty connection.

Parameters

  • bRefreshSlaveStatistics (bool) –

  • dwTimeout (int) – Timeout [ms]. not be EC_NOWAIT!

Returns

EC_E_NOERROR or error code

Return type

ECError

BlockNode(pMisMatch: DN_EC_T_SB_MISMATCH_DESC, dwTimeout: int) → ECError

Blocks a slave on a specific port

If an invalid slave node is connected, which causes the bus topology scan to fail, the previous port, where this node is connected to can be shut down with this call. This allows a Hot-Connect system to not be disturbed, if unknown nodes are connected. If this function will be executed on a Hot-Connect member (a slave which is part of a hot connect group) the complete hot connect group will be excluded from the bus. This function may only be called from within the JobTask’s context with parameter dwTimeout set to EC_NOWAIT.

Parameters

  • pMisMatch (DN_EC_T_SB_MISMATCH_DESC) – Pointer to EC_T_SB_MISMATCH_DESC carrying mismatch descriptor.

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

Returns

EC_E_NOERROR or error code

Return type

ECError

ClearSlaveStatistics(dwSlaveId: int) → ECError

Clears all error registers of a slave.

Parameters

dwSlaveId (int) – Slave Id, INVALID_SLAVE_ID clears all slaves

Returns

EC_E_NOERROR or error code

Return type

ECError

ClntQueueRawCmd(dwClntId: int, wInvokeId: int, byCmd: int, dwMemoryAddress: int, pbyData: List[int], wLen: int) → ECError

Transfers a raw EtherCAT command to one or multiple slaves.

Using this function it is possible to exchange data between the master and the slaves. When the response to the queued frame is received, the notification EC_NOTIFY_RAWCMD_DONE is given for the appropriate client. This function queues a single EtherCAT command. Queued raw commands will be sent after sending cyclic process data values. If a timeout occurs the corresponding frame will be sent again, the timeout value and retry counter can be set using the master configuration parameters EC_T_INIT_MASTER_PARMS.dwEcatCmdTimeout and EC_T_INIT_MASTER_PARMS.dwEcatCmdMaxRetries. Using auto increment addressing (APRD, APWR, APRW) may lead to unexpected results in case the selected slave does not increment the working counter. In such cases the EtherCAT command would be handled by the slave directly behind the selected one. This function may not be called from within the JobTask’s context.

Parameters

  • dwClntId (int) – Client ID to be notified (0 if all registered clients shall be notified)

  • wInvokeId (int) – Invoke ID to reassign the results to the sent CMD

  • byCmd (int) – EtherCAT command

  • dwMemoryAddress (int) – Slave memory address, depending on the command to be sent this is either a physical or a logical address

  • pbyData (List[int]) – [in, out] Buffer containing or receiving transferred data. In case a read-only command is queued (e.g. APRD) this pointer should be set to a value of EC_NULL.

  • wLen (int) – Number of bytes to transfer

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported

  • EC_E_BUSY if the master or the corresponding slave is currently changing its operational state

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

Return type

ECError

ClntSendRawMbx(dwClntId: int, pbyMbxCmd: List[int], dwMbxCmdLen: int, dwTimeout: int) → ECError

Send a raw mailbox command

Parameters

  • dwClntId (int) – Client ID

  • pbyMbxCmd (List[int]) – Buffer containing the raw mailbox command starting with mailbox header

  • dwMbxCmdLen (int) – Length of pbyMbxCmd buffer

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

CoeGetEntryDesc(dwSlaveId: int, wIndex: int, bySubIndex: int, byValueInfoType: int, out_oEntryDesc: DN_EC_T_COE_ENTRYDESC, dwTimeout: int) → ECError

Determines the description of a specific object entry

Parameters

  • dwSlaveId (int) – slave ID

  • wIndex (int) – Object index

  • bySubIndex (int) – Object subindex

  • byValueInfoType (int) – Bit mask to define which information to determine. The bit values are defined as follows: EC_COE_ENTRY_ObjAccess - Object access rights EC_COE_ENTRY_ObjCategory - Object category EC_COE_ENTRY_PdoMapping - Information if the object is PDO mappable EC_COE_ENTRY_UnitType - Unit EC_COE_ENTRY_DefaultValue - Default value EC_COE_ENTRY_MinValue - Minimum value EC_COE_ENTRY_MaxValue - Maximum value

  • out_oEntryDesc (DN_EC_T_COE_ENTRYDESC) – out Description of a specific object entry

  • dwTimeout (int) – Timeout

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

CoeGetEntryDescReq(pMbxTfer: object, dwSlaveId: int, wObIndex: int, byObSubIndex: int, byValueInfo: int, dwTimeout: int) → ECError

Initiates retrieval of the description of a specific object entry and returns immediately.

A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • byObSubIndex (int) – Object sub-index

  • byValueInfo (int) – The value info bit mask includes which elements shall be in the response. See EC_COE_ENTRY_VALUEINFO “Value info flags” for available values.

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeGetODList(dwSlaveId: int, eListType: DN_EC_T_COE_ODLIST_TYPE, out_pList: List[int], dwLen: int, out_pdwOutLen: int, dwTimeout: int) → ECError

Gets a list of object Ids that are available in a slave.

Parameters

  • dwSlaveId (int) – slave ID

  • eListType (DN_EC_T_COE_ODLIST_TYPE) – Object list type eODListType_ALL: Get all objects eODListType_RxPdoMap: Get PDO mappable objects eODListType_TxPdoMap: Get objects that can be changed eODListType_StoredFRepl: Get objects that are stored for a device replacement eODListType_StartupParm: Get objects that can be used as startup parameter

  • out_pList (List[int]) – out Filled OD list

  • dwLen (int) – Length of list

  • out_pdwOutLen (int) – out Length of output list

  • dwTimeout (int) – Timeout

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

CoeGetODListReq(pMbxTfer: object, dwSlaveId: int, eListType: DN_EC_T_COE_ODLIST_TYPE, dwTimeout: int) → ECError

Initiates retrieval of a list of object IDs that have so far been transferred to a slave and received by the EC-Monitor and returns immediately.

!(EC_MONITOR)

Initiates retrieval of a list of object IDs that are available in a slave and returns immediately.

A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

The mailbox transfer object will receive the slave response containing the list type followed by the list itself. Therefore the buffer must be 2 bytes bigger than the expected list size.

Parameters

  • pMbxTfer (object) – Mailbox transfer

  • dwSlaveId (int) – Slave ID

  • eListType (DN_EC_T_COE_ODLIST_TYPE) – Which object types shall be transferred

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeGetObjectDesc(dwSlaveId: int, wIndex: int, out_oObjDesc: DN_EC_T_COE_OBDESC, dwTimeout: int) → ECError

Determines the description of a specific object

Parameters

  • dwSlaveId (int) – slave ID

  • wIndex (int) – Object index

  • out_oObjDesc (DN_EC_T_COE_OBDESC) – out Description of a specific object

  • dwTimeout (int) – Timeout

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

CoeGetObjectDescReq(pMbxTfer: object, dwSlaveId: int, wObIndex: int, dwTimeout: int) → ECError

Initiates retrieval of the description of a specific object and returns immediately.

A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeProfileGetChannelInfo(bStationAddress: bool, wSlaveAddress: int, dwChannel: int, pInfo: DN_EC_T_PROFILE_CHANNEL_INFO) → ECError

Return information about a configured CoE profile channel from the ENI file

Parameters

  • bStationAddress (bool) –

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • dwChannel (int) – Channel

  • pInfo (DN_EC_T_PROFILE_CHANNEL_INFO) – Channel info

Returns

EC_E_NOERROR or error code

Return type

ECError

CoeRxPdoTfer(pMbxTfer: object, dwSlaveId: int, dwNumber: int, dwTimeout: int) → ECError

Initiate CoE RxPDO transfer

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • dwNumber (int) – PDO number

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

CoeSdoDownload(dwSlaveId: int, wObIndex: int, byObSubIndex: int, pbyData: List[int], dwDataLen: int, dwTimeout: int, dwFlags: int) → ECError

Initiates a CoE SDO download to an EtherCAT slave device and returns immediately.

The length of the data to be downloaded must be set in EC_T_MBXTFER.dwDataLen. A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • byObSubIndex (int) – Object sub index. If Complete Access only 0 or 1 allowed.

  • pbyData (List[int]) –

  • dwDataLen (int) –

  • dwTimeout (int) – Timeout [ms]

  • dwFlags (int) – Mailbox Flags. Bit 0: set if Complete Access (EC_MAILBOX_FLAG_SDO_COMPLETE).

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if the slave is not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if the slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if the slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeSdoDownloadReq(pMbxTfer: object, dwSlaveId: int, wObIndex: int, byObSubIndex: int, dwTimeout: int, dwFlags: int) → ECError

Initiates a CoE SDO download to an EtherCAT slave device and returns immediately.

The length of the data to be downloaded must be set in EC_T_MBXTFER.dwDataLen. A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • byObSubIndex (int) – Object sub index. If Complete Access only 0 or 1 allowed.

  • dwTimeout (int) – Timeout [ms]

  • dwFlags (int) – Mailbox Flags. Bit 0: set if Complete Access (EC_MAILBOX_FLAG_SDO_COMPLETE).

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if the slave is not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if the slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if the slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeSdoUpload(dwSlaveId: int, wObIndex: int, byObSubIndex: int, pbyData: List[int], dwDataLen: int, out_pdwOutDataLen: int, dwTimeout: int, dwFlags: int) → ECError

Initiates a CoE SDO upload from an EtherCAT slave device to the master and returns immediately

A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • byObSubIndex (int) – Object sub index. If Complete Access only 0 or 1 allowed.

  • pbyData (List[int]) –

  • dwDataLen (int) –

  • pdwOutDataLen –

  • dwTimeout (int) – Timeout [ms]

  • dwFlags (int) – Mailbox Flags. Bit 0: set if Complete Access (EC_MAILBOX_FLAG_SDO_COMPLETE).

  • out_pdwOutDataLen (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

CoeSdoUploadReq(pMbxTfer: object, dwSlaveId: int, wObIndex: int, byObSubIndex: int, dwTimeout: int, dwFlags: int) → ECError

Initiates a CoE SDO upload from an EtherCAT slave device to the master and returns immediately

A unique transfer ID must be written into EC_T_MBXTFER.dwTferId. EC_NOTIFY_MBOXRCV is given on completion.

Parameters

  • pMbxTfer (object) – Mailbox transfer object created with emMbxTferCreate

  • dwSlaveId (int) – Slave ID

  • wObIndex (int) – Object index

  • byObSubIndex (int) – Object sub index. If Complete Access only 0 or 1 allowed.

  • dwTimeout (int) – Timeout [ms]

  • dwFlags (int) – Mailbox Flags. Bit 0: set if Complete Access (EC_MAILBOX_FLAG_SDO_COMPLETE).

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

  • EC_ERROR_CODES_COE “CoE SDO error code”

Return type

ECError

ConfigAddJunctionRedundancyConnection(wHeadStationAddress: int, wHeadRedPort: int, wTailStationAddress: int, wTailRedPort: int) → ECError

Add a junction redundancy connection

Since there is no mechanism to configure junction redundancy in the ENI, this API allows adding junction redundancy connections which will be validated by the EC-Master stack. It has to be called after emConfigLoad and prior to calling emConfigApply. Calling this API enables junction redundancy support implicitly.

Parameters

  • wHeadStationAddress (int) – Station address of the junction redundancy head slave. Typically this is an EtherCAT junction.

  • wHeadRedPort (int) – Port at head slave to which the junction redundancy cable is connected. Must be ESC_PORT_B.

  • wTailStationAddress (int) – Station address of the junction redundancy tail slave

  • wTailRedPort (int) – Port at tail slave to which the junction redundancy cable is connected. May not be ESC_PORT_A.

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigApply() → ECError

Apply the network configuration.

It has to be called after emConfigLoad.

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigExcludeSlave(wStationAddress: int) → ECError

Exclude a slave from the network configuration.

It has to be called after emConfigLoad and prior to calling emConfigApply.

Parameters

wStationAddress (int) – Station address of the slave to be excluded. A value of 0 excludes all slaves.

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigExtend(bResetConfig: bool, dwTimeout: int) → ECError

Extends the existing network configuration

This function extends the existing configuration described in the ENI to allow mailbox communication with unexpected slaves. After this function was called, unexpected slaves can reach PREOP state. After the configuration was extended, disconnecting any slave will generate a bus mismatch, because all the slaves are part of the configuration. Recalling this function with bResetConfig set to EC_FALSE will extend the configuration again by any new connected unexpected slaves. The previous extension is not deleted. Calling the function with bResetConfig set to EC_TRUE will reset all the previous extensions.

This function may not be called from within the JobTask’s context.

Parameters

  • bResetConfig (bool) – EC_TRUE: Extended configuration will be removed

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigIncludeSlave(wStationAddress: int) → ECError

Include a slave in the network configuration

Slaves that were previously excluded with emConfigSlaveExclude can be added again. It has to be called after emConfigLoad and prior to calling emConfigApply.

Parameters

wStationAddress (int) – Station address of the slave to be included. A value of 0 includes all slaves.

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigLoad(eCnfType: DN_EC_T_CNF_TYPE, pbyCnfData: List[int], dwCnfDataLen: int) → ECError

Load the network configuration.

In combination with emConfigApply, this function replaces emConfigureNetwork and must be called after the initialization. Among others the EtherCAT topology defined in the given XML configuration file will be stored internally.

A client must not be registered prior to calling this function. Existing client registrations will be dropped.

Parameters

  • eCnfType (DN_EC_T_CNF_TYPE) – Type of configuration data provided

  • pbyCnfData (List[int]) – Configuration data

  • dwCnfDataLen (int) – Length of configuration data in byte

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer

  • EC_E_NOMEMORY if some memory cannot be allocated

  • EC_E_ADS_IS_RUNNING if the ADS server is running

Return type

ECError

ConfigSetPreviousPort(wStationAddress: int, wStationAddressPrev: int, wPortPrev: int) → ECError

Set previous port information of a slave

It has to be called after emConfigLoad and prior to calling emConfigApply.

Parameters

  • wStationAddress (int) – Station address of the slave

  • wStationAddressPrev (int) – Previous slave station address

  • wPortPrev (int) – Previous port

Returns

EC_E_NOERROR or error code

Return type

ECError

ConfigureNetwork(eCnfType: DN_EC_T_CNF_TYPE, pbyCnfData: List[int], dwCnfDataLen: int) → ECError

Configure the Network.

This function must be called after the initialization. Among others the EtherCAT topology defined in the given XML configuration file will be stored internally.

A client must not be registered prior to calling this function. Existing client registrations will be dropped.

Parameters

  • eCnfType (DN_EC_T_CNF_TYPE) – Type of configuration data provided

  • pbyCnfData (List[int]) – Filename / configuration data, or EC_NULL if eCnfType is

  • dwCnfDataLen (int) – Length of configuration data in byte, or zero if eCnfType is

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized or eCnfType is eCnfType_GenPreopENI or eCnfType_GenOpENI and link is disconnected

  • EC_E_INVALIDPARM if dwInstanceID is out of range or pParms is EC_NULL contains some values out of range

  • EC_E_LINK_DISCONNECTED if link is disconnected

  • EC_E_FEATURE_DISABLED if a configured feature is not included in the license key

  • EC_E_NOTSUPPORTED if a configured feature is not supported (e.g not compiled in the library)

  • EC_E_CFGFILENOTFOUND if the ENI file cannot be found

  • EC_E_WRONG_FORMAT if format errors have been detected in the ENI or EEPROM in case of eCnfType_GenPreopENI or eCnfType_GenOpENI

  • EC_E_OEM_SIGNATURE_MISMATCH if the OEM signature in the ENI file doesn’t match the used OEM key

  • EC_E_ENI_ENCRYPTION_WRONG_VERSION if the ENI encryption version is not supported (e.g. the library is too old)

  • EC_E_ENI_ENCRYPTED if the ENI is encrypted and no OEM key has been set

  • EC_E_XML_CYCCMDS_MISSING if the ENI doesn’t contain cyclic commands

  • EC_E_XML_ALSTATUS_READ_MISSING if the ENI doesn’t contain any read AL status command

  • EC_E_XML_CYCCMDS_SIZEMISMATCH if the size of the cyclic commands in the ENI mismatch

  • EC_E_XML_INVALID_INP_OFF if some input offsets in the ENI are invalid

  • EC_E_XML_INVALID_OUT_OFF if some output offsets in the ENI are invalid

  • EC_E_XML_INVALID_CMD_WITH_RED if the ENI contains LRW commands and cable redundancy is configured

  • EC_E_XML_PREV_PORT_MISSING if some previous port information are missing in the ENI

  • EC_E_XML_DC_CYCCMDS_MISSING if the DC related cyclic commands are missing in the ENI

  • EC_E_XML_AOE_NETID_INVALID if the ENI contains some invalid NetID

Return type

ECError

ControlMotion(dwCmd: EC_T_MOTION_CMD, pInData: List[int], wDataLen: int, out_pOutData: List[int], wOutLen: int) → ECError

Controls the motion

Parameters

  • dwCmd (EC_T_MOTION_CMD) – Command

  • pInData (List[int]) – Input data

  • wDataLen (int) – Length of in data

  • out_pOutData (List[int]) – Output data

  • wOutLen (int) – Length of output data field

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static ConvStringFromByteArray(data: List[int]) → str

Converts byte array to string (e.g. 01 02)

Parameters

data (List[int]) – Data

Returns

Data as string

Return type

str

static ConvStringToByteArray(data: str) → List[int]

Converts byte array from string (e.g. 01 02)

Parameters

data (str) – Data

Returns

Data as byte array

Return type

List[int]

static ConvValueFromBytes(bytes_: List[int], type_: DN_EC_T_DEFTYPE, out_value: object) → ECError

Converts value to bytes

Parameters

  • bytes – Bytes

  • type – Data type

  • out_value (object) – Value

  • bytes_ (List[int]) –

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static ConvValueFromString(type_: DN_EC_T_DEFTYPE, value: str) → object

Converts value from string

Parameters
Returns

Value as object

Return type

object

static ConvValueToBytes(type_: DN_EC_T_DEFTYPE, value: object, out_bytes: List[int]) → ECError

Converts value to bytes

Parameters

  • type – Data type

  • value (object) – Value

  • out_bytes (List[int]) – Bytes

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static ConvValueToString(type_: DN_EC_T_DEFTYPE, value: object) → str

Converts value to string

Parameters
Returns

Value as string

Return type

str

static ConvertMasterStringFromBytes(byData: List[int], dwOffset: int, dwLen: int) → str

Converts a master string into UTF8 format

Parameters

  • abyData – Byte array to convert

  • dwOffset (int) – Offset

  • dwLen (int) – Length

  • byData (List[int]) –

Returns

Converted string

Return type

str

static CreateObjectFromBytes(bytes_: List[int], ref_obj: object) → ECError

Creates object from byte array

Parameters

  • bytes – Object data as byte array

  • ref_obj (object) – Object which should be filled

  • bytes_ (List[int]) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

DcConfigure(pDcConfigure: DN_EC_T_DC_CONFIGURE) → ECError

Configure the distributed clocks.

  • Set the DC synchronization settling time ([ms]).

  • Set the DC slave limit for the wire or’ed clock deviation value. This value determines whether the slave clocks are synchronized or not.

  • Configure the ARMW burst frames to compensate the static deviations of the clock speeds.

Parameters

pDcConfigure (DN_EC_T_DC_CONFIGURE) – Configuration parameter a pointer to a structure of type EC_T_DC_CONFIGURE

Returns

EC_E_NOERROR or error code

Return type

ECError

DcContDelayCompDisable() → ECError

Disable the continuous propagation delay compensation.

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcContDelayCompEnable() → ECError

Enable the continuous propagation delay compensation.

Calling this function will generate a propagation delay measurement every 30s. The result of the measurement is used to correct the propagation delay values on the bus.

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcDisable() → ECError

Disable DC Support

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcEnable() → ECError

Enable DC Support

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcIsEnabled(out_pbDcIsEnabled: bool) → ECError

Determines if DC is enabled and used.

Parameters

  • pbDcIsEnabled – EC_TRUE if DC is enabled

  • out_pbDcIsEnabled (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

DcmConfigure(pDcmConfig: DN_EC_T_DCM_CONFIG, dwInSyncTimeout: int) → ECError

Configure DC master synchronization

Parameters

  • pDcmConfig (DN_EC_T_DCM_CONFIG) – Configuration information, a pointer to a structure of type EC_T_DCM_CONFIG

  • dwInSyncTimeout (int) – Currently not implemented

Returns

EC_E_NOERROR or error code

Return type

ECError

DcmGetAdjust(out_pnAdjustPermil: int) → ECError

Returns the current adjustment value for the timer.

bCtlOff must be set to EC_TRUE in EC_T_DCM_CONFIG to enable external adjustment.

Parameters

  • pnAdjustPermil – Current adjustment value of the timer

  • out_pnAdjustPermil (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

DcmGetBusShiftConfigured(out_pbBusShiftConfigured: bool) → ECError

Determines if DCM Bus Shift is configured/possible in configuration (ENI file).

Parameters

  • pbBusShiftConfigured – EC_TRUE if DCM bus shift mode is supported by the current configuration

  • out_pbBusShiftConfigured (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

DcmGetLog(out_pszLog: str) → ECError

Get logging information from the DCM controller.

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

Parameters

out_pszLog (str) –

DcmGetStatus(out_pdwErrorCode: int, out_pnDiffCur: int, out_pnDiffAvg: int, out_pnDiffMax: int) → ECError

Get DC master synchronization controller status.

Parameters

  • pdwErrorCode – Pointer to current error code of the DCM controller. Possible values are:

  • pnDiffCur – Pointer to current difference between set value and actual value of controller in nanoseconds

  • pnDiffAvg – Pointer to average difference between set value and actual value of controller in nanoseconds

  • pnDiffMax – Pointer to maximum difference between set value and actual value of controller in nanoseconds

  • out_pdwErrorCode (int) –

  • out_pnDiffCur (int) –

  • out_pnDiffAvg (int) –

  • out_pnDiffMax (int) –

Returns

  • EC_E_NOERROR if status retrieval was successful

  • EC_E_NOTSUPPORTED if the DC feature is not supported/switched off. EC-Master stack has to be compiled with DC support see “define INCLUDE_DC_SUPPORT”.

  • EC_NULL does not appear in normal flow, if EC_NULL is returned we are in a very exceptional case where m_poDcm == NULL (SW error detection)

Return type

ECError

DcmResetStatus() → ECError

Reset DC master synchronization controller status, average and maximum difference between set value and actual value

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcmShowStatus() → ECError

Show DC master synchronization status as DbgMsg (for development purposes only).

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

DcxGetStatus(out_pdwErrorCode: int, out_pnDiffCur: int, out_pnDiffAvg: int, out_pnDiffMax: int, out_pnTimeStampDiff: int) → ECError

Get DC master external synchronization controller status.

Parameters

  • pdwErrorCode – DCX controller error code

  • pnDiffCur – Current difference between set value and actual value of controller in nanoseconds

  • pnDiffAvg – Average difference between set value and actual value of controller in nanoseconds

  • pnDiffMax – Maximum difference between set value and actual value of controller in nanoseconds

  • pnTimeStampDiff – Difference between external and internal timestamps

  • out_pdwErrorCode (int) –

  • out_pnDiffCur (int) –

  • out_pnDiffAvg (int) –

  • out_pnDiffMax (int) –

  • out_pnTimeStampDiff (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

DeinitInstance()

Deinitialize EtherCAT wrapper

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

DeinitMotion() → ECError

Deinitialize the motion

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ESCTypeText(byEscType: int, bLong: bool) → str

Gets the text of corresponding ESC type

Parameters

  • byEscType (int) – ESC type

  • bLong (bool) – True: long text version, False: short text version

  • strInterfaceGuid – Interface guid (optional)

Returns

Text of corresponding ESC type

Return type

str

EnableNotification(dwClientId: int, tNotifyCode: DN_NotifyCode, bEnable: bool) → ECError

Enables notification

Parameters

  • tNotifyCode (DN_NotifyCode) – Code of notification, which should be enabled

  • bEnable (bool) – True: Enables notification

  • dwClientId (int) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

EnablePerformanceMeasuring(bEnable: bool)

Enables performance monitoring. For every master function, the notification “PerfNotification” will be called.

Parameters

bEnable (bool) – True = Enables performance monitoring

EnableTranslation(bEnable: bool)

Enables translation. For every master string, the notification “TranslateNotification” will be called.

Parameters

bEnable (bool) – True = Enables translation

EoeInstallEndpoint(bCreateTxEvent: bool, strInterfaceName: str, strInterfaceGuid: str) → ECError

Install EoE endpoint

Parameters

  • bCreateTxEvent (bool) – Create TX Event

  • strInterfaceName (str) – Interface name (optional)

  • strInterfaceGuid (str) – Interface guid (optional)

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

EoeSendFrame(wCfgFixedAddress: int, pbyFrame: List[int], dwFrameLen: int) → ECError

Send EoE frame (queued)

Parameters

  • wCfgFixedAddress (int) –

  • pbyFrame (List[int]) –

  • dwFrameLen (int) –

Returns

_ #EC_E_NOERROR or error code

Return type

ECError

EoeTriggerTxEvent() → ECError

Trigger TX Event, which must be called from JobTask after ExecJobProcessAllRxFrames()

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

EoeUninstallEndpoint() → ECError

Uninstall EoE endpoint

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

EthDbgMsg(byEthTypeByte0: int, byEthTypeByte1: int, szMsg: str) → ECError

Send a debug message to the EtherCAT Link Layer.

This feature can be used for debugging purposes.

Parameters

  • byEthTypeByte0 (int) – Ethernet type byte 0

  • byEthTypeByte1 (int) – Ethernet type byte 1

  • szMsg (str) – Message to send to link layer

Returns

EC_E_NOERROR or error code

Return type

ECError

ExecJob(eUserJob: DN_EC_T_USER_JOB) → ECError

Execute or initiate the requested master job.

Parameters

eUserJob (DN_EC_T_USER_JOB) – Requested job.

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ExecJobProcessAllRxFrames(out_bPrevCycProcessed: bool) → ECError

calls the process all rx frame job

Parameters

  • bPrevCycProcessed – True: previous send frame was received and processed, False: otherwise

  • out_bPrevCycProcessed (bool) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ExecJobSendCycFramesByTaskId(dwTaskId: int) → ECError

sends a cycle frame by its task id

Parameters

dwTaskId (int) – task id of the cyclic frame

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

FastModeInit() → ECError

Args:

Returns:

Return type

ECError

FastProcessAllRxFrames(out_pbAreAllCycFramesProcessed: bool) → ECError
Parameters

  • pbAreAllCycFramesProcessed –

  • out_pbAreAllCycFramesProcessed (bool) –

Return type

ECError

Returns:

FastSendAllCycFrames() → ECError

Args:

Returns:

Return type

ECError

FindInpVarByName(szVariableName: str, out_pProcessVarInfoEntry: DN_EC_T_PROCESS_VAR_INFO) → ECError

Finds an input process variable information entry by the variable name.

Parameters

  • szVariableName (str) – Variable name

  • pProcessVarInfoEntry – Process variable information entry

  • out_pProcessVarInfoEntry (DN_EC_T_PROCESS_VAR_INFO) –

Returns

EC_E_NOERROR or error code

Return type

ECError

FindInpVarByNameEx(szVariableName: str, out_pProcessVarInfoEntry: DN_EC_T_PROCESS_VAR_INFO_EX) → ECError

Finds an input process variable extended information entry by the variable name.

Parameters

  • szVariableName (str) – Variable name

  • pProcessVarInfoEntry – Process variable extended information entry

  • out_pProcessVarInfoEntry (DN_EC_T_PROCESS_VAR_INFO_EX) –

Returns

EC_E_NOERROR or error code

Return type

ECError

FindOutpVarByName(szVariableName: str, out_pSlaveOutpVarInfo: DN_EC_T_PROCESS_VAR_INFO) → ECError

Finds an output process variable information entry by the variable name.

Parameters
Returns

EC_E_NOERROR or error code

Return type

ECError

FindOutpVarByNameEx(szVariableName: str, out_pProcessVarInfoEntry: DN_EC_T_PROCESS_VAR_INFO_EX) → ECError

Finds an output process variable extended information entry by the variable name.

Parameters

  • szVariableName (str) – Variable name

  • pProcessVarInfoEntry – Process variable extended information entry

  • out_pProcessVarInfoEntry (DN_EC_T_PROCESS_VAR_INFO_EX) –

Returns

EC_E_NOERROR or error code

Return type

ECError

FoeDownloadReq(pMbxTfer: object, dwSlaveId: int, achFileName: str, dwFileNameLen: int, dwPassword: int, dwTimeout: int) → ECError

Initiates an FoE File download to an EtherCAT slave device.

This function is used to download a complete file and returns immediately. After the download has been successfully completed or an error has occurred, EC_NOTIFY_MBOXRCV is raised. The progress of the file transfer is also notified with EC_NOTIFY_MBOXRCV.

EC_NOWAIT as a timeout is still accepted for reasons of compatibility and sets the timeout to 10 seconds

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • achFileName (str) – File name of slave file to write

  • dwFileNameLen (int) – Length of slave file name in bytes

  • dwPassword (int) – Slave password

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error codes”

Return type

ECError

FoeFileDownload(dwSlaveId: int, achFileName: str, dwFileNameLen: int, pbyData: List[int], dwDataLen: int, dwPassword: int, dwTimeout: int) → ECError

Execute an FoE File download to an EtherCAT slave device.

This function is used to download a complete file. The function returns after the download has been successfully completed or an error has occurred. This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • achFileName (str) – File name of slave file to write

  • dwFileNameLen (int) – Length of slave file name in bytes

  • pbyData (List[int]) – Buffer containing transferred data

  • dwDataLen (int) – Buffer length [bytes]

  • dwPassword (int) – Slave password

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_FOE_ERRCODE_NOTINBOOTSTRAP if slave in BOOTSTRAP and filename not accepted by slave

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error code”

Return type

ECError

FoeFileUpload(dwSlaveId: int, achFileName: str, dwFileNameLen: int, pbyData: List[int], dwDataLen: int, out_pdwOutDataLen: int, dwPassword: int, dwTimeout: int) → ECError

Execute an FoE File upload from an EtherCAT slave device.

This function is used to upload a complete file. The function returns after the upload has been successfully completed or an error has occurred. This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • achFileName (str) – File name of slave file to read

  • dwFileNameLen (int) – Length of slave file name in bytes

  • pbyData (List[int]) – Buffer receiving transfered data

  • dwDataLen (int) – Buffer length [bytes]

  • pdwOutDataLen – Length of received data [byte]

  • dwPassword (int) – Slave password

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

  • out_pdwOutDataLen (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error code”

Return type

ECError

FoeSegmentedDownloadReq(pMbxTfer: object, dwSlaveId: int, szFileName: str, dwFileNameLen: int, dwFileSize: int, dwPassword: int, dwTimeout: int) → ECError

Initiates or continues a segmented FoE File download to an EtherCAT slave device.

This function is used to download a file chunk-by-chunk and returns immediately. An EC_NOTIFY_MBOXRCV is raised to request the next chunk from the application or to provide information about the progress and the change in the transfer status. The slave may have a different mailbox size for BOOTSTRAP than for PREOP, SAFEOP, OP. See EC_T_CFG_SLAVE_INFO.dwMbxInSize2. The maximum chunk size is the slave’s mailbox size - 12 bytes overhead for EtherCAT’s FoE protocol. The mailbox transfer object’s buffer must be at least as big as the chunks to be transferred.

EC_NOWAIT as a timeout is still accepted for reasons of compatibility and sets the timeout to 10 seconds

Parameters

  • pMbxTfer (object) – Pointer to the corresponding mailbox transfer object. EC_T_MBXTFER.pbyMbxTferData: next chunk, EC_T_MBXTFER.dwDataLen: next chunk size.

  • dwSlaveId (int) – Slave ID

  • szFileName (str) – File name of slave file to write. Only evaluated when initiating the request.

  • dwFileNameLen (int) – Length of slave file name in bytes

  • dwFileSize (int) – Complete file size (mandatory). Used also for progress information. Only evaluated when initiating the request.

  • dwPassword (int) – Slave password. Only evaluated when initiating the request.

  • dwTimeout (int) – Overall timeout [ms] of the FoE transfer. Only evaluated when initiating the request.

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error code”

Return type

ECError

FoeSegmentedUploadReq(pMbxTfer: object, dwSlaveId: int, szFileName: str, dwFileNameLen: int, dwFileSize: int, dwPassword: int, dwTimeout: int) → ECError

Initiates or continues a segmented FoE File upload from an EtherCAT slave device.

This function is used to upload a file chunk-by-chunk and returns immediately. An EC_NOTIFY_MBOXRCV is raised to provide the next chunk to the application or to get information about the progress and the change in the transfer status. The slave may have a different mailbox size for BOOTSTRAP than for PREOP, SAFEOP, OP. See EC_T_CFG_SLAVE_INFO.dwMbxInSize2. The maximum chunk size is the slave’s mailbox size - 12 bytes overhead for EtherCAT’s FoE protocol. The mailbox transfer object’s buffer must be at least as big as the chunks to be transferred.

EC_NOWAIT as a timeout is still accepted for reasons of compatibility and sets the timeout to 10 seconds

Parameters

  • pMbxTfer (object) – Pointer to the corresponding mailbox transfer object. EC_T_MBXTFER.pbyMbxTferData: next chunk, EC_T_MBXTFER.dwDataLen: next chunk size.

  • dwSlaveId (int) – Slave ID

  • szFileName (str) – File name of slave file to write. Only evaluated when initiating the request.

  • dwFileNameLen (int) – Length of slave file name in bytes

  • dwFileSize (int) – Used only for progress information

  • dwPassword (int) – Slave password. Only evaluated when initiating the request.

  • dwTimeout (int) – Overall timeout [ms] of the FoE transfer. Only evaluated when initiating the request.

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error code”

Return type

ECError

FoeUploadReq(pMbxTfer: object, dwSlaveId: int, achFileName: str, dwFileNameLen: int, dwPassword: int, dwTimeout: int) → ECError

Initiates an FoE File upload from an EtherCAT slave device.

This function is used to upload a complete file and returns immediately. After the upload has been successfully completed or an error has occurred, EC_NOTIFY_MBOXRCV is raised. The progress of the file transfer is also notified with EC_NOTIFY_MBOXRCV.

EC_NOWAIT as a timeout is still accepted for reasons of compatibility and sets the timeout to 10 seconds

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • achFileName (str) – File name of slave file to read

  • dwFileNameLen (int) – Length of slave file name in bytes

  • dwPassword (int) – Slave password

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or maximum file name length of 64 bytes (MAX_FILE_NAME_SIZE) exceeded

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_ERROR_CODES_FOE “FoE error code”

Return type

ECError

ForceProcessDataBits(dwClientId: int, bOutputData: bool, dwBitOffsetPd: int, wBitLength: int, pbyData: List[int], dwTimeout: int) → ECError

Force a specific number of bits from a given buffer to the process image with a bit offset.

All output data set by this API are overwriting the values set by the application. All input data set by this API are overwriting the values read from the slaves. Forcing will be terminated by calling the corresponding functions. This function may not be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • bOutputData (bool) – EC_TRUE: write output data, EC_FALSE: write input data

  • dwBitOffsetPd (int) – Bit offset in Process data image

  • wBitLength (int) –

  • pbyData (List[int]) – Buffer containing transfered data

  • dwTimeout (int) – Timeout [ms]. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

ForceSlvStatCollection() → ECError

Sends datagrams to collect slave statistics counters.

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ForceTopologyChange() → ECError

Force changed topology

Trigger HC State Machine.

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

GetBusScanSlaveInfoDesc(wAutoIncAddr: int, out_oSlaveInfoDesc: DN_EC_T_SB_SLAVEINFO_DESC) → ECError

This call will return the basic slave info determined in the last bus scan

Parameters

  • wAutoIncAddr (int) – Auto increment address of the slave

  • oSlaveInfoDesc – Out parameter that contains different slave information after the call

  • out_oSlaveInfoDesc (DN_EC_T_SB_SLAVEINFO_DESC) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

GetBusSlaveInfo(bStationAddress: bool, wSlaveAddress: int, out_pSlaveInfo: DN_EC_T_BUS_SLAVE_INFO) → ECError

Return information about a slave connected to the EtherCAT bus

Parameters

  • bStationAddress (bool) –

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pSlaveInfo – Information from the slave

  • out_pSlaveInfo (DN_EC_T_BUS_SLAVE_INFO) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

Return type

ECError

GetBusTime(out_pqwBusTime: int) → ECError

This function returns the actual bus time in nanoseconds.

Parameters

  • pqwBusTime – Bus time [ns]

  • out_pqwBusTime (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetCfgSlaveEoeInfo(bStationAddress: bool, wSlaveAddress: int, out_pSlaveEoeInfo: DN_EC_T_CFG_SLAVE_EOE_INFO) → ECError

Return EoE information about a configured slave from the ENI file

Parameters

  • bStationAddress (bool) –

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pSlaveEoeInfo – Information about the slave

  • out_pSlaveEoeInfo (DN_EC_T_CFG_SLAVE_EOE_INFO) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_NO_MBX_SUPPORT if the slave does not support mailbox communication

  • EC_E_NO_EOE_SUPPORT if the slave supports mailbox communication, but not EoE

Return type

ECError

GetCfgSlaveInfo(bStationAddress: bool, wSlaveAddress: int, out_pSlaveInfo: DN_EC_T_CFG_SLAVE_INFO) → ECError

Return information about a configured slave from the ENI file

Parameters

  • bStationAddress (bool) –

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pSlaveInfo – Information about the slave

  • out_pSlaveInfo (DN_EC_T_CFG_SLAVE_INFO) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetCfgSlaveSmInfo(bStationAddress: bool, wSlaveAddress: int, pSlaveSmInfo: DN_EC_T_CFG_SLAVE_SM_INFO) → ECError

Return SyncManager information of a configured slave from the ENI file

Parameters

  • bStationAddress (bool) –

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pSlaveSmInfo (DN_EC_T_CFG_SLAVE_SM_INFO) – Information about the slave.

Returns

EC_E_NOERROR or error code

Return type

ECError

GetCyclicConfigInfo(out_oCyclicConfigInfo: List[DN_EC_T_CYC_CONFIG_DESC]) → ECError

Returns an array of cyclic tasks.

Parameters

out_oCyclicConfigInfo (List[DN_EC_T_CYC_CONFIG_DESC]) – out Array of cyclic tasks

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

GetDiagnosisImageSize() → ECError

Gets the diagnosis image size

Args:

Returns

Diagnosis image size

Return type

ECError

GetErrorText(eErrorCode: ECError) → str

Return text tokens by Error code from master stack.

Parameters

eErrorCode (ECError) – Error code

Returns

Error text for supplied error code

Return type

str

GetHcGroupInfo(dwHcGroupIdx: int, pHcGroupInfo: DN_EC_T_HC_GROUP_INFO) → ECError

Get informations of a specific Hot-Connect group.

Parameters
Returns

EC_E_NOERROR or error code

Return type

ECError

GetHcGroupNumOf() → ECError

Get number of Hot-Connect groups.

Args:

Returns

number of HC groups

Return type

ECError

GetLicenseFingerprint(byMethod: int, szLicenseFingerprint: str) → ECError

Gets the fingerprint needed for license key generation

Parameters

  • byMethod (int) – Method used to generate the fingerprint

  • szLicenseFingerprint (str) – Buffer for fingerprint string. Size must be at least EC_LICENSE_FINGERPRINT_STRSIZE.

Returns

EC_E_NOERROR or error code

Return type

ECError

GetMasterDump(pbyBuffer: List[int], dwBufferSize: int, out_pdwDumpSize: int) → ECError

The dump contains relevant information about the master and slave status.

The dump is only intended for internal troubleshooting at acontis. Amongst others it contains the following descriptors: - EC_T_INIT_MASTER_PARMS - EC_T_BUS_DIAGNOSIS_INFO - EC_T_MAILBOX_STATISTICS - EC_T_CFG_SLAVE_INFO - EC_T_BUS_SLAVE_INFO - EC_T_SLVSTATISTICS_DESC

The buffer is written until all relevant data have been dumped or the buffer size has been exceeded.

Parameters

  • pbyBuffer (List[int]) – Preallocated buffer to dump log data

  • dwBufferSize (int) – Size of preallocated buffer

  • pdwDumpSize – Size of master dump

  • out_pdwDumpSize (int) –

Returns

  • EC_E_NOERROR

  • EC_E_NOMEMORY if buffer too small

Return type

ECError

GetMasterInfo(out_pMasterInfo: DN_EC_T_MASTER_INFO) → ECError

Get generic information about the Master

Parameters
Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or pParms is NULL or contains values out of range

  • EC_E_ADS_IS_RUNNING if ADS server is running

Return type

ECError

GetMasterParms(out_pParms: DN_EC_T_INIT_MASTER_PARMS) → ECError

Get current Master initialization parameters.

If the given buffer is larger than the actual size of structure EC_T_INIT_MASTER_PARMS, the parameters of EC_T_INIT_MASTER_PARMS.pOsParms, EC_T_INIT_MASTER_PARMS.pLinkParms and EC_T_INIT_MASTER_PARMS.pLinkParmsRed are appended.

Parameters
Returns

  • EC_E_NOERROR on success

  • EC_E_INVALIDSTATE if master isn’t initialized

  • EC_E_INVALIDPARM if buffer pParms is too small

Return type

ECError

GetMasterRedProcessImageInputPtr() → List[int]

Gets the Master Redundancy process data input image pointer

Args:

Returns

Master Redundancy process data input image pointer

Return type

List[int]

GetMasterRedProcessImageOutputPtr() → List[int]

Gets the Master Redundancy process data output image pointer

Args:

Returns

Master Redundancy process data output image pointer

Return type

List[int]

GetMasterRedState(out_pbActive: bool) → ECError

Gets Master Redundancy State (ACTIVE / INACTIVE).

Parameters

  • pbActive – Pointer to variable of type EC_T_BOOL

  • out_pbActive (bool) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized or MasterRedParms.bEnabled = EC_FALSE

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTSUPPORTED if EC-Master stack does not include Master Redundancy support

Return type

ECError

GetMasterState() → DN_EC_T_STATE

Get the EtherCAT master current state.

Args:

Returns

EtherCAT master state

Return type

DN_EC_T_STATE

GetMasterStateEx(out_pwCurrState: int, out_pwReqState: int) → ECError

Get the EtherCAT master current and requested state. Possible return values for current and requested state: - #DEVICE_STATE_UNKNOWN - #DEVICE_STATE_INIT - #DEVICE_STATE_PREOP - #DEVICE_STATE_SAFEOP - #DEVICE_STATE_OP

Parameters

  • pwCurrState – Current master state

  • pwReqState – Requested master state

  • out_pwCurrState (int) –

  • out_pwReqState (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointers are EC_NULL

Return type

ECError

GetMasterSyncUnitInfo(wMsuId: int, out_pMsuInfo: DN_EC_T_MSU_INFO) → ECError

Get number of Master Sync Units info entries.

Parameters
Returns

Number of Master Sync Units info entries

Return type

ECError

GetMasterSyncUnitInfoNumOf() → int

Get number of Master Sync Units info entries.

Args:

Returns

Number of Master Sync Units info entries

Return type

int

GetMemoryUsage(out_pdwCurrentUsage: int, out_pdwMaxUsage: int) → ECError

Returns information about memory usage.

All calls to malloc/free and new/delete are monitored.

Parameters

  • pdwCurrentUsage – Current memory usage in Bytes at the time where this function is called

  • pdwMaxUsage – Maximum memory usage in Bytes since initialization at the time where this function is called

  • out_pdwCurrentUsage (int) –

  • out_pdwMaxUsage (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetNumConfiguredSlaves() → int

Returns the number of slaves which are configured in the ENI.

Args:

Returns

Number of slaves

Return type

int

GetNumConnectedSlaves() → int

Get number of currently connected slaves.

Args:

Returns

Number of connected slaves

Return type

int

GetNumConnectedSlavesMain() → int

Get the number of currently connected Slaves to main interface.

Args:

Returns

Number of connected slaves at main interface

Return type

int

GetNumConnectedSlavesRed() → int

Get the number of currently connected Slaves to redundancy interface.

Args:

Returns

Number of connected slaves at redundancy interface

Return type

int

GetProcessData(bOutputData: bool, dwOffset: int, pbyData: List[int], dwLength: int, dwTimeout: int) → ECError

Blocking function to retrieve consistent process data from outside the JobTask context.

This function requests a copy of the process data (stored in RAM). The actual memcpy operation is executed by the JobTask to ensure data consistency. While waiting for the copy to complete, the calling context blocks and repeatedly calls sleep with an interval of at least the cycle time or one millisecond, whichever is greater. The function returns either with the requested process data once the copy is finished, or when the specified timeout has expired.

The function is blocking and should be used carefully in time-sensitive contexts and may not be called from within the JobTask context.

This function may not be called from within the JobTask’s context.

Parameters

  • bOutputData (bool) – EC_TRUE: read output data, EC_FALSE: read input data

  • dwOffset (int) – Byte offset in Process data to read from

  • pbyData (List[int]) – Buffer receiving transferred data

  • dwLength (int) –

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

GetProcessDataBits(bOutputData: bool, dwBitOffsetPd: int, pbyDataDst: List[int], dwBitLengthDst: int, dwTimeout: int) → ECError

Reads a specific number of bits from the process image to the given buffer with a bit offset (synchronized).

This function may not be called from within the JobTask’s context.

Parameters

  • bOutputData (bool) – EC_TRUE: read output data, EC_FALSE: write input data

  • dwBitOffsetPd (int) – Bit offset in Process data image

  • pbyDataDst (List[int]) –

  • dwBitLengthDst (int) –

  • dwTimeout (int) – Timeout [ms]. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

GetProcessVarInfoEx(eVarDirection: DN_EC_T_VAR_DIRECTION, eVarSource: DN_EC_T_VAR_SOURCE, bFixedAddress: bool, wSlaveAddress: int, aoVarInfo: DN_EC_T_PROCESS_VAR_INFO_EX, dwMaxProcessVarInfoNumOf: int, ref_pdwProcessVarInfoNumOf: int) → ECError

Get process variables information

Parameters

  • eVarDirection (DN_EC_T_VAR_DIRECTION) – INPUTs, OUTPUTs, … . See EC_T_VAR_DIRECTION .

  • eVarSource (DN_EC_T_VAR_SOURCE) – Slave, Master, … . See EC_T_VAR_SOURCE .

  • bFixedAddress (bool) – Use station address if EC_TRUE. Otherwise use AutoInc address.

  • wSlaveAddress (int) – Slave address according to bFixedAddress

  • aoVarInfo (DN_EC_T_PROCESS_VAR_INFO_EX) – The read process variable extended information entries

  • dwMaxProcessVarInfoNumOf (int) –

  • pdwProcessVarInfoNumOf –

  • ref_pdwProcessVarInfoNumOf (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetProcessVarInfoNumOf(eVarDirection: DN_EC_T_VAR_DIRECTION, eVarSource: DN_EC_T_VAR_SOURCE, bFixedAddress: bool, wSlaveAddress: int, ref_pdwProcessVarInfoNumOf: int) → ECError

Get process variables information

Parameters

  • eVarDirection (DN_EC_T_VAR_DIRECTION) – INPUTs, OUTPUTs, … . See EC_T_VAR_DIRECTION .

  • eVarSource (DN_EC_T_VAR_SOURCE) – Slave, Master, … . See EC_T_VAR_SOURCE .

  • bFixedAddress (bool) – Use station address if EC_TRUE. Otherwise use AutoInc address.

  • wSlaveAddress (int) – Slave address according to bFixedAddress

  • pdwProcessVarInfoNumOf – Process variables count

  • ref_pdwProcessVarInfoNumOf (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetRunMode() → EcRunMode

Return run mode

Returns

Run mode

Return type

EcRunMode

GetScanBusStatus(out_oSbStatus: DN_EC_T_SB_STATUS_NTFY_DESC) → ECError

Gets the status of the last bus scan.

Parameters
Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static GetSizeOfObject(obj: object, out_size: int) → ECError

Get byte size of object (as required from CoeSdoUpload)

Parameters

  • obj (object) – Object

  • out_size (int) – Byte size of object

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

GetSlaveFixedAddr(dwSlaveId: int, out_pwFixedAddr: int) → ECError

Determine slave station address according to its slave ID.

Parameters

  • dwSlaveId (int) – Slave ID

  • pwFixedAddr – Corresponding fixed address

  • out_pwFixedAddr (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

Return type

ECError

GetSlaveId(wStationAddress: int) → int

Determines the slave ID using the slave station address.

Parameters

wStationAddress (int) – Station address of the slave

Returns

Slave ID or INVALID_SLAVE_ID if the slave could not be found or the stack is not initialized

Return type

int

GetSlaveIdAtPosition(wAutoIncAddress: int) → int

Determines the slave ID using the slave auto increment address.

Parameters

wAutoIncAddress (int) – Auto increment address of the slave

Returns

Slave ID or INVALID_SLAVE_ID if no slave matching wAutoIncAddress can be found

Return type

int

GetSlaveInfo(bFixedAddressing: bool, wSlaveAddress: int, out_pGetSlaveInfo: DN_EC_T_GET_SLAVE_INFO) → ECError

Get Slave Info

Use emGetCfgSlaveInfo or emGetBusSlaveInfo instead

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pGetSlaveInfo – Slave information

  • out_pGetSlaveInfo (DN_EC_T_GET_SLAVE_INFO) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlaveInfoEx(oReq: DN_EC_T_SB_SLAVEINFO_REQ_DESC, out_oRes: DN_EC_T_SB_SLAVEINFO_RES_DESC) → ECError

Gets the extended slave info determined in the last bus scan.

Parameters
Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

GetSlaveInpVarByObjectEx(bFixedAddressing: bool, wSlaveAddress: int, wIndex: int, wSubIndex: int, out_pProcessVarInfoEntry: DN_EC_T_PROCESS_VAR_INFO_EX) → ECError

Gets the input process variable extended information entry by object index, subindex of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wIndex (int) – Object index

  • wSubIndex (int) – Object sub index

  • pProcessVarInfoEntry – Process variable extended information entry

  • out_pProcessVarInfoEntry (DN_EC_T_PROCESS_VAR_INFO_EX) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlaveInpVarInfo(bFixedAddressing: bool, wSlaveAddress: int, wNumOfVarsToRead: int, out_pSlaveProcVarInfoEntries: DN_EC_T_PROCESS_VAR_INFO, out_pwReadEntries: int) → ECError

Gets the number of input variables of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wNumOfVarsToRead (int) –

  • pSlaveProcVarInfoEntries –

  • pwReadEntries –

  • out_pSlaveProcVarInfoEntries (DN_EC_T_PROCESS_VAR_INFO) –

  • out_pwReadEntries (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

Return type

ECError

GetSlaveInpVarInfoEx(bFixedAddressing: bool, wSlaveAddress: int, wNumOfVarsToRead: int, out_pSlaveProcVarInfoEntries: DN_EC_T_PROCESS_VAR_INFO_EX, out_pwReadEntries: int) → ECError

Gets the input process variable extended information entries of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wNumOfVarsToRead (int) – Number process variable entries that have been stored in pSlaveProcVarInfoEntries

  • pSlaveProcVarInfoEntries – Number process variable entries that have been stored in pSlaveProcVarInfoEntries

  • pwReadEntries – The number of read process variable information entries

  • out_pSlaveProcVarInfoEntries (DN_EC_T_PROCESS_VAR_INFO_EX) –

  • out_pwReadEntries (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

Return type

ECError

GetSlaveInpVarInfoNumOf(bFixedAddressing: bool, wSlaveAddress: int, out_pwSlaveInpVarInfoNumOf: int) → ECError

Gets the number of input variables of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pwSlaveInpVarInfoNumOf – Number of found process variable entries

  • out_pwSlaveInpVarInfoNumOf (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

Return type

ECError

GetSlaveOutpVarByObjectEx(bFixedAddressing: bool, wSlaveAddress: int, wIndex: int, wSubIndex: int, out_pProcessVarInfoEntry: DN_EC_T_PROCESS_VAR_INFO_EX) → ECError

Gets the input process variable extended information entry by object index, subindex of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wIndex (int) – Object index

  • wSubIndex (int) – Object sub index

  • pProcessVarInfoEntry – Process variable extended information entry

  • out_pProcessVarInfoEntry (DN_EC_T_PROCESS_VAR_INFO_EX) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlaveOutpVarInfo(bFixedAddressing: bool, wSlaveAddress: int, wNumOfVarsToRead: int, out_pSlaveProcVarInfoEntries: DN_EC_T_PROCESS_VAR_INFO, out_pwReadEntries: int) → ECError

Gets the number of output variables of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wNumOfVarsToRead (int) –

  • pSlaveProcVarInfoEntries –

  • pwReadEntries –

  • out_pSlaveProcVarInfoEntries (DN_EC_T_PROCESS_VAR_INFO) –

  • out_pwReadEntries (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlaveOutpVarInfoEx(bFixedAddressing: bool, wSlaveAddress: int, wNumOfVarsToRead: int, out_pSlaveProcVarInfoEntries: DN_EC_T_PROCESS_VAR_INFO_EX, out_pwReadEntries: int) → ECError

Gets the output process variable extended information entries of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wNumOfVarsToRead (int) – Number of process variable information entries

  • pSlaveProcVarInfoEntries – The read process extended variable entries

  • pwReadEntries – The number of read process variable information entries

  • out_pSlaveProcVarInfoEntries (DN_EC_T_PROCESS_VAR_INFO_EX) –

  • out_pwReadEntries (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlaveOutpVarInfoNumOf(bFixedAddressing: bool, wSlaveAddress: int, out_pwSlaveOutpVarInfoNumOf: int) → ECError

Gets the number of output variables of a specific slave.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • pwSlaveOutpVarInfoNumOf – Number of found process variables

  • out_pwSlaveOutpVarInfoNumOf (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlavePortState(dwSlaveId: int, out_pwPortState: int) → ECError

Returns the state of the slave ports.

Parameters

  • dwSlaveId (int) – Slave ID

  • pwPortState – Slave port state.Format: wwww xxxx yyyy zzzz (each nibble : port 3210)

  • out_pwPortState (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

Return type

ECError

GetSlaveProp(dwSlaveId: int, out_pSlaveProp: DN_EC_T_SLAVE_PROP) → bool

Determines the properties of the slave device.

Parameters

  • dwSlaveId (int) – Slave ID

  • pSlaveProp – Slave properties

  • out_pSlaveProp (DN_EC_T_SLAVE_PROP) –

Returns

EC_TRUE if the slave exists, EC_FALSE if no slave matching dwSlaveId can be found

Return type

bool

GetSlaveState(dwSlaveId: int, out_pwCurrDevState: int, out_pwReqDevState: int) → ECError

Get the slave state.

The slave state is always read automatically from the AL_STATUS register whenever necessary. It is not forced by calling this function. This function may be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • pwCurrDevState – Current slave state

  • pwReqDevState – Requested slave state

  • out_pwCurrDevState (int) –

  • out_pwReqDevState (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointers are EC_NULL

  • EC_E_SLAVE_NOT_PRESENT if the slave is not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

Return type

ECError

GetSlaveStatistics(dwSlaveId: int, out_pSlaveStatisticsDesc: DN_EC_T_SLVSTATISTICS_DESC) → ECError

Get Slave’s statistics counter.

Parameters

  • dwSlaveId (int) – Slave id

  • pSlaveStatisticsDesc – Pointer to structure EC_T_SLVSTATISTICS_DESC

  • out_pSlaveStatisticsDesc (DN_EC_T_SLVSTATISTICS_DESC) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetSlvStatistics(dwSlaveId: int, out_oStatistics: DN_EC_T_SLVSTATISTICS_DESC) → ECError

Returns slave statistics counters.

Parameters
Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

GetSrcMacAddress(out_pMacSrc: DN_ETHERNET_ADDRESS) → ECError

Gets the source MAC address

Parameters

  • pMacSrc – 6-byte buffer to write source MAC address to

  • out_pMacSrc (DN_ETHERNET_ADDRESS) –

Returns

EC_E_NOERROR or error code

Return type

ECError

GetVersion(out_pdwVersion: int, out_pdwVersionType: int) → ECError

Gets the version information

Parameters

  • pdwVersion – Pointer to EC_T_DWORD to carry out version number as a 32-bit value

  • pdwVersionType – Pointer to EC_T_DWORD to carry out version type. See EC_VERSION_TYPES “EC_VERSION_TYPE”.

  • out_pdwVersion (int) –

  • out_pdwVersionType (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the output pointer is EC_NULL

Return type

ECError

HCAcceptTopoChange() → ECError

Accept last detected topology change

If Hot connect is configured in manual mode by EC_IOCTL_HC_SETMODE, the master will generate the notifications EC_NOTIFY_HC_PROBEALLGROUPS or EC_NOTIFY_HC_DETECTADDGROUPS after a topology change was detected. This function will set all new detected slaves to the current master state.

Args:

Returns

EC_E_NOERROR or error code

Return type

ECError

HCGetNumGroupMembers(dwGroupIndex: int) → ECError

Get number of slaves belonging to a specific Hot-Connect group.

Parameters

dwGroupIndex (int) – Index of Hot-Connect group, 0 is the mandatory group

Returns

Number of slaves

Return type

ECError

HCGetSlaveIdsOfGroup(dwGroupIndex: int, out_adwSlaveId: int, dwMaxNumSlaveIds: int) → ECError

Get a list of Slave ID’s belonging to a specific Hot-Connect group.

Parameters

  • dwGroupIndex (int) – Index of Hot-Connect group, 0 is the mandatory group

  • adwSlaveId – Preallocated Slave ID list buffer

  • dwMaxNumSlaveIds (int) – Size of Slave ID list buffer

  • out_adwSlaveId (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

InitInstance(oParms, bStartTimingTask) → ECError

Initializes EtherCAT wrapper

Parameters

  • oParms – Parameters

  • bStartTimingTask – Start the EcWrapper provided timing task

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

InitMotion() → ECError

Initialize the motion

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

IoCtl(dwCode: int, pbyInBuf: List[int], dwInBufSize: int, pbyOutBuf: List[int], dwOutBufSize: int, out_pdwNumOutData: int) → ECError

A generic control interface between the application, the EtherCAT stack and its Link Layers.

Parameters

  • dwCode (int) – IOCTL code (EC_IOCTL…)

  • pbyInBuf (List[int]) – IOCTL input parameters

  • dwInBufSize (int) – Size of IOCTL input parameters in bytes

  • pbyOutBuf (List[int]) – Buffer for IOCTL output

  • dwOutBufSize (int) – Size of buffer at pbyOutBuf in bytes

  • pdwNumOutData – Amount of bytes written to pbyOutBuf by IOCTL. EC_NULL: amount not set by IOCTL.

  • out_pdwNumOutData (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer

  • EC_E_NOMEMORY if memory cannot be allocated

  • EC_E_ADS_IS_RUNNING if the ADS server is running

Return type

ECError

IsConfigured(out_pbIsConfigured: bool) → ECError

Returns if configuration has been applied

Parameters

  • pbIsConfigured – EC_TRUE if configuration has been applied

  • out_pbIsConfigured (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

static IsRemoteServerUp(abyIpAddr: List[int], wPort: int) → bool

Checks if remote server is up by sending a “ping”

Parameters

  • abyIpAddr (List[int]) – IPAddress

  • wPort (int) – Port

Returns

True, if server is up, False otherwise

Return type

bool

IsSlavePresent(dwSlaveId: int, out_pbPresence: bool) → ECError

Returns whether a specific slave is currently connected to the Bus.

This function may be called from within the JobTask.

Parameters

  • dwSlaveId (int) – Slave ID

  • pbPresence – EC_TRUE if the slave is currently connected to the bus, EC_FALSE if not

  • out_pbPresence (bool) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

Return type

ECError

IsThrottledNotification(tNotifyCode: DN_NotifyCode) → bool

Checks if notification is throttled

Returns

True, if notification is throttled

Parameters

tNotifyCode (DN_NotifyCode) –

Return type

bool

IsTopologyChangeDetected(out_pbTopologyChangeDetected: bool) → ECError

Returns whether topology change detected.

Parameters

  • pbTopologyChangeDetected – Pointer to EC_T_BOOL value: EC_TRUE if Topology Change Detected, EC_FALSE if not

  • out_pbTopologyChangeDetected (bool) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

IsTopologyKnown(out_pbTopologyKnown: bool) → ECError

Returns whether topology known

Parameters

  • pbTopologyKnown – Topology known

  • out_pbTopologyKnown (bool) –

Returns

EC_E_NOERROR or error code

Return type

ECError

LinkInputVarByName(szVarName: str, pLinkVarInfo: DN_EC_T_LINK_VAR_INFO) → ECError

Link application variable to input process image. Input process variable is given by its name.

Parameters

  • szVarName (str) – Name of variable

  • pLinkVarInfo (DN_EC_T_LINK_VAR_INFO) – Information about linked variable

Returns

EC_E_NOERROR or an error code

Return type

ECError

LinkInputVarByObject(bFixedAddressing: bool, wSlaveAddress: int, wIndex: int, wSubIndex: int, pLinkVarInfo: DN_EC_T_LINK_VAR_INFO) → ECError

Link application variable to input process image. Input process variable is given by its object index and subindex of a specific slave.

Parameters

  • bFixedAddressing (bool) – Use station address if EC_TRUE. Otherwise use AutoInc address.

  • wSlaveAddress (int) – Slave address according to bFixedAddressing

  • wIndex (int) – Object index

  • wSubIndex (int) – Object subindex

  • pLinkVarInfo (DN_EC_T_LINK_VAR_INFO) – Information about linked variable

Returns

EC_E_NOERROR or an error code

Return type

ECError

LinkOutputVarByName(szVarName: str, pLinkVarInfo: DN_EC_T_LINK_VAR_INFO) → ECError

Link application variable to output process image. Output process variable is given by its name.

Parameters

  • szVarName (str) – Name of variable

  • pLinkVarInfo (DN_EC_T_LINK_VAR_INFO) – Information about linked variable

Returns

EC_E_NOERROR or an error code

Return type

ECError

LinkOutputVarByObject(bFixedAddressing: bool, wSlaveAddress: int, wIndex: int, wSubIndex: int, pLinkVarInfo: DN_EC_T_LINK_VAR_INFO) → ECError

Link application variable to output process image. Output process variable is given by its object index and subindex of a specific slave.

Parameters

  • bFixedAddressing (bool) – Use station address if EC_TRUE. Otherwise use AutoInc address.

  • wSlaveAddress (int) – Slave address according to bFixedAddressing

  • wIndex (int) – Object index

  • wSubIndex (int) – Object subindex

  • pLinkVarInfo (DN_EC_T_LINK_VAR_INFO) – Information about linked variable

Returns

EC_E_NOERROR or an error code

Return type

ECError

MbxGatewayClntAddConnection(oMbxGatewayParms: DN_EC_T_INIT_MBXGATEWAY_PARMS) → ECError

Establish connection to a mailbox gateway server.

Parameters

oMbxGatewayParms (DN_EC_T_INIT_MBXGATEWAY_PARMS) – Parameter for connection

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxGatewayClntRemoveConnection() → ECError

Tear down an existing connection to a mailbox gateway server.

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxGatewayCoeSdoDownload(wAddress: int, wObIndex: int, byObSubIndex: int, pbyData: List[int], dwDataLen: int, dwTimeout: int, dwFlags: int) → ECError

Initiate CoE SDO download transfer to mailbox gateway server

Parameters

  • wAddress (int) – slave address to download the SDO

  • wObIndex (int) – object index

  • byObSubIndex (int) – object sub-index

  • pbyData (List[int]) –

  • dwDataLen (int) –

  • dwTimeout (int) – Timeout in milliseconds

  • dwFlags (int) – mailbox transfer flags, see EC_MAILBOX_FLAG

Returns

Depends on the implementation of the function OsSetLastError(), normally returns EC_E_NOERROR if it succeeds or error code if it fails

Return type

ECError

MbxGatewayCoeSdoUpload(wAddress: int, wObIndex: int, byObSubIndex: int, pbyData: List[int], dwDataLen: int, pdwOutDataLen: int, dwTimeout: int, dwFlags: int) → ECError

Initiate CoE SDO upload transfer from mailbox gateway server

Parameters

  • wAddress (int) – slave address to upload the SDO

  • wObIndex (int) – object index

  • byObSubIndex (int) – object sub-index

  • pbyData (List[int]) –

  • dwDataLen (int) –

  • dwTimeout (int) – Timeout in milliseconds

  • dwFlags (int) – mailbox transfer flags, see EC_MAILBOX_FLAG

  • pdwOutDataLen (int) –

Returns

Depends on the implementation of the function OsSetLastError(), normally returns EC_E_NOERROR if it succeeds or error code if it fails

Return type

ECError

MbxTferAbort(pMbxTfer: object) → ECError

Abort a running mailbox transfer.

This function may not be called from within the JobTask’s context.

Parameters

pMbxTfer (object) – Mailbox transfer object created with emMbxTferCreate

Returns

EC_E_NOERROR if successful

Return type

ECError

MbxTferCopyFrom(pMbxTfer: object, abyData: List[int], dwDataLen: int, out_pdwOutDataLen: int) → ECError

Copies data from the mailbox transfer buffer

Parameters

  • pMbxTfer (object) – mailbox transfer object

  • abyData (List[int]) – abyData

  • dwDataLen (int) – dwDataLen

  • out_pdwOutDataLen (int) – pdwOutDataLen

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxTferCopyTo(pMbxTfer: object, abyData: List[int], dwDataLen: int) → ECError

Copies data to the mailbox transfer buffer

Parameters

  • pMbxTfer (object) – mailbox transfer object

  • abyData (List[int]) – abyData

  • dwDataLen (int) – dwDataLen

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxTferCreate(dwTferId: int, dwBufferSize: int, out_pMbxTfer: object) → ECError

Creates a mailbox transfer object

Parameters

  • dwTferId (int) – transfer ID (optional, can be 0)

  • dwBufferSize (int) – buffer size

  • out_pMbxTfer (object) – out mailbox transfer object

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxTferDelete(pMbxTfer: object)

Deletes a mailbox transfer object.

A transfer object may only be deleted if it is in the Idle state.

Parameters

pMbxTfer (object) – Mailbox transfer object created with emMbxTferCreate

MbxTferReset(pMbxTfer: object)

Creates a mailbox transfer object

Parameters

pMbxTfer (object) – mailbox transfer object

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

MbxTferWait(pMbxTfer: object) → ECError

Waits until mailbox transfer is finished

Parameters

pMbxTfer (object) – mailbox transfer object

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

NotifyApp(dwCode: int, pInData: List[int], wDataLen: int, out_pOutData: List[int], wOutLen: int, out_pdwOutDataLen: int) → ECError

Notifies the master application

Parameters

  • dwCode (int) – Code

  • pInData (List[int]) – Input data

  • wDataLen (int) – Length of in data

  • out_pOutData (List[int]) – Output data

  • wOutLen (int) – Length of output data field

  • out_pdwOutDataLen (int) – Length of actual out data

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

OnHandleEcNotification(_type_: DN_NotifyType, code: DN_NotifyCode, data: object, _errMsgs: List[str])

Callback function that will be called after the scan bus has been finished. The scan bus result will be stored in m_eLastScanBusRes.

Parameters

  • type – Type

  • code (DN_NotifyCode) – Code

  • data (object) – Data

  • errMsgs – Error messages

  • _type_ (DN_NotifyType) –

  • _errMsgs (List[str]) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

OpenBlockedPorts(dwTimeout: int) → ECError

Opens all blocked ports

This call allows re-opening all blocked ports to check whether mismatch cause is removed from bus. This function may only be called from within the JobTask’s context with parameter dwTimeout set to EC_NOWAIT.

Parameters

dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

Returns

EC_E_NOERROR or error code

Return type

ECError

PassThroughSrvDisable(dwTimeout: int) → ECError

Disables the Pass-through server.

Parameters

dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

PassThroughSrvEnable(dwTimeout: int) → ECError

Enables the Pass-through server.

Parameters

dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

PassThroughSrvGetStatus() → DN_EC_PTS_STATE

Gets the status of the Pass-through server.

Args:

Returns

EC_E_NOERROR or error code

Return type

DN_EC_PTS_STATE

PassThroughSrvStart(poPtsStartParams: DN_EC_T_PTS_SRV_START_PARMS, dwTimeout: int) → ECError

Starts the Pass Through Server

Parameters
Returns

EC_E_NOERROR or error code

Return type

ECError

PassThroughSrvStop(dwTimeout: int) → ECError

Stops the Pass Through Server

Parameters

dwTimeout (int) – Timeout

Returns

EC_E_NOERROR or error code

Return type

ECError

PerfMeasAppCreate(pPerfMeasAppParms: DN_EC_T_PERF_MEAS_APP_PARMS, out_ppvPerfMeas: object) → ECError

Create PerfMeas object and bind it to the master instance

This API can be called multiple times to create PerfMeas objects. The perfomance counters in each of the objects can be accessed in the following two ways: - by passing the PerfMeas object and the index of the performance measurement. The index ranges from [0-pPerfMeasAppParms->dwNumAppMeas] - by passing EC_NULL instead of a PerfMeas object and an index. In this case the index works across all PerfMeas objects bound to the master instance.

Parameters

  • pPerfMeasAppParms (DN_EC_T_PERF_MEAS_APP_PARMS) – Pointer to parameter definitions

  • ppvPerfMeas – Created PerfMeas object.

  • out_ppvPerfMeas (object) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppDelete(pvPerfMeas: object) → ECError

Delete application performance measurement and unbind it from the master instance

Objects which are not deleted using PerfMeasAppDelete are automatically deleted when calling DeinitMaster.

ote This invalidates the global index used when passing EC_NULL into the other PerfMeasApp functions

Args:

pvPerfMeas: PerfMeas object to delete

Returns:

EC_E_NOERROR or an error code

Parameters

pvPerfMeas (object) –

Return type

ECError

PerfMeasAppEnd(pvPerfMeas: object, dwIndex: int) → ECError

Stop application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to use continuous index

  • dwIndex (int) – Index of the performance measurement

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppGetInfo(pvPerfMeas: object, dwIndex: int, out_pPerfMeasInfo: List[DN_EC_T_PERF_MEAS_INFO], dwPerfMeasNumOf: int) → ECError

Get general info about one/all application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to use continous index

  • dwIndex (int) – Index of the performance measurement information, use 0xFFFFFFFF to get all

  • pPerfMeasInfo – Pointer to a buffer receiving one/all performance measurement information

  • dwPerfMeasNumOf (int) – Number of elements allocated in pPerfMeasInfo

  • out_pPerfMeasInfo (List[DN_EC_T_PERF_MEAS_INFO]) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppGetNumOf(pvPerfMeas: object, out_pdwNumOf: int) → ECError

Reset number of application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to get the number of performance measurements in all PerfMeas objects

  • pdwNumOf – Number of performance measurements

  • out_pdwNumOf (int) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppGetRaw(pvPerfMeas: object, dwIndex: int, ref_pPerfMeasVal: List[DN_EC_T_PERF_MEAS_VAL], ref_pPerfMeasHistogram: List[DN_EC_T_PERF_MEAS_HISTOGRAM], dwPerfMeasNumOf: int) → ECError

Get raw data of one/all application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to use continuous index

  • dwIndex (int) – Index of the performance measurement, use 0xFFFFFFFF to get all

  • pPerfMeasVal – Pointer to a buffer receiving one/all performance measurement values or EC_NULL

  • pPerfMeasHistogram – Pointer to a buffer receiving one/all performance measurement histograms or EC_NULL

  • dwPerfMeasNumOf (int) – Number of elements allocated in pPerfMeasVal and pPerfMeasHistogram

  • ref_pPerfMeasVal (List[DN_EC_T_PERF_MEAS_VAL]) –

  • ref_pPerfMeasHistogram (List[DN_EC_T_PERF_MEAS_HISTOGRAM]) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppReset(pvPerfMeas: object, dwIndex: int) → ECError

Reset application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to use continuous index

  • dwIndex (int) – Index of the performance measurement, use 0xFFFFFFFF to reset all

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasAppStart(pvPerfMeas: object, dwIndex: int) → ECError

Start application performance measurement

Parameters

  • pvPerfMeas (object) – PerfMeas object or EC_NULL to use continuous index

  • dwIndex (int) – Index of the performance measurement

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasGetInfoByTaskId(dwTaskId: int, dwIndex: int, out_pPerfMeasInfo: List[DN_EC_T_PERF_MEAS_INFO], dwPerfMeasNumOf: int) → ECError

Get general info about one/all internal performance measurement

Parameters

  • dwTaskId (int) – Task Job ID

  • dwIndex (int) – Index of the performance measurement, use 0xFFFFFFFF to get all

  • pPerfMeasInfo – Pointer to a buffer receiving one/all performance measurement infos

  • dwPerfMeasNumOf (int) – Number of elements allocated in pPerfMeasInfo

  • out_pPerfMeasInfo (List[DN_EC_T_PERF_MEAS_INFO]) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasGetNumOfByTaskId(dwTaskId: int, out_pdwNumOf: int) → ECError

Reset number of internal performance measurement

Parameters

  • dwTaskId (int) – Task Job ID

  • pdwNumOf – Number of performance measurements

  • out_pdwNumOf (int) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasGetRawByTaskId(dwTaskId: int, dwIndex: int, ref_pPerfMeasVal: List[DN_EC_T_PERF_MEAS_VAL], ref_pPerfMeasHistogram: List[DN_EC_T_PERF_MEAS_HISTOGRAM], dwPerfMeasNumOf: int) → ECError

Get raw data of one/all application performance measurement

Parameters

  • dwTaskId (int) – Task Job ID

  • dwIndex (int) – Index of the performance measurement, use 0xFFFFFFFF to get all

  • pPerfMeasVal – Pointer to a buffer receiving one/all performance measurement values or EC_NULL

  • pPerfMeasHistogram – Pointer to a buffer receiving one/all performance measurement histograms or EC_NULL

  • dwPerfMeasNumOf (int) – Number of elements allocated in pPerfMeasVal and pPerfMeasHistogram

  • ref_pPerfMeasVal (List[DN_EC_T_PERF_MEAS_VAL]) –

  • ref_pPerfMeasHistogram (List[DN_EC_T_PERF_MEAS_HISTOGRAM]) –

Returns

EC_E_NOERROR or an error code

Return type

ECError

PerfMeasResetByTaskId(dwTaskId: int, dwIndex: int) → ECError

Reset internal performance measurement

Parameters

  • dwTaskId (int) – Task Job ID

  • dwIndex (int) – Index of the performance measurement, use 0xFFFFFFFF to reset all

Returns

EC_E_NOERROR or an error code

Return type

ECError

QueueRawCmd(wInvokeId: int, byCmd: int, dwMemoryAddress: int, pbyData: List[int], wLen: int) → ECError

Transfers a raw EtherCAT command to one or multiple slaves.

All registered clients will be notified. This function may not be called from within the JobTask’s context.

Parameters

  • wInvokeId (int) – Invoke ID to reassign the results to the sent CMD

  • byCmd (int) – EtherCAT command

  • dwMemoryAddress (int) – Slave memory address, depending on the command to be sent this is either a physical or a logical address

  • pbyData (List[int]) – [in, out] Buffer containing or receiving transferred data. In case a read-only command is queued (e.g. APRD) this pointer should be set to a value of EC_NULL.

  • wLen (int) – Number of bytes to transfer

Returns

EC_E_NOERROR or error code

Return type

ECError

RasClntAddConnection(oRasParms: DN_EC_T_INITRASPARAMS) → ECError

Establish connection to a remote server.

Parameters

oRasParms (DN_EC_T_INITRASPARAMS) – Parameter for connection

Returns

Error code

Return type

ECError

RasGetConnectionInfo(out_pConInfo: DN_EC_T_RAS_CONNECTION_INFO) → ECError

Get actual connection information

Parameters
Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ReadIdentifyObj(wFixedAddr: int)

Reads the identify object of a slave

Parameters

wFixedAddr (int) – Fixed station address

static ReadPdBitsFromAddress(address: object, bitOffset: int, bitLength: int, out_pdBits: List[int])

Reads process data bits from address

Parameters

  • address (object) – Address

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • out_pdBits (List[int]) – Process data bits

static ReadPdBitsFromBytes(bytes_: List[int], bitOffset: int, bitLength: int, out_pdBits: List[int])

Reads process data bits from bytes

Parameters

  • bytes – Bytes

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • out_pdBits (List[int]) – Process data bits

  • bytes_ (List[int]) –

static ReadPdBytesFromAddress(address: object, offset: int, length: int, out_pdBytes: List[int])

Reads process data bytes from address

Parameters

  • address (object) – Address

  • offset (int) – Offset

  • length (int) – Length

  • out_pdBytes (List[int]) – Process data bytes

static ReadPdBytesFromBytes(bytes_: List[int], offset: int, length: int, out_pdBytes: List[int])

Reads process data bytes from bytes

Parameters

  • bytes – Bytes

  • offset (int) – Offset

  • length (int) – Length

  • out_pdBytes (List[int]) – Process data bytes

  • bytes_ (List[int]) –

ReadSlaveEEPRom(bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, pwReadData: List[int], dwReadLen: int, out_pdwNumOutData: int, dwTimeout: int) → ECError

Read EEPRom data from slave

Parameters

  • bFixedAddressing (bool) – True: use station addressing, False: use auto increment addressing

  • wSlaveAddress (int) – Slave Address, station or auto increment address depending on bFixedAddressing

  • wEEPRomStartOffset (int) – Address to start EEPRom Read from

  • pwReadData (List[int]) – Pointer to ushort array to carry the read data

  • dwReadLen (int) – Size of the ushort array provided at pwReadData (in ushorts)

  • out_pdwNumOutData (int) – out Pointer to uint carrying actually read data (in ushorts) after completion

  • dwTimeout (int) – Timeout in milliseconds. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ReadSlaveEEPRomReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, out_pwReadData: int, dwReadLen: int, ref_pdwNumOutData: int, dwTimeout: int) → ECError

Requests an EEPROM data read operation from a slave and returns immediately.

An EC_NOTIFY_EEPROM_OPERATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_EEPROM_OPERATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wEEPRomStartOffset (int) – Word address to start EEPROM read from

  • pwReadData – Pointer to EC_T_WORD array to carry the read data, must be valid until the operation complete

  • dwReadLen (int) – Size of the EC_T_WORD array provided at pwReadData (in EC_T_WORDs)

  • pdwNumOutData – Pointer to EC_T_DWORD carrying actually read data (in EC_T_WORDs) after completion

  • dwTimeout (int) – Timeout [ms]

  • out_pwReadData (int) –

  • ref_pdwNumOutData (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

ReadSlaveEEPRomWithReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, pwReadData: List[int], dwReadLen: int, out_pdwNumOutData: int, dwTimeout: int) → ECError

Read EEPRom data from slave (REQ)

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC.

  • bFixedAddressing (bool) – True: use station addressing, False: use auto increment addressing

  • wSlaveAddress (int) – Slave Address, station or auto increment address depending on bFixedAddressing

  • wEEPRomStartOffset (int) – Address to start EEPRom Read from

  • pwReadData (List[int]) – Pointer to ushort array to carry the read data

  • dwReadLen (int) – Size of the ushort array provided at pwReadData (in ushorts)

  • out_pdwNumOutData (int) – out Pointer to uint carrying actually read data (in ushorts) after completion

  • dwTimeout (int) – Timeout in milliseconds. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ReadSlaveIdentification(bFixedAddressing: bool, wSlaveAddress: int, wAdo: int, out_pwValue: int, dwTimeout: int) → ECError

Read identification value from a slave.

This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wAdo (int) – ADO used for identification command

  • pwValue – Pointer to Word value containing the Identification value

  • dwTimeout (int) – Timeout [ms]

  • out_pwValue (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSY if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state

  • EC_E_NOTREADY if the working counter was not set when sending the command (slave may not be connected or did not respond)

  • EC_E_ADO_NOT_SUPPORTED if the slave does not support requesting ID mechanism

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

ReadSlaveIdentificationReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wAdo: int, out_pwValue: int, dwTimeout: int) → ECError

Request the identification value from a slave and returns immediately.

A notification EC_NOTIFY_SLAVE_IDENTIFICATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_SLAVE_IDENTIFICATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wAdo (int) – ADO used for identification command

  • pwValue – Pointer to Word value containing the Identification value, must be valid until the request complete.

  • dwTimeout (int) – Timeout [ms]

  • out_pwValue (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_ADO_NOT_SUPPORTED if the slave does not support requesting ID mechanism

Return type

ECError

ReadSlaveRegister(bFixedAddressing: bool, wSlaveAddress: int, wRegisterOffset: int, pbyData: List[int], wLen: int, dwTimeout: int) → ECError

Reads data from the ESC memory that have so far been transferred to a slave and received by the EC-Monitor.

!(EC_MONITOR)

Reads data from the ESC memory of a specified slave.

This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wRegisterOffset (int) – Register offset. I.e. use 0x0130 to read the AL Status register.

  • pbyData (List[int]) – Buffer receiving transfered data

  • wLen (int) – Number of bytes to receive

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if the slave is not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSY if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state

  • EC_E_NOTREADY if the working counter was not set when sending the command (slave may not be connected or did not respond)

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

Return type

ECError

ReadSlaveRegisterReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wRegisterOffset: int, pbyData: List[int], wLen: int) → ECError

Requests data read transfer from the ESC memory of a specified slave and returns immediately.

A notification EC_NOTIFY_SLAVE_REGISTER_TRANSFER is given on completion. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wRegisterOffset (int) – Register offset, e.g. use 0x0130 to read the AL Status register

  • pbyData (List[int]) – Buffer receiving transfered data

  • wLen (int) – Number of bytes to receive

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

Return type

ECError

static ReadValueFromAddress(address: object, bitOffset: int, bitLength: int, type_: DN_EC_T_DEFTYPE, out_value: object) → ECError

Read value from address

Parameters

  • address (object) – Address

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • type – Data type

  • out_value (object) – Value

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static ReadValueFromBytes(bytes_: List[int], bitOffset: int, bitLength: int, type_: DN_EC_T_DEFTYPE, out_value: object) → ECError

Read value from bytes

Parameters

  • bytes – Bytes

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • type – Data type

  • out_value (object) – Value

  • bytes_ (List[int]) –

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

RegisterClient(out_pRegRes: DN_EC_T_REGISTERRESULTS) → ECError

Register a client with the EtherCAT Master

Parameters

out_pRegRes (DN_EC_T_REGISTERRESULTS) – out Registration results, a pointer to a structure of type REGISTERRESULTS

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ReleaseAllProcessDataBits(dwClientId: int, dwTimeout: int) → ECError

Release all previously forced process data for a dedicated client.

  • Forced output: Value set by application become valid again. Because forced process data bits are written directly into the process output image, the application has to update the process image with the required value, otherwise the forced value is still valid.

  • Forced input: Value read from the slaves become valid again.

This function may not be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTimeout (int) – Timeout [ms]. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

ReleaseProcessDataBits(dwClientId: int, bOutputData: bool, dwBitOffsetPd: int, wBitLength: int, dwTimeout: int) → ECError

Release previously forced process data.

  • Forced output: Value set by application become valid again. Because forced process data bits are written directly into the process output image, the application has to update the process image with the required value, otherwise the forced value is still valid.

  • Forced input: Value read from the slaves become valid again.

This function may not be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • bOutputData (bool) – EC_TRUE: write output data, EC_FALSE: write input data

  • dwBitOffsetPd (int) – Bit offset in Process data image

  • wBitLength (int) – Number of bits that shall be written to the process image.

  • dwTimeout (int) – Timeout [ms]. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

ReloadSlaveEEPRom(bFixedAddressing: bool, wSlaveAddress: int, dwTimeout: int) → ECError

Causes a slave to reload its EEPROM values to ESC registers.

Alias address at 0x12 is not reloaded through this command, this is prevented by the slave hardware. The slave controller must be reset to reload the alias address. This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

ReloadSlaveEEPRomReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, dwTimeout: int) → ECError

Request a slave to reload its EEPROM values to ESC registers, and returns immediately.

Alias address at 0x12 is not reloaded through this command, this is prevented by the slave hardware. The slave controller must be reset to reload the alias address. An EC_NOTIFY_EEPROM_OPERATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_EEPROM_OPERATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

RescueScan(dwTimeout: int) → ECError

Recovers the bus from permanent frame loss situations

Scans all connected slaves. Closes and opens ports on the network to rule out slaves which permanently discard frames. The Master notifies every slave port which permanently discards frames with EC_NOTIFY_FRAMELOSS_AFTER_SLAVE. Due to port opening and closing the scanning time is increased about 2 seconds per slave. The Master will not automatically re-open this port. The application can force to open the port again. This function may not be called from within the JobTask’s context.

Parameters

dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

ResetSlaveController(bFixedAddressing: bool, wSlaveAddress: int, dwTimeout: int) → ECError

Reset EtherCAT slave controller (ESC)

A special sequence of three independent and consecutive frames/commands is sent to the slave (reset register ECAT 0x0040 or PDI 0x0041), after which the slave resets. If that fails, the reset sequence is repeated until it succeeds or the timeout expires. The ESC must support resetting and the slave state should be INIT when calling this function. The number of acyclic frames per cycle EC_T_INIT_MASTER_PARMS.dwMaxAcycFramesPerCycle must be at least 3, otherwise an error is returned. This function may not be called from within the JobTask’s context.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT.

Returns

  • EC_E_NOERROR or error code

  • EC_E_NOTSUPPORTED if EC_T_INIT_MASTER_PARMS.dwMaxAcycFramesPerCycle is less than 3

  • EC_E_SLAVE_NOT_PRESENT if the slave is not present

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

RestartScanBus(dwTimeout: int, bReadRevisionNo: int, bReadSerialNo: int) → ECError

Trigger Bus Scan

Parameters

  • dwTimeout (int) – Time out of bus scan

  • bReadRevisionNo (int) – Read revision number

  • bReadSerialNo (int) – Read serial number

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ScanBus(dwTimeout: int) → ECError

Scans all connected slaves.

Scans all connected slaves connected to EC-Master. If a configuration has been loaded, a validation between the configuration and the connected slaves is done. This function should not be called from within the JobTask’s context.

Parameters

dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_LINK_DISCONNECTED if link is disconnected

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSCONFIG_MISMATCH if the slaves found do not match the configured ones

  • EC_E_LINE_CROSSED if a line crossed (cabling wrong) condition has been detected

  • EC_E_REDLINEBREAK if cable redundancy is configured and a line break condition has been detected

  • EC_E_JUNCTION_RED_LINE_BREAK if junction redundancy is configured and a line break condition has been detected

  • EC_E_MAX_BUS_SLAVES_EXCEEDED if the amount of slaves found exceeds EC_T_INIT_MASTER_PARMS.dwMaxBusSlaves

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

Return type

ECError

SdoUploadMasterOd(wObIndex: int, dwTimeout: int, out_pobjMasterOd: object) → ECError

SdoUpload from Master Object Dictionary

Parameters

  • wObIndex (int) – Object index

  • dwTimeout (int) – Timeout in milliseconds

  • pobjMasterOd – Read object (e.g. DN_EC_T_OBJ3XXX, EC_T_OBJ8XXX, EC_T_OBJ9XXX …)

  • out_pobjMasterOd (object) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

SelfTestScan(pParms: DN_EC_T_SELFTESTSCAN_PARMS) → ECError

Self test scan

Send a burst of numerous frames and analyze the slave connections. After deactivating the job task, frames will be sent as fast as the LinkLayer can send them. The size of the frames increases and decreases between the defined limits. Dependent on the parameters the BadConnectionsDetect API will analyze the slave connections.

Parameters

pParms (DN_EC_T_SELFTESTSCAN_PARMS) – Self-test scan parameters

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or pParms is NULL or contains values out of range

  • EC_E_BAD_CONNECTION if bad connection was detected

  • EC_E_FRAME_LOST if frame(s) lost during self-test

  • EC_E_NOTSUPPORTED if not in polling mode

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

SetAllSlavesMustReachState(bAllSlavesMustReachState: bool) → ECError

Sets flag that all slaves must reach the requested master state

Parameters

bAllSlavesMustReachState (bool) – True: All slaves must reach the requested master state

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

SetBusCnfReadProp(eEscSiiReg: DN_ESC_SII_REG, dwTimeout: int) → ECError

Sets read property for bus configuration

Parameters

  • eEscSiiReg (DN_ESC_SII_REG) – SII register

  • dwTimeout (int) – Time out of bus scan

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

SetCycFrameRxCallback(pfnCallback: object) → ECError

Set cyclic frame RX callback function

This function will be called after the cyclic frame is received, if there is more than one cyclic frame after the last frame. The application has to assure that these functions will not block.

Parameters

pfnCallback (object) – Callback function

Returns

EC_E_NOERROR or error code

Return type

ECError

SetLicenseKey(szLicenseKey: str) → ECError

Sets the license key for the protected version of EC-Master.

Must be called after initialization and before configuration. This function may not be called if a non protected version is used.

Parameters

szLicenseKey (str) – License key as zero terminated string with 26, 53 or 56 characters

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_INVALIDSIZE if the format of the license key is wrong. The correct length is 26, 53 or 56 characters.

  • EC_E_LICENSE_MISSING if the license key doesn’t match the MAC Address

Return type

ECError

SetLogParms(pLogParms: DN_EC_T_LOG_PARMS) → ECError

Sets log parameters. Used to change the parameters provided by emInitMaster().

EC_MONITOR

Sets log parameters. Used to change the parameters provided by emonInitMonitor().

EC_SIMULATOR

Sets log parameters. Used to change the parameters provided by esInitSimulator().

Parameters

pLogParms (DN_EC_T_LOG_PARMS) – New Log parameters

Return type

ECError

Returns:

SetMasterParms(pParms: DN_EC_T_INIT_MASTER_PARMS) → ECError

Change Master initialization parameters.

Currently the following parameters cannot be changed: - EC_T_INIT_MASTER_PARMS.pOsParms - EC_T_INIT_MASTER_PARMS.pLinkParms - EC_T_INIT_MASTER_PARMS.pLinkParmsRed - EC_T_INIT_MASTER_PARMS.dwMaxBusSlaves - EC_T_INIT_MASTER_PARMS.dwMaxAcycFramesQueued - EC_T_INIT_MASTER_PARMS.dwAdditionalEoEEndpoints

Parameters

pParms (DN_EC_T_INIT_MASTER_PARMS) – New Master parameters

Returns

  • EC_E_NOERROR on success

  • EC_E_INVALIDSTATE if master isn’t initialized

Return type

ECError

SetMasterRedStateReq(bActive: bool) → ECError

Requests Master Redundancy State ACTIVE / INACTIVE.

Parameters

bActive (bool) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized or MasterRedParms.bEnabled = EC_FALSE

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTSUPPORTED if EC-Master stack does not include Master Redundancy support

Return type

ECError

SetMasterState(dwTimeout: int, eReqState: DN_EC_T_STATE) → ECError

Set the master (and all slaves) into the requested EtherCAT state.

If the function is called with EC_NOWAIT, the client may wait for reaching the requested state using the notification callback (EC_NOTIFY_STATECHANGED). By default the Master will just change to a higher state if all slaves have reached the requested state. It may happen that some slaves are in higher state at network than the Master, e.g.: - Master and all slaves are in PREOP - Application requests SAFEOP - Master starts transition for all slaves - Some slaves changed to SAFEOP, but some fail and therefore stay in PREOP - Master state stays in PREOP, function returns with error

The application can request SAFEOP again to re-request the state of previously failed slaves. Transition to a lower state: The master changes to a lower state even if one slave is not able to follow. This function may not be called from within the JobTask’s context with dwTimeout other than EC_NOWAIT.

Parameters

  • dwTimeout (int) – Timeout [ms]. This function will block until the requested state is reached or the timeout elapsed. If the timeout value is set to EC_NOWAIT the function will return immediately.

  • eReqState (DN_EC_T_STATE) – Requested System state

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if the ADS server is running

Return type

ECError

SetMasterStateReq(dwTimeout: int, eReqState: DN_EC_T_STATE) → ECError

Request to set the master (and all slaves) into the requested EtherCAT state and return immediately.

The Master by default will just change to a higher state, if all slaves have reached the requested state. It may happen that some slaves are in higher state at network than Master, e.g.: - Master and all slaves are in PREOP - Application requests SAFEOP - Master starts transition for all slaves - Some slaves changed to SAFEOP, but some fail and therefore stay in PREOP - Master state stays in PREOP, function returns with error

The application can request SAFEOP again to re-request state of previously failed slaves. Transition to lower state: The master changes to lower state, even if one slave is not able to follow.

See also EC_NOTIFY_STATECHANGED.

Parameters

  • dwTimeout (int) – Timeout [ms]. This function will block until the requested state is reached or the timeout elapsed. If the timeout value is set to EC_NOWAIT the function will return immediately.

  • eReqState (DN_EC_T_STATE) – Requested System state

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

Return type

ECError

SetProcessData(bOutputData: bool, dwOffset: int, pbyData: List[int], dwLength: int, dwTimeout: int) → ECError

Write Process data synchronized.

This function may not be called from within the JobTask’s context.

Parameters

  • bOutputData (bool) – EC_TRUE: write output data, EC_FALSE: write input data

  • dwOffset (int) – Byte offset in Process data to write to

  • pbyData (List[int]) – Buffer containing transferred data

  • dwLength (int) –

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

SetProcessDataBits(bOutputData: bool, dwBitOffsetPd: int, pbyDataSrc: List[int], dwBitLengthSrc: int, dwTimeout: int) → ECError

Writes a specific number of bits from a given buffer to the process image with a bit offset (synchronized).

This function may not be called from within the JobTask’s context.

Parameters

  • bOutputData (bool) – EC_TRUE: write output data, EC_FALSE: write input data

  • dwBitOffsetPd (int) – Bit offset in Process data image

  • pbyDataSrc (List[int]) –

  • dwBitLengthSrc (int) –

  • dwTimeout (int) – Timeout [ms]. The timeout value must not be set to EC_NOWAIT.

Returns

EC_E_NOERROR or error code

Return type

ECError

SetSlaveDisabled(bFixedAddressing: bool, wSlaveAddress: int, bDisabled: bool) → ECError

Enable or disable a specific slave

The EtherCAT state of disabled slaves cannot be set higher than PREOP. If the state is higher than PREOP at the time this function is called the state will be automatically changed to PREOP. The information about the last requested state is lost and is set to PREOP too.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • bDisabled (bool) – EC_TRUE: Disable slave, EC_FALSE: Enable slave

Returns

EC_E_NOERROR or error code

Return type

ECError

SetSlaveDisconnected(bFixedAddressing: bool, wSlaveAddress: int, bDisconnected: bool) → ECError

Mark specific slave for connection or disconnection

The EtherCAT state of disconnected slaves cannot be set higher than INIT. If the state is higher than INIT at the time this function is called, the state will be automatically changed to INIT. The information about the last requested state is lost and is set to INIT too.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • bDisconnected (bool) – EC_TRUE: Mark slave for disconnection, EC_FALSE: Mark slave for (re-)connection

Returns

EC_E_NOERROR or error code

Return type

ECError

SetSlavePortState(dwSlaveId: int, wPort: int, bClose: bool, bForce: bool, dwTimeout: int) → ECError

Open or close slave port

This function allows to open or close a specific slave port in different ways. It can also be used to re-open ports closed by a rescue scan.

Parameters

  • dwSlaveId (int) – Slave ID

  • wPort (int) – Port to open or close. Can be ESC_PORT_A, ESC_PORT_B, ESC_PORT_C, ESC_PORT_D.

  • bClose (bool) – EC_TRUE: close port, EC_FALSE: open port

  • bForce (bool) – EC_TRUE: port will be closed or open, EC_FALSE: port will be set in AutoClose mode

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

SetSlavePortStateReq(dwClientId: int, dwTferId: int, dwSlaveId: int, wPort: int, bClose: bool, bForce: bool, dwTimeout: int) → ECError

Requests Open or close slave port operation and returns immediately.

An EC_T_PORT_OPERATION_NTFY_DESC is given on completion. This function can be called to re-open ports closed by a rescue scan.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_PORT_OPERATION_NTFY_DESC.

  • dwSlaveId (int) – Slave ID

  • wPort (int) – Port to open or close. Can be ESC_PORT_A, ESC_PORT_B, ESC_PORT_C, ESC_PORT_D.

  • bClose (bool) – EC_TRUE: close port, EC_FALSE: open port

  • bForce (bool) – EC_TRUE: port will be closed or open, EC_FALSE: port will be set in AutoClose mode

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

Return type

ECError

SetSlaveState(dwSlaveId: int, wDeviceState: int, dwTimeout: int) → ECError

Set a specified slave into the requested EtherCAT state.

The requested state shall not be higher than the overall operational state. DEVICE_STATE_BOOTSTRAP can only be requested if the slave’s state is INIT. This function may not be called from within the JobTask’s context.

If the function is called with EC_NOWAIT, the client may wait for reaching the requested state using the notification callback (EC_NOTIFY_SLAVE_STATECHANGED).

Parameters

  • dwSlaveId (int) – Slave ID

  • wDeviceState (int) – Requested device state. See DEVICE_STATES

  • dwTimeout (int) – Timeout [ms]. This function will block until the requested state is reached or the timeout elapsed. If the timeout value is set to EC_NOWAIT the function will return immediately.

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized or denies the requested state, see comments below

  • EC_E_INVALIDPARM if dwInstanceID is out of range or BOOTSTRAP was requested for a slave that does not support it

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSY if the EtherCAT stack cannot execute the request at this time, the function has to be called at a later time

  • EC_E_NOTREADY if the working counter was not set when requesting the slave’s state (slave may not be connected or did not respond)

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

SetSlaveStateReq(dwSlaveId: int, wDeviceState: int, dwTimeout: int) → ECError

Request to set a specified slave into the requested EtherCAT state and return immediately.

The requested state shall not be higher than the overall operational state. DEVICE_STATE_BOOTSTRAP can only be requested if the slave’s state is INIT.

Parameters

  • dwSlaveId (int) – Slave ID

  • wDeviceState (int) – Requested device state. See DEVICE_STATES

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized or denies the requested state, see comments below

  • EC_E_INVALIDPARM if dwInstanceID is out of range or BOOTSTRAP was requested for a slave that does not support it

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_BUSY if the EtherCAT stack cannot execute the request at this time, the function has to be called at a later time

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

SetSlavesDisabled(bFixedAddressing: bool, wSlaveAddress: int, eSlaveSelection: DN_EC_T_SLAVE_SELECTION, bDisabled: bool) → ECError

Enable or disable a specific group of slaves

The EtherCAT state of disabled slaves cannot be set higher than PREOP. If the state is higher than PREOP at the time this function is called, the state will be automatically change to PREOP. The information about the last requested state is lost and is set to PREOP too.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • eSlaveSelection (DN_EC_T_SLAVE_SELECTION) – Slave selection criteria for following slaves

  • bDisabled (bool) – EC_TRUE: Disable slaves, EC_FALSE: Enable slaves

Returns

EC_E_NOERROR or error code

Return type

ECError

SetSlavesDisconnected(bFixedAddressing: bool, wSlaveAddress: int, eSlaveSelection: DN_EC_T_SLAVE_SELECTION, bDisconnected: bool) → ECError

Mark a specific group of slaves for connection or disconnection

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • eSlaveSelection (DN_EC_T_SLAVE_SELECTION) – Slave selection criteria

  • bDisconnected (bool) – EC_TRUE: mark slaves for disconnection, EC_FALSE: mark slaves for connection

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

Return type

ECError

SlaveParallelMbxTfers(dwSlaveId: int) → ECError

Re-enable the parallel mailbox transfers to the specified slave

Allows parallel (overlapped) usage of more than one protocol (CoE, EoE, FoE, etc.). By default parallel mailbox transfers are enabled.

Parameters

dwSlaveId (int) – Slave ID

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave does not support mailbox transfers

Return type

ECError

SlaveProdCodeText(dwVendorId: int, dwProductCode: int) → str

Gets the text of slave product code

Parameters

  • dwVendorId (int) – Vendor ID

  • dwProductCode (int) – Product code

Returns

Text of slave product code

Return type

str

SlaveSerializeMbxTfers(dwSlaveId: int) → ECError

Serializes all mailbox transfers to the specified slave

The parallel (overlapped) usage of more than one protocol (CoE, EoE, FoE, etc.) will be disabled. By default parallel mailbox transfers are enabled.

Parameters

dwSlaveId (int) – Slave ID

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave does not support mailbox transfers

Return type

ECError

SlaveVendorText(dwVendorId: int) → str

Gets the text of slave vendor

Parameters

dwVendorId (int) – Vendor ID

Returns

Text of slave vendor

Return type

str

SoeAbortProcCmd(dwSlaveId: int, byDriveNo: int, pbyElementFlags: List[int], wIDN: int, dwTimeout: int) → ECError

Abort SSC Procedure Command sequence.

A Procedure Command takes up some time. After a procedure command has started, the slave generates a normal SSC Write Response. The end of a procedure command is indicated by the Notify SSC Command Execution Service.

This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • byDriveNo (int) – Drive number to address inside slave device

  • pbyElementFlags (List[int]) – [in/out] SoE ElementFlags. Flag indicating elements to address.

  • wIDN (int) – IDN of the object to address

  • dwTimeout (int) – Timeout [ms]

Returns

EC_E_NOERROR or error code

Return type

ECError

SoeRead(dwSlaveId: int, byDriveNo: int, pbyElementFlags: List[int], wIDN: int, pbyData: List[int], dwDataLen: int, out_pdwOutDataLen: int, dwTimeout: int) → ECError

Execute an SoE SCC Read service which uploads data from an EtherCAT SoE slave device.

The received data can consist of several fragments. The reserved data buffer (pbyData) must have space for all received data segments and the selected Timeout should be increasing with the count of fragments.

Parameters

  • dwSlaveId (int) – Slave ID

  • byDriveNo (int) – Drive number to address inside slave device

  • pbyElementFlags (List[int]) – [in/out] SoE ElementFlags. Flag indicating elements to address.

  • wIDN (int) – IDN of the object to address

  • pbyData (List[int]) – Buffer receiving transferred data

  • dwDataLen (int) – Buffer length [byte]

  • pdwOutDataLen – Length of received data [byte]

  • dwTimeout (int) – Timeout [ms]

  • out_pdwOutDataLen (int) –

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_SOE “SoE error code”

Return type

ECError

SoeReadReq(pMbxTfer: object, dwSlaveId: int, byDriveNo: int, pbyElementFlags: List[int], wIDN: int, dwTimeout: int) → ECError

Requests an SoE SSC Read and returns immediately.

This function may be called from within the JobTask’s context.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • byDriveNo (int) – Drive number to address inside slave device

  • pbyElementFlags (List[int]) – [in/out] SoE ElementFlags. Flag indicating elements to address.

  • wIDN (int) – IDN of the object to address

  • dwTimeout (int) – Timeout [ms]. Must not be set to EC_NOWAIT.

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_SOE “SoE error code”

Return type

ECError

SoeWrite(dwSlaveId: int, byDriveNo: int, pbyElementFlags: List[int], wIDN: int, pbyData: List[int], dwDataLen: int, dwTimeout: int) → ECError

Execute an SoE SSC Write service which downloads data to an EtherCAT slave device.

The function returns after timeout expired or download is completed successfully (Write response is received). It can also perform an SoE SSC Procedure Command. After a procedure command has started, the slave generates a normal SSC Write Response, and the function returns. If the data to be sent with the write service exceeds the mailbox size, the data will be sent fragmented. The fragmented write operation consists of several Write SSC Fragment Services. Therefore the selected Timeout should be increasing with the count of fragments. This function may not be called from within the JobTask’s context.

Parameters

  • dwSlaveId (int) – Slave ID

  • byDriveNo (int) – Drive number to address inside slave device

  • pbyElementFlags (List[int]) – [in/out] SoE ElementFlags. Flag indicating elements to address.

  • wIDN (int) – IDN of the object to address

  • pbyData (List[int]) – Buffer containing transferred data

  • dwDataLen (int) – Buffer length [byte]

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_SOE “SoE error code”

Return type

ECError

SoeWriteReq(pMbxTfer: object, dwSlaveId: int, byDriveNo: int, pbyElementFlags: List[int], wIDN: int, dwTimeout: int) → ECError

Requests an SoE SSC Write and returns immediately.

This function may be called from within the JobTask’s context.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • byDriveNo (int) – Drive number to address inside slave device

  • pbyElementFlags (List[int]) – [in/out] SoE ElementFlags. Flag indicating elements to address.

  • wIDN (int) – IDN of the object to address

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range, the input pointer is EC_NULL or contains EC_NULL pointer, or dwTimeout is EC_NOWAIT

  • EC_E_NOMEMORY if the mailbox protocol queue of the slave is full

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching dwSlaveId can be found

  • EC_E_NO_MBX_SUPPORT if slave has no mailbox support

  • EC_E_INVALID_SLAVE_STATE if slave is in an invalid state for mailbox transfer

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

  • EC_E_ADS_IS_RUNNING if ADS server is running

  • EC_ERROR_CODES_SOE “SoE error code”

Return type

ECError

TferSingleRawCmd(byCmd: int, dwMemoryAddress: int, pbyData: List[int], wLen: int, dwTimeout: int) → ECError

Transfers a single raw EtherCAT command to one or multiple slaves and waits for the result.

Using this function it is possible to exchange arbitrary data between the master and the slaves. When the master receives the response to the queued frame it raises EC_NOTIFY_RAWCMD_DONE to all clients. This function blocks until the command is completely processed. In case of read commands the slave data will be written back into the given memory area. If a timeout occurs (e.g. due to a bad line quality) the corresponding frame will be sent again. The timeout value and retry counter can be set using the master configuration parameters dwEcatCmdTimeout and dwEcatCmdMaxRetries. The call will return in any case (without waiting for the number of retries specified in dwEcatCmdMaxRetries) if the time determined with the dwTimeout parameter elapsed. Caveat: Using auto increment addressing (APRD, APWR, APRW) may lead to unexpected results in case the selected slave does not increment the working counter. In such cases the EtherCAT command would be handled by the slave directly behind the selected one. This function may not be called from within the JobTask’s context.

Parameters

  • byCmd (int) – EtherCAT command type. See EC_CMD_TYPE

  • dwMemoryAddress (int) – Slave memory address, depending on the command to be sent this is either a physical or a logical address

  • pbyData (List[int]) – [in, out] Buffer containing or receiving transferred data

  • wLen (int) – Number of bytes to transfer

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSY if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state

  • EC_E_NOTREADY if the working counter was not set when sending the command (slave may not be connected or did not respond)

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

ThrottleNotification(tNotifyCode: DN_NotifyCode, dwTimeout: int) → ECError

Throttles notification

Parameters

  • tNotifyCode (DN_NotifyCode) – Code of notification, which should be throttled

  • dwTimeout (int) – 0 = Not throttled, > 0 = Throttle timeout in ms

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

ThrowDbgMsgEvent(type_: int, severity: int, msg: str, _pUserData: object)

Throws the debug message events.

Parameters

  • type_ (int) –

  • severity (int) –

  • msg (str) –

  • _pUserData (object) –

ThrowEcEvent(dwCode: int, unmParms: object) → int

Throws the EtherCAT-Notifications. The Type of the event depends on the notification code.

Parameters

  • dwCode (int) –

  • unmParms (object) –

Return type

int

ThrowPerfEvent(pszFktName: str, dwTime: int, _pUserData: object)

Throws the performance monitoring events.

Parameters

  • pszFktName (str) –

  • dwTime (int) –

  • _pUserData (object) –

ThrowRasCheckTokenEvent(_pvCheckTokenContext: object, pbyToken: object, dwTokenSize: int) → int

Throws the RAS check token events.

Parameters

  • _pvCheckTokenContext (object) –

  • pbyToken (object) –

  • dwTokenSize (int) –

Return type

int

ThrowRasEvent(dwCode: int, unmParms: object) → int

Throws the RAS Events. The Type of the event depends on the notification code.

Parameters

  • dwCode (int) –

  • unmParms (object) –

Return type

int

ThrowTranslateEvent(_code: int, msg: str, _pUserData: object)

Throws the performance monitoring events.

Parameters

  • _code (int) –

  • msg (str) –

  • _pUserData (object) –

TraceDataConfig(wTraceDataSize: int) → ECError

Configures a trace data buffer and enables it for transmission

Must be called after initialization and before configuration.

If wTraceDataSize is too large, configuration will fail with return code #EC_E_XML_CYCCMDS_SIZEMISMATCH.

Parameters

wTraceDataSize (int) – Size of Trace Data in bytes

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_NOTSUPPORTED if eCycFrameLayout_FIXED is configured

Return type

ECError

TraceDataGetInfo(pTraceDataInfo: DN_EC_T_TRACE_DATA_INFO) → ECError

Get information about the offset and size of trace data.

The trace data buffer is located in EC_T_TRACE_DATA_INFO.pbyData at the byte offset EC_T_TRACE_DATA_INFO.dwOffset.

Parameters

pTraceDataInfo (DN_EC_T_TRACE_DATA_INFO) – Information about trace data

Returns

EC_E_NOERROR or error code

Return type

ECError

UnregisterClient() → ECError

Unregister a client from the EtherCAT master

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

VoeRead(dwSlaveId: int, pbyData: List[int], dwDataLen: int, out_pdwOutDataLen: int, dwTimeout: int) → ECError

Retrieves VoE mailbox, that was sent by an EtherCAT slave device.

If a VoE mailbox was already received, further received VoE mailboxes will be discarded as long as this function was not called. The received data includes the Mailbox header of type ETHERCAT_MBOX_HEADER followed by the VoE payload. This function blocks until the VoE data has been successfully received or an error has occurred.

Parameters

  • dwSlaveId (int) – Slave ID

  • pbyData (List[int]) – Buffer receiving transferred data

  • dwDataLen (int) – Buffer length [byte]

  • pdwOutDataLen – Length of received data [byte]

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time. EC_NOWAIT returns the function immediately.

  • out_pdwOutDataLen (int) –

Returns

  • EC_E_NOERROR if the VoE slave has provided some VoE data

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_VOE_NO_MBX_RECEIVED if no VoE data was received

  • EC_E_MASTER_RED_STATE_INACTIVE if Master Redundancy is configured and master is inactive

Return type

ECError

VoeWrite(dwSlaveId: int, pbyData: List[int], dwDataLen: int, dwTimeout: int) → ECError

Execute a VoE mailbox write to an EtherCAT slave device.

This function blocks until the VoE write has been successfully completed or an error has occurred.

Parameters

  • dwSlaveId (int) – Slave ID

  • pbyData (List[int]) – Buffer containing transferred data

  • dwDataLen (int) – Buffer length [bytes]. The maximum data length including 6 bytes for the mailbox header is given at EC_T_CFG_SLAVE_INFO.dwMbxOutSize.

  • dwTimeout (int) – Timeout [ms]. The function will block at most for this time.

Returns

EC_E_NOERROR or error code

Return type

ECError

VoeWriteReq(pMbxTfer: object, dwSlaveId: int, dwTimeout: int) → ECError

Initiates a VoE mailbox write to an EtherCAT slave device.

The amount of data bytes to write has to be stored in EC_T_MBXTFER.dwDataLen. The maximum data length including 6 bytes for the mailbox header is given at EC_T_CFG_SLAVE_INFO.dwMbxOutSize. A unique transfer ID must be written into EC_T_MBXTFER.dwTferId.

Parameters

  • pMbxTfer (object) – Mailbox transfer object

  • dwSlaveId (int) – Slave ID

  • dwTimeout (int) – Timeout [ms], EC_NOWAIT returns the function immediately

Returns

EC_E_NOERROR or error code

Return type

ECError

WaitForTimingTaskEvent() → bool

Waits for Timing Task Event

Returns

Wait event was triggered

Return type

bool

static WritePdBitsToAddress(address: object, bitOffset: int, bitLength: int, pdBits: List[int])

Writes process data bits to address

Parameters

  • address (object) – Address

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • pdBits (List[int]) – Process data bits

static WritePdBitsToBytes(bytes_: List[int], bitOffset: int, bitLength: int, pdBits: List[int])

Writes process data bits to bytes

Parameters

  • bytes – Bytes

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • pdBits (List[int]) – Process data bits

  • bytes_ (List[int]) –

static WritePdBytesToAddress(address: object, offset: int, pdBytes: List[int])

Writes process data bytes to address

Parameters

  • address (object) – Address

  • offset (int) – Offset

  • pdBytes (List[int]) – Process data bytes

static WritePdBytesToBytes(bytes_: List[int], offset: int, pdBytes: List[int])

Writes process data bytes to bytes

Parameters

  • bytes – Bytes

  • offset (int) – Offset

  • pdBytes (List[int]) – Process data bytes

  • bytes_ (List[int]) –

WriteSlaveEEPRom(bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, pwWriteData: List[int], dwWriteLen: int, dwTimeout: int) → ECError

Write EEPRom data from slave

Parameters

  • bFixedAddressing (bool) – True: use station addressing, False: use auto increment addressing

  • wSlaveAddress (int) – Slave Address, station or auto increment address depending on bFixedAddressing

  • wEEPRomStartOffset (int) – Address to start EEPRom Read from

  • pwWriteData (List[int]) – Pointer to WORD array carrying the write data.

  • dwWriteLen (int) – Sizeof Write Data WORD array (in WORDS)

  • dwTimeout (int) – Timeout in milliseconds. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

WriteSlaveEEPRomReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, ref_pwWriteData: int, dwWriteLen: int, dwTimeout: int) → ECError

Requests an EEPROM data write operation from a slave and returns immediately.

The EEPROM’s CRC is updated automatically. A reset of the slave controller is needed to reload the alias address in register 0x12. An EC_NOTIFY_EEPROM_OPERATION is given on completion or timeout. This function may be called from within the JobTask’s context.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_EEPROM_OPERATION_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wEEPRomStartOffset (int) – Word address to start EEPROM Write from

  • pwWriteData – Pointer to WORD array carrying the write data, must be valid until operation complete

  • dwWriteLen (int) – Size of Write Data WORD array (in WORDS)

  • dwTimeout (int) – Timeout [ms]

  • ref_pwWriteData (int) –

Returns

EC_E_NOERROR or error code

Return type

ECError

WriteSlaveEEPRomWithReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wEEPRomStartOffset: int, pwWriteData: List[int], dwWriteLen: int, dwTimeout: int) → ECError

Write EEPRom data from slave (REQ)

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC.

  • bFixedAddressing (bool) – True: use station addressing, False: use auto increment addressing

  • wSlaveAddress (int) – Slave Address, station or auto increment address depending on bFixedAddressing

  • wEEPRomStartOffset (int) – Address to start EEPRom Read from

  • pwWriteData (List[int]) – Pointer to WORD array carrying the write data.

  • dwWriteLen (int) – Sizeof Write Data WORD array (in WORDS)

  • dwTimeout (int) – Timeout in milliseconds. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

WriteSlaveRegister(bFixedAddressing: bool, wSlaveAddress: int, wRegisterOffset: int, pbyData: List[int], wLen: int, dwTimeout: int) → ECError

Writes data into the ESC memory of a specified slave.

This function may not be called from within the JobTask’s context

Changing contents of ESC registers may lead to unpredictable behavior of the slaves and/or the master.

Parameters

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wRegisterOffset (int) – Register offset. E.g. use 0x0120 to write to the AL Control register.

  • pbyData (List[int]) – Buffer containing transfered data

  • wLen (int) – Number of bytes to send

  • dwTimeout (int) – Timeout [ms]

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_TIMEOUT if dwTimeout elapsed during the API call

  • EC_E_BUSY if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state

  • EC_E_NOTREADY if the working counter was not set when sending the command (slave may not be connected or did not respond)

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

Return type

ECError

WriteSlaveRegisterReq(dwClientId: int, dwTferId: int, bFixedAddressing: bool, wSlaveAddress: int, wRegisterOffset: int, pbyData: List[int], wLen: int) → ECError

Requests a data write transfer into the ESC memory of a specified slave and returns immediately.

A notification EC_NOTIFY_SLAVE_REGISTER_TRANSFER is given on completion. This function may be called from within the JobTask’s context.

Changing contents of ESC registers may lead to unpredictable behavior of the slaves and/or the master.

Parameters

  • dwClientId (int) – Client ID returned by RegisterClient (0 if all registered clients shall be notified)

  • dwTferId (int) – Transfer ID. The application can set this ID to identify the transfer. It will be passed back to the application within EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC.

  • bFixedAddressing (bool) – EC_TRUE: use station address, EC_FALSE: use AutoInc address

  • wSlaveAddress (int) – Slave address according bFixedAddressing

  • wRegisterOffset (int) – Register offset. E.g. use 0x0120 to write to the AL Control register.

  • pbyData (List[int]) – Buffer containing transferred data

  • wLen (int) – Number of bytes to send

Returns

  • EC_E_NOERROR if successful

  • EC_E_INVALIDSTATE if EtherCAT stack isn’t initialized

  • EC_E_INVALIDPARM if dwInstanceID is out of range or the command is not supported or the timeout value is set to EC_NOWAIT

  • EC_E_SLAVE_NOT_PRESENT if slave not present

  • EC_E_NOTFOUND if no slave matching bFixedAddressing / wSlaveAddress can be found

  • EC_E_INVALIDSIZE if the size of the complete command does not fit into a single Ethernet frame. The maximum amount of data to transfer must not exceed 1486 bytes.

Return type

ECError

static WriteValueToAddress(address: object, bitOffset: int, bitLength: int, type_: DN_EC_T_DEFTYPE, value: object)

Write value to address

Parameters

  • address (object) – Address

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • type – Data type

  • value (object) – Value

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

static WriteValueToBytes(bytes_: List[int], bitOffset: int, bitLength: int, type_: DN_EC_T_DEFTYPE, value: object) → ECError

Write value to bytes

Parameters

  • bytes – Bytes

  • bitOffset (int) – Bit offset

  • bitLength (int) – Bit length

  • type – Data type

  • value (object) – Value

  • bytes_ (List[int]) –

  • type_ (DN_EC_T_DEFTYPE) –

Returns

EC_E_NOERROR on success, otherwise an error code.

Return type

ECError

3.3. Types

class EcWrapperPythonTypes.CEcWrapperPythonTypes
static Create_ArrayByType(type_, size)
class EcWrapperPythonTypes.Conv_DN_EC_T_DEFTYPE
static CreateMap()
static TypeFromString(type_)
static TypeToString(type_)
class EcWrapperPythonTypes.DN_ECMASTERRAS_T_CONNOTIFYDESC
class EcWrapperPythonTypes.DN_ECMASTERRAS_T_MARSHALERRORDESC
class EcWrapperPythonTypes.DN_ECMASTERRAS_T_NONOTIFYMEMORYDESC
class EcWrapperPythonTypes.DN_ECMASTERRAS_T_REGNOTIFYDESC
class EcWrapperPythonTypes.DN_EC_CMD_TYPE(value)

EtherCAT commands

APRD = 1

APRD

APRW = 3

APRW

APWR = 2

APWR

ARMW = 13

ARMW

BCppDummy = 4294967295

BCppDummy

BRD = 7

BRD

BRW = 9

BRW

BWR = 8

BWR

EXT = 255

EXT

FPRD = 4

FPRD

FPRW = 6

FPRW

FPWR = 5

FPWR

FRMW = 14

FRMW

LRD = 10

LRD

LRW = 12

LRW

LWR = 11

LWR

NOP = 0

NOP

class EcWrapperPythonTypes.DN_EC_LOG_LEVEL(value)
ANY = 1

ANY

CRITICAL = 2

CRITICAL

ERROR = 3

ERROR

INFO = 5

INFO

INFO_API = 6

INFO_API

SILENT = 0

SILENT

UNDEFINED = 4294967295

UNDEFINED

VERBOSE = 7

VERBOSE

VERBOSE_CYC = 8

VERBOSE_CYC

WARNING = 4

WARNING

class EcWrapperPythonTypes.DN_EC_LOG_TYPE(value)

An enumeration.

DAQ = 6
DAQREADER = 7
MASTER = 0
MBXGATEWAY = 3
MBXGATEWAYSERVER = 10
MONITOR = 9
MONITORRASSERVER = 5
RASCLIENT = 1
RASSERVER = 2
SIMULATOR = 8
SIMULATORRASSERVER = 4
UNKNOWN = 4294967295
class EcWrapperPythonTypes.DN_EC_PTS_STATE(value)

pass through server states

ePtsStateDummy = 4294967295

ePtsStateDummy

ePtsStateNone = 0

ePtsStateNone

ePtsStateNotRunning = 1

ePtsStateNotRunning

ePtsStateRunningDisabled = 2

ePtsStateRunningDisabled

ePtsStateRunningEnabled = 3

ePtsStateRunningEnabled

class EcWrapperPythonTypes.DN_EC_RAS_ACCESS_LEVEL(value)
ALLOW_ALL = 1

ALLOW_ALL

BLOCK_ALL = 4

BLOCK_ALL

EXCLUDED = 4294967295

EXCLUDED

READONLY = 3

READONLY

READWRITE = 2

READWRITE

class EcWrapperPythonTypes.DN_EC_T_ADS_ADAPTER_START_PARMS
cpuAffinityMask: int

cpuAffinityMask

dwStackSize: int

dwStackSize

dwThreadPriority: int

dwThreadPriority

targetNetID: EcWrapperPythonTypes.DN_EC_T_AOE_NETID

targetNetID

targetPort: int

targetPort

class EcWrapperPythonTypes.DN_EC_T_AOE_CMD_RESPONSE

AoE mailbox response error codes

dwCmdResult: int

AoE command result code

dwErrorCode: int

AoE response error code

dwRsvd: int

dwRsvd

class EcWrapperPythonTypes.DN_EC_T_AOE_NETID

AoE NetID

aby: List[int]

AoE net id

class EcWrapperPythonTypes.DN_EC_T_BAD_CONNECTION_NTFY_DESC
SlavePropChild: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties of child slave

SlavePropParent: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties of parent slave

wPortAtChild: int

Port at child slave

wPortAtParent: int

Port at parent slave

class EcWrapperPythonTypes.DN_EC_T_BUS_DIAGNOSIS_INFO

See also Object 0x2002 Bus Diagnosis Object

dwAcyclicDatagrams: int

Number of acyclic datagrams / EtherCAT commands sent

dwAcyclicFrames: int

Number of acyclic frames sent

dwAcyclicLostFrames: int

Number of acyclic lost frames

dwCRC32ConfigCheckSum: int

CRC32 checksum of the loaded configuration

dwClearCounters: int

Clear frame / datagram counter bit field

dwCyclicDatagrams: int

Number of cyclic datagrams / EtherCAT commands sent

dwCyclicFrames: int

Number of cyclic frames sent

dwCyclicLostFrames: int

Number of cyclic lost frames

dwLostFrames: int

Number of lost frames

dwNumCfgSlaves: int

Number of slaves in ENI

dwNumDCSlavesFound: int

Number of slaves with DC enabled connected

dwNumMbxSlaves: int

Number of slaves in ENI with mailbox support

dwNumSlavesFound: int

Number of slaves connected

dwRXFrames: int

Number of frames received

dwRes: List[int]

dwRes

dwTXFrames: int

Number of frames sent

class EcWrapperPythonTypes.DN_EC_T_BUS_SLAVE_INFO
adwPortSlaveIds: List[int]

[out] The slave’s ID of the slaves connected to ports. See /ref EC_SLAVE_IDS ‘Port slave ID’s’.

bDc64Support: bool

[out] Slave supports 64 Bit DC (Bus Topology Scan)

bDcSupport: bool

[out] Slave supports DC (Bus Topology Scan)

bIsDeviceEmulation: bool

[out] Slave without Firmware. ESC register 0x0141, enabled by EEPROM offset 0x0000.8.

bIsRefClock: bool

[out] Slave is reference clock

bLineCrossed: bool

[out] Line crossed was detected at this slave

byESCRevision: int

[out] Revision number of ESC (Value of slave ESC register 0x0001)

byESCType: int

[out] Type of ESC (Value of slave ESC register 0x0000)

byPortDescriptor: int

[out] Port descriptor (Value of slave ESC register 0x0007)

dwCyclicWkcErrorCnt: int

[out] Counter for Cyclic WC Error

dwProductCode: int

[out] Product Code stored in the EEPROM at offset 0x000A

dwPropagDelay: int

[out] Propagation delay [ns]. ESC register 0x0928.This value is only valid if a DC configuration is used.

dwRevisionNumber: int

[out] Revision number stored in the EEPROM at offset 0x000C

dwSerialNumber: int

[out] Serial number stored in the EEPROM at offset 0x000E

dwSlaveAbsentCnt: int

[out] Counter for Absent/Not Present Slaves

dwSlaveDelay: int

[out] Delay behind slave [ns]. This value is only valid if a DC configuration is used.

dwSlaveId: int

[out] The slave’s ID to bind bus slave and config slave information

dwSystemTimeDifference: int

[out] System time difference. (Value of slave ESC register 0x092C)

dwUnexpectedStateCnt: int

[out] Counter for Abnormal State Change

dwVendorId: int

[out] Vendor Identification stored in the EEPROM at offset 0x0008

wAlStatus: int

[out] AL status (Value of slave ESC register 0x0130)

wAlStatusCode: int

[out] AL status code. (Value of slave ESC register 0x0134 during last error acknowledge). This value is reset after a slave state change.

wAliasAddress: int

[out] The slave’s alias address (Value of slave ESC register 0x0012)

wAutoIncAddress: int

[out] The slave’s auto increment address

wDlStatus: int

[out] DL status (Value of slave ESC register 0x0110)

wESCBuild: int

[out] Build number of ESC (Value of slave ESC register 0x0002)

wFeaturesSupported: int

[out] Features supported (Value of slave ESC register 0x0008)

wIdentifyData: int

[out] Last read identification value see EC_T_CFG_SLAVE_INFO.wIdentifyAdo

wLineCrossedFlags: int

[out] Combination of /ref EC_LINECROSSED_FLAGS ‘Line crossed flags’

wMbxSupportedProtocols: int

[out] Supported Mailbox Protocols stored in the EEPROM at offset 0x001C

wPortState: int

wPortState

wPrevPort: int

[out] Connected port of the previous slave

wStationAddress: int

[out] The slave’s station address (Value of slave ESC register 0x0010)

class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_EOE_INFO

ecatGetCfgSlaveEoeInfo, ENI: Mailbox/EoE/InitCmds/InitCmd/Data

abyMacAddr: List[int]

[out] MAC address

bDefaultGateway: bool

[out] Indicates whether the default gateway could be read and is valid

bDisableEoe: bool

[out] Indicates whether the EoE is Disabled or not

bDnsName: bool

[out] Indicates whether the DNS name could be read and is valid

bDnsServer: bool

[out] Indicates whether the DNS server could be read and is valid

bIpAddr: bool

[out] Indicates whether the IP address could be read and is valid

bMacAddr: bool

[out] Indicates whether the MAC address could be read and is valid

bSubnetMask: bool

[out] Indicates whether the subnet mask could be read and is valid

dwRes: List[int]

dwRes

dwSlaveId: int

[out] Slave ID

oDefaultGateway: EcWrapperPythonTypes.DN_EC_T_IPADDR

[out] Default gateway

oDnsServer: EcWrapperPythonTypes.DN_EC_T_IPADDR

[out] DNS server

oIpAddr: EcWrapperPythonTypes.DN_EC_T_IPADDR

[out] IP address

oSubnetMask: EcWrapperPythonTypes.DN_EC_T_IPADDR

[out] Subnet mask

szDnsName: str

[out] DNS name

class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_INFO

ecatGetCfgSlaveInfo

abyDeviceName: str

[out] Slave’s configured name (80 Byte) (from ENI file)

awMasterSyncUnitIn: List[int]

ProcessData/TxPdo[1..4]@Su)

Type

[out] Sync Unit (ENI

awMasterSyncUnitOut: List[int]

ProcessData/RxPdo[1..4]@Su)

Type

[out] Sync Unit (ENI

bDcPotentialRefClock: bool

[out] Slave can be used as a reference clock (from ENI file)

bDcReferenceClock: bool

[out] Slave is reference clock (from ENI file)

bDcSupport: bool

[out] Slave supports DC (from ENI file)

bDisabled: bool

[out] Slave disabled by API SetSlaveDisabled / SetSlavesDisabled.

bDisconnected: bool

[out] Slave disconnected by API SetSlaveDisconnected / SetSlavesDisconnected.

bExtended: bool

[out] Slave generated by API ConfigExtend

bIsHCGroupPresent: bool

[out] Slave’s Hot Connect group present on bus

bIsPresent: bool

[out] Slave present on bus

byPortDescriptor: int

[out] Port descriptor (ESC register 0x0007) (from ENI file)

dwDcCycleTime0: int

[out] Cycle time of Sync0 event [ns] (from ENI file)

dwDcCycleTime1: int

[out] Calculated value dwDcCycleTime1 [ns] = Cycle time of Sync1 event - Cycle time of Sync1 event + Shift time of Sync0 event (from ENI file)

dwHCGroupIdx: int

[out] Index of Hot Connect group, 0 for mandatory

dwMbxInSize: int

[out] Mailbox input byte size (from ENI file)

dwMbxInSize2: int

[out] Bootstrap mailbox input byte size (from ENI file)

dwMbxOutSize: int

[out] Mailbox output byte size (from ENI file)

dwMbxOutSize2: int

[out] Bootstrap mailbox output byte size (from ENI file)

dwMbxSupportedProtocols: int

[out] Mailbox protocols supported by the slave (from ENI file). Combination of /ref EC_MBX_PROTOCOLS ‘Supported mailbox protocols’ flags.

dwPdOffsIn: int

[out] Process input data bit offset (from ENI file)

dwPdOffsIn2: int

[out] 2nd sync unit process input data bit offset (from ENI file)

dwPdOffsIn3: int

[out] 3rd sync unit process input data bit offset (from ENI file)

dwPdOffsIn4: int

[out] 4th sync unit process input data bit offset (from ENI file)

dwPdOffsOut: int

[out] Process output data bit offset (from ENI file)

dwPdOffsOut2: int

[out] 2nd sync unit process output data bit offset (from ENI file)

dwPdOffsOut3: int

[out] 3rd sync unit process output data bit offset (from ENI file)

dwPdOffsOut4: int

[out] 4th sync unit process output data bit offset (from ENI file)

dwPdSizeIn: int

[out] Process input data bit size (from ENI file)

dwPdSizeIn2: int

[out] 2nd sync unit process input data bit size (from ENI file)

dwPdSizeIn3: int

[out] 3rd sync unit process input data bit size (from ENI file)

dwPdSizeIn4: int

[out] 4th sync unit process input data bit size (from ENI file)

dwPdSizeOut: int

[out] Process output data bit size (from ENI file)

dwPdSizeOut2: int

[out] 2nd sync unit process output data bit size (from ENI file)

dwPdSizeOut3: int

[out] 3rd sync unit process output data bit size (from ENI file)

dwPdSizeOut4: int

[out] 4th sync unit process output data bit size (from ENI file)

dwProductCode: int

[out] Product code (from ENI file)

dwRevisionNumber: int

[out] Revision number (from ENI file)

dwSerialNumber: int

[out] Serial number (from ENI file)

dwSlaveId: int

[out] Slave’s ID to bind bus slave and config slave information

dwVendorId: int

[out] Vendor identification (from ENI file)

nDcShiftTime: int

[out] Shift time of Sync0 event [ns] (from ENI file)

wAutoIncAddress: int

[out] Slave’s auto increment address (may differ from ENI file)

wIdentifyAdo: int

[out] ADO used for identification command (from ENI file)

wIdentifyData: int

[out] Identification value to be validated (from ENI file)

wNumProcessVarsInp: int

[out] Number of input process data variables (from ENI file)

wNumProcessVarsOutp: int

[out] Number of output process data variables (from ENI file)

wPrevPort: int

[out] Connected port of the previous slave (from ENI file)

wPrevStationAddress: int

[out] Station address of the previous slave (from ENI file)

wStationAddress: int

[out] Slave’s configured station address (from ENI file)

wWkcStateDiagOffsIn: List[int]

0xFFFFFFFF = offset not available. WkcState bit values: 0 = Data valid, 1 = Data invalid.

Type

[out] Offset of WkcState bit in diagnosis image (ENI

Type

ProcessData/Recv[1..4]/BitStart)

wWkcStateDiagOffsOut: List[int]

0xFFFFFFFF = offset not available. WkcState bit values: 0 = Data valid, 1 = Data invalid.

Type

[out] Offset of WkcState bit in diagnosis image (ENI

Type

ProcessData/Send[1..4]/BitStart)

class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_SM_ENTRY

ecatGetCfgSlaveSmInfo

byDirection: int

[out] Bits 2..3 ESC (0x804 + y * 8)

byOpMode: int

[out] Bits 0..1 ESC (0x804 + y * 8)

dwPdBitOffs: int

[out] Process input data bit offset (from ENI file)

dwPdBitSize: int

[out] Process input data bit size (from ENI file)

wLength: int

[out] ESC (0x802 + y * 8)

wMasterSyncUnit: int

ProcessData/TxPdo[1..4]@Su)

Type

[out] Sync Unit (ENI

wPhysAddr: int

[out] ESC (0x800 + y * 8)

wWkcStateDiagBitOffs: int

[out] Offset of WkcState bit in diagnosis image

class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_SM_INFO
aoSmInfos: List[EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_SM_ENTRY]

[out] Sync managers info

dwSlaveId: int

[out] Slave ID

dwSmInfoNumOf: int

[out] Number of available sync managers

class EcWrapperPythonTypes.DN_EC_T_CNF_TYPE(value)
BCppDummy = 4294967295

BCppDummy

ConfigData = 8

Binary structured configuration

Type

pbyCnfData

Data = 2

ENI data

Type

pbyCnfData

Datadiag = 3

ENI data for diagnosis

Type

pbyCnfData

FileByApp = 10

File access provided by user application, See ef EC_T_CNF_FILEBYAPP_DESC

Filename = 1

ENI filename to read

Type

pbyCnfData

GenEBI = 11

Generate EBI based on bus-scan result

GenOpENI = 6

Generate ENI based on bus-scan result to get into OP state. The default PDO mapping read from the slaves is activated. See ETG2010 ‘SII Specification’, Table 14 ‘Structure Category TXPDO and RXPDO for each PDO’.

GenOpENINoStrings = 9

Generate ENI based on bus-scan result to get into OP state, does not read strings from EEPROM

GenPreopENI = 4

Generate ENI based on bus-scan result to get into PREOP state

GenPreopENIWithCRC = 5

Same as eCnfType_GenPreopENI with CRC protection

None_ = 7

Reset configuration

Unknown = 0

Unknown

class EcWrapperPythonTypes.DN_EC_T_COE_EMERGENCY

EtherCAT CoE emergency request

abyData: List[int]

Error data

byErrorRegister: int

Error register

wErrorCode: int

Error code according to EtherCAT specification

wStationAddress: int

Slave node address of the faulty slave

class EcWrapperPythonTypes.DN_EC_T_COE_ENTRYDESC
class EcWrapperPythonTypes.DN_EC_T_COE_OBDESC
class EcWrapperPythonTypes.DN_EC_T_COE_OBJ1018
class EcWrapperPythonTypes.DN_EC_T_COE_OBJ2001
class EcWrapperPythonTypes.DN_EC_T_COE_OBJ2001_DESC
static Create(obj2001)
class EcWrapperPythonTypes.DN_EC_T_COE_ODLIST_TYPE(value)

EtherCAT CoE OD list type values

ALL = 1

List contains all objects

BCppDummy = 4294967295

BCppDummy

Lengths = 0

Lengths of each list type

RxPdoMap = 2

List with PDO mappable objects

StartupParm = 5

Only startup parameter objects

StoredFRepl = 4

Only stored for a device replacement objects

TxPdoMap = 3

List with objects that can be changed

class EcWrapperPythonTypes.DN_EC_T_COMMUNICATION_TIMEOUT_NTFY_DESC
bMainTapPortIn: bool

Timeout occurred at the input port of the Ethernet TAP for the EtherCAT main line

Type

EC_TRUE

bMainTapPortOut: bool

Timeout occurred at the output port of the Ethernet TAP for the EtherCAT main line

Type

EC_TRUE

class EcWrapperPythonTypes.DN_EC_T_CONFIG_LOAD_NTFY_DESC
dwCnfDataLen: int

dwCnfDataLen

dwCnfType: int

dwCnfType

pbyCnfData: object

pbyCnfData

class EcWrapperPythonTypes.DN_EC_T_CYC_CONFIG_DESC

descriptor for EC_IOCTL_GET_CYCLIC_CONFIG_INFO call

dwCycleTime: int

[out] Cycle time of selected cyclic entry

dwPriority: int

[out] Priority of selected cyclic entry

dwTaskId: int

Cyclic/TaskId)

Type

[out] Task ID of selected cyclic entry (ENI

class EcWrapperPythonTypes.DN_EC_T_CYC_COPY_INFO

The master has to copy valid input data of this command from the source offset (bit offs in the complete process image) to a destination offset.

dwDstBitOffs: int

dwDstBitOffs

dwRes: List[int]

dwRes

dwSrcBitOffs: int

dwSrcBitOffs

wBitSize: int

wBitSize

wFlags: int

wFlags

wRes: int

wRes

wTaskId: int

wTaskId

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG
BusShift: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_BUSSHIFT

[in] BusShift configuration. Valid if eMode is set to eDcmMode_BusShift.

Dcx: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_DCX

[in] DCX configuration. Valid if eMode is set to eDcmMode_Dcx.

LinkLayerRefClock: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_LINKLAYERREFCLOCK

[in] LinkLayerRefClock configuration. Valid if eMode is set to eDcmMode_LinkLayerRefClock.

MasterRefClock: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_MASTERREFCLOCK

[in] MasterRefClock configuration. Valid if eMode is set to eDcmMode_MasterRefClock.

MasterShift: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_MASTERSHIFT

[in] MasterShift configuration. Valid if eMode is set to eDcmMode_MasterShift.

eMode: EcWrapperPythonTypes.DN_EC_T_DCM_MODE

[in] DCM mode

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_BUSSHIFT
bCtlOff: bool

[in] If set to EC_TRUE, control loop is disabled. Combined with bLogEnabled, it makes possible to analyze the natural drift between the stack cycle and the reference clock.

bLogEnabled: bool

[in] If set to EC_TRUE, logging information are generated and can be got by calling emDcmGetLog()

bUseDcLoopCtlStdValues: bool

[in] If set to EC_TRUE, the values of ESC DC time loop control register 0x930 and 0x934 are not changed by master. This could increase the time it takes to get the InSync. Use only if there are problems with the reference clock to get InSync.

dwInSyncLimit: int

[in] Limit [ns] for InSync monitoring. Default value is 20% of the cycle time. A value of 0 sets the default value.

dwInSyncSettleTime: int

[in] Settle time [ms] for InSync monitoring. Default value is 1500ms. A value of 0 sets the default value.

dwInSyncStartDelayCycle: int

[in] Delay time [ms] before InSync monitoring start

nCtlDriftErrorGain: int

[in] Multiplier for drift error. Default value is 3. A value of 0 sets the default value.

nCtlGain: int

[in] Proportional gain in ppt (part per thousand). Default is value 2. A value of 0 sets the default value.

nCtlSetVal: int

[in] Controller set value [ns]. This is the time distance between the cyclic frame send time and the DC base on bus (SYNC0 if shift is zero).

nMaxValidVal: int

[in] Error inputs above this value are considered invalid. If error input prediction is valid then the difference between the error input and the expected value is taken. Default value is 3000. A value of 0 sets the default value.

pGetTimeElapsedSinceCycleStartContext: object

[in] Optional context for the pfnGetTimeElapsedSinceCycleStart function, will be passed as first parameter to this function/static method

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_DCX
MasterShift: EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_MASTERSHIFT

[in] DCM MasterShift configuration

bCtlOff: bool

[in] If set to EC_TRUE, control loop is disabled. Combined with bLogEnabled, it makes possible to analyze the natural drift between the stack cycle and the reference clock. Also it provides reading of current adjustment value using emDcmGetAdjust function.

bLogEnabled: bool

[in] If set to EC_TRUE, logging information are generated and can be got by calling emDcmGetLog()

dwExtClockTimeout: int

[in] Wait timeout for external clock slave

dwInSyncLimit: int

[in] Limit [ns] for InSync monitoring. Default value is 20% of the cycle time. A value of 0 sets the default value.

dwInSyncSettleTime: int

[in] Settle time [ms] for InSync monitoring. Default value is 1500ms. A value of 0 sets the default value.

dwInSyncStartDelayCycle: int

[in] Delay time [ms] before InSync monitoring start

dwMaxErrCompensableOnExtClockReconnect: int

[in] Maximum error in nanoseconds that should be compensated after a reconnect of the external clock device. Synchronization restart if error exceeds this limit.

nCtlDriftErrorGain: int

[in] Multiplier for drift error. Default value is 3. A value of 0 sets the default value.

nCtlGain: int

[in] Proportional gain in ppt (part per thousand). Default is value 2. A value of 0 sets the default value.

nCtlSetVal: int

[in] Controller set value [ns]. This is the time distance between the cyclic frame send time and the DC base on bus (SYNC0 if shift is zero).

nMaxValidVal: int

[in] Error inputs above this value are considered invalid. If error input prediction is valid then the difference between the error input and the expected value is taken. Default value is 3000. A value of 0 sets the default value.

wExtClockFixedAddr: int

[in] Fixed address of external clock slave (publishing PDO 0x10F4) (optional if ENI is generated by EcEngineer)

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_LINKLAYERREFCLOCK
DcStartTimeCallbackDesc: EcWrapperPythonTypes.DN_EC_T_DC_STARTTIME_CB_DESC

[in] If not null, DC start time calculated by application, otherwise by master. See also EC_T_DC_STARTTIME_CB_DESC. Shift value configured in ENI will still be applied.

bLogEnabled: bool

[in] If set to EC_TRUE, logging information are generated and can be got by calling emDcmGetLog()

dwInSyncLimit: int

[in] Limit [ns] for InSync monitoring. Default value is 20% of the cycle time. A value of 0 sets the default value.

dwInSyncSettleTime: int

[in] Settle time [ms] for InSync monitoring. Default value is 1500ms. A value of 0 sets the default value.

nCtlSetVal: int

[in] Controller set value [ns]. This is the time distance between the cyclic frame send time and the DC base on bus (SYNC0 if shift is zero).

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_MASTERREFCLOCK
bLogEnabled: bool

[in] If set to EC_TRUE, logging information are generated and can be got by calling emDcmGetLog()

dwInSyncLimit: int

[in] Limit [ns] for InSync monitoring. Default value is 20% of the cycle time. A value of 0 sets the default value.

dwInSyncSettleTime: int

[in] Settle time [ms] for InSync monitoring. Default value is 1500ms. A value of 0 sets the default value.

nCtlSetVal: int

[in] Controller set value [ns]. This is the time distance between the cyclic frame send time and the DC base on bus (SYNC0 if shift is zero).

pGetHostTimeContext: object

[in] Optional context for the pfnGetHostTime function, will be passed as first parameter to this function/static method

class EcWrapperPythonTypes.DN_EC_T_DCM_CONFIG_MASTERSHIFT
bCtlOff: bool

[in] If set to EC_TRUE, control loop is disabled. Combined with bLogEnabled, it makes possible to analyze the natural drift between the stack cycle and the reference clock. Also it provides reading of current adjustment value using emDcmGetAdjust function.

bLogEnabled: bool

[in] If set to EC_TRUE, logging information are generated and can be got by calling emDcmGetLog()

dwInSyncLimit: int

[in] Limit [ns] for InSync monitoring. Default value is 20% of the cycle time. A value of 0 sets the default value.

dwInSyncSettleTime: int

[in] Settle time [ms] for InSync monitoring. Default value is 1500ms. A value of 0 sets the default value.

dwInSyncStartDelayCycle: int

[in] Delay time [ms] before InSync monitoring start

nCtlDriftErrorGain: int

[in] Multiplier for drift error. Default value is 3. A value of 0 sets the default value.

nCtlGain: int

[in] Proportional gain in ppt (part per thousand). Default is value 2. A value of 0 sets the default value.

nCtlSetVal: int

[in] Controller set value [ns]. This is the time distance between the cyclic frame send time and the DC base on bus (SYNC0 if shift is zero).

nMaxValidVal: int

[in] Error inputs above this value are considered invalid. If error input prediction is valid then the difference between the error input and the expected value is taken. Default value is 3000. A value of 0 sets the default value.

pAdjustCycleTimeContext: object

[in] Optional context for the pfnAdjustCycleTime function, will be passed as first parameter to this function/static method

pGetTimeElapsedSinceCycleStartContext: object

[in] Optional context for the pfnGetTimeElapsedSinceCycleStart function, will be passed as first parameter to this function/static method

class EcWrapperPythonTypes.DN_EC_T_DCM_MODE(value)
BCppDummy = 4294967295

BCppDummy

BusShift = 1

DCM BusShift mode

Dcx = 5

DCM DCX External synchronization mode

LinkLayerRefClock = 3

DCM LinkLayer Ref Clock mode

MasterRefClock = 4

DCM Master Ref Clock mode

MasterShift = 2

DCM MasterShift mode

MasterShiftByApp = 6

DCM MasterShift controlled by application mode

Off = 0

DCM disabled

class EcWrapperPythonTypes.DN_EC_T_DCM_SYNC_NTFY_DESC

Distributed clocks master sync (DCM)

IsInSync: int

[in] EC_TRUE as long as time of master and reference clock are in sync. False if the InSyncLimit from the bus shift configuration is exceeded.

nCtlErrorNsecAvg: int

[in] Average difference [ns] between set value and actual value of controller

nCtlErrorNsecCur: int

[in] Current difference [ns] between set value and actual value of controller

nCtlErrorNsecMax: int

[in] Maximum difference [ns] between set value and actual value of controller

class EcWrapperPythonTypes.DN_EC_T_DCX_SYNC_NTFY_DESC

Distributed clocks master external sync (DCX)

IsInSync: int

EC_TRUE if external(other EtherCAT segment) and internal reference clock are in sync respectively

dwErrorCode: int

DCX external clock error code

nCtlErrorNsecAvg: int

Average DCX controller error [ns]

nCtlErrorNsecCur: int

Current DCX controller error [ns]

nCtlErrorNsecMax: int

Maximum DCX controller error [ns]

nTimeStampDiff: int

Difference between external and internal time stamp [ns]

class EcWrapperPythonTypes.DN_EC_T_DC_CONFIGURE
bAcycDistributionDisabled: bool

[in] If EC_TRUE, acyclic distribution is disabled

bBulkInLinkLayer: bool

bBulkInLinkLayer

bDcInitBeforeSlaveStateChange: bool

[in] If EC_TRUE, DC is initialized before slaves state change to PREOP

dwBurstBulk: int

[in] Amount of burst frames per cycle during initialization burst /defaultparm{EC_DEFAULTPARM_dwBurstBulk}

dwClntId: int

[in] Reserved

dwDcStartTimeGrid: int

[in] Time grid [ns] to align DC start time. With the help of the grid, several EtherCAT networks can be synchronized without a random shift value between the SYNC signals.

dwDevLimit: int

dwDevLimit

dwSettleTime: int

dwSettleTime

dwTimeout: int

[in] Timeout [ms] for the DC initialization in which time offsets and propagation delays are evaluated /defaultparm{EC_DEFAULTPARM_dwDcTimeout}

dwTotalBurstLength: int

[in] Overall amount of burst frames sent /defaultparm{EC_DEFAULTPARM_dwTotalBurstLength}

class EcWrapperPythonTypes.DN_EC_T_DC_STARTTIME_CB_DESC
pvContext: object

[in] Arbitrarily application-defined parameter passed to pfnCallback

class EcWrapperPythonTypes.DN_EC_T_DC_SYNC_NTFY_DESC

Distributed clocks (DC)

IsInSync: int

Wire or’ed deviation value does not meet limit requirements. The limit is set by emDcConfigure().

Type

[in] EC_TRUE

Type

Wire or’ed deviation value meets limit requirements. EC_FALSE

IsNegative: int

Deviation value is positive

Type

[in] EC_TRUE

Type

Deviation value is negative, EC_FALSE

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

[in] Slave properties in case of out of sync

dwDeviation: int

[in] Wire or’ed deviation value [ns] in case of in sync

class EcWrapperPythonTypes.DN_EC_T_DEFTYPE(value)
ARRAY_OF_BYTE = 10

ARRAY_OF_BYTE

ARRAY_OF_DINT = 610

ARRAY_OF_DINT

ARRAY_OF_INT = 608

ARRAY_OF_INT

ARRAY_OF_SINT = 609

ARRAY_OF_SINT

ARRAY_OF_UDINT = 611

ARRAY_OF_UDINT

ARRAY_OF_UINT = 11

ARRAY_OF_UINT

BACKUP_PARAMETER = 43

BACKUP_PARAMETER

BIT1 = 48

BIT1

BIT10 = 57

BIT10

BIT11 = 58

BIT11

BIT12 = 59

BIT12

BIT13 = 60

BIT13

BIT14 = 61

BIT14

BIT15 = 62

BIT15

BIT16 = 63

BIT16

BIT2 = 49

BIT2

BIT3 = 50

BIT3

BIT4 = 51

BIT4

BIT5 = 52

BIT5

BIT6 = 53

BIT6

BIT7 = 54

BIT7

BIT8 = 55

BIT8

BIT9 = 56

BIT9

BITARR16 = 46

BITARR16

BITARR32 = 47

BITARR32

BITARR8 = 45

BITARR8

BOOLEAN = 1

BOOLEAN

BYTE = 30

BYTE

COMMAND = 37

COMMAND

DIAGNOSIS_OBJECT = 642

DIAGNOSIS_OBJECT

DOMAIN = 15

DOMAIN

DWORD = 32

DWORD

ENUM = 40

ENUM

ERROR_SETTING = 641

ERROR_SETTING

EXTERNAL_SYNC_SETTINGS = 644

EXTERNAL_SYNC_SETTINGS

EXTERNAL_SYNC_STATUS = 643

EXTERNAL_SYNC_STATUS

FSOECOMMPAR = 646

FSOECOMMPAR

FSOEFRAME = 645

FSOEFRAME

GUID = 29

GUID

HISTORY = 642

HISTORY

IDENTITY = 35

IDENTITY

INTEGER16 = 3

INTEGER16

INTEGER24 = 16

INTEGER24

INTEGER32 = 4

INTEGER32

INTEGER40 = 18

INTEGER40

INTEGER48 = 19

INTEGER48

INTEGER56 = 20

INTEGER56

INTEGER64 = 21

INTEGER64

INTEGER8 = 2

INTEGER8

MODULAR_DEVICE_PROFILE = 44

MODULAR_DEVICE_PROFILE

NULL = 0

NULL

OCTETSTRING = 10

OCTETSTRING

PDOCOMPAR = 39

PDOCOMPAR

PDOMAPPING = 33

PDOMAPPING

REAL32 = 8

REAL32

REAL64 = 17

REAL64

RECORD = 42

RECORD

SMPAR = 41

SMPAR

TIMEDIFFERENCE = 13

TIMEDIFFERENCE

TIMEOFDAY = 12

TIMEOFDAY

UNICODESTRING = 11

UNICODESTRING

UNSIGNED16 = 6

UNSIGNED16

UNSIGNED24 = 22

UNSIGNED24

UNSIGNED32 = 7

UNSIGNED32

UNSIGNED40 = 24

UNSIGNED40

UNSIGNED48 = 25

UNSIGNED48

UNSIGNED56 = 26

UNSIGNED56

UNSIGNED64 = 27

UNSIGNED64

UNSIGNED8 = 5

UNSIGNED8

VISIBLESTRING = 9

VISIBLESTRING

WORD = 31

WORD

class EcWrapperPythonTypes.DN_EC_T_EEPROM_ACCESS_DENIED_DESC

Slave EEPROM access denied

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

SlavePropParent: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties of parent slave

wPortAtParent: int

Port at parent slave

class EcWrapperPythonTypes.DN_EC_T_EEPROM_CHECKSUM_ERROR_DESC

Slave EEPROM checksum error

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

class EcWrapperPythonTypes.DN_EC_T_EOM_COMMUNICATION_TYPE(value)
BCppDummyCommType = 4294967295

BCppDummyCommType

RAW = 1

RAW communication

UDP = 0

UDP communication

class EcWrapperPythonTypes.DN_EC_T_ETHERNET_TAP_TYPE(value)
AutoDetect = 1

Auto detect TAP type. If no suitable type is detected, eEthTap_Generic is used.

Beckhoff_ET2000 = 3

Beckhoff ET2000 Ethernet probe

Dummy = 4294967295

Dummy

Generic = 2

Generic Ethernet switch

Hilscher_netANALYZER = 5

Not Supported

Kunbus_TapCurious = 4

Kunbus TAP Curious Ethernet probe

PortMirror = 6

Port mirror Ethernet probe with separate monitoring ports for TX and RX. Only RX port supported.

Unknown = 0

Unknown type

class EcWrapperPythonTypes.DN_EC_T_FRAMELOSS_AFTER_SLAVE_NTFY_DESC
SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

wPort: int

Port

class EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_DESC
EErrorType: EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_TYPE

Frame response error type

bIsCyclicFrame: bool

Indicates whether the lost frame was a cyclic frame

byEcCmdHeaderIdxAct: int

eRspErr_WRONG_IDX and eRspErr_UNEXPECTED

Type

Actually received IDX value, this value is only valid for acyclic frames in case of EErrorType is equal to

byEcCmdHeaderIdxSet: int

Expected IDX value, this value is valid only for acyclic frames in case EErrorType is not equal to eRspErr_UNEXPECTED

dwTaskId: int

Cyclic/TaskId). Only valid if bIsCyclicFrame is set

Type

Cyclic Task ID (ENI

wCycFrameNum: int

Number of the lost cyclic frame from the ENI

class EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_TYPE(value)

EtherCAT frame response error descriptor

BCppDummy = 4294967295

BCppDummy

CRC = 8

Ethernet frame with CRC error received

FOREIGN_SRC_MAC = 6

Frame with MAC from other Master received

FRAME_RETRY = 4

Ethernet frame will be re-sent (timeout, frame loss)

NON_ECAT_FRAME = 7

Non EtherCAT frame received

NO_RESPONSE = 1

No Ethernet frame received (timeout, frame loss)

RETRY_FAIL = 5

All retry mechanism fails to re-sent acyclic frames

UNDEFINED = 0

Undefined

UNEXPECTED = 3

Unexpected frame was received

WRONG_IDX = 2

Wrong IDX value in acyclic frame

class EcWrapperPythonTypes.DN_EC_T_FSOE_CONNECTION_STATE(value)

  • FSOE state (see ETG.5001.4 v0.1.1, table 9)

BCppDummy = 4294967295

BCppDummy

CONNECTION = 2

CONNECTION

DATA = 4

DATA

FAILSAFE = 5

FAILSAFE

PARAMETER = 3

PARAMETER

RESET = 0

RESET

SESSION = 1

SESSION

class EcWrapperPythonTypes.DN_EC_T_FSOE_CONNECTION_STATECHANGED_NTFY_DESC

FSoE connection state changed descriptor

eConnStateNew: EcWrapperPythonTypes.DN_EC_T_FSOE_CONNECTION_STATE

New connection state

eConnStateOld: EcWrapperPythonTypes.DN_EC_T_FSOE_CONNECTION_STATE

New connection state

oSlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

wFsoeSlaveSafeAddress: int

Safe address of the FSoE slave

class EcWrapperPythonTypes.DN_EC_T_GET_SLAVE_INFO

ecatGetSlaveInfo

aPortSlaveIds: List[int]

[out] slave IDs connected to ports

abyDeviceName: str

abyDeviceName

bDc64Support: bool

[out] Slave does support 64Bit DC

bDcSupport: bool

[out] Slave does support DC

bIsHCGroupPresent: bool

[out] The hot connect group of the slave is present

bIsMailboxSlave: bool

[out] Whether slave support mailboxes

bIsOptional: bool

[out] Slave is in an optional hot connect group

bIsPresent: bool

[out] Slave is currently present on bus

byESCType: int

[out] ESC Node Type

byPortDescriptor: int

[out] Port Descriptor (ESC register 0x0007)

dwErrorCode: int

[out] Last return code

dwMbxInSize: int

[out] Mailbox 1 input size

dwMbxInSize2: int

[out] Mailbox 2 input size

dwMbxOutSize: int

[out] Mailbox 1 output size

dwMbxOutSize2: int

[out] Mailbox 2 output size

dwPdOffsIn: int

[out] Process data offset of Input Data (in bits)

dwPdOffsIn2: int

[out] Process data offset of Input data (in bits)

dwPdOffsIn3: int

[out] Process data offset of Input Data (in bits)

dwPdOffsIn4: int

[out] Process data offset of Input Data (in bits)

dwPdOffsOut: int

[out] Process data offset of Output Data (in bits)

dwPdOffsOut2: int

[out] Process data offset of Output Data (in bits)

dwPdOffsOut3: int

[out] Process data offset of Output Data (in bits)

dwPdOffsOut4: int

[out] Process data offset of Output Data (in bits)

dwPdSizeIn: int

[out] Process data size of Input Data (in bits)

dwPdSizeIn2: int

[out] Process data size of Input Data (in bits)

dwPdSizeIn3: int

[out] Process data size of Input Data (in bits)

dwPdSizeIn4: int

[out] Process data size of Input Data (in bits)

dwPdSizeOut: int

[out] Process data size of Output Data

dwPdSizeOut2: int

[out] Process data size of Output Data

dwPdSizeOut3: int

[out] Process data size of Output Data

dwPdSizeOut4: int

[out] Process data size of Output Data

dwProductCode: int

Product Code

dwRevisionNumber: int

Revision Number

dwSBErrorCode: int

[out] Last return value from SB

dwScanBusStatus: int

Status during last Bus Scan

dwSerialNumber: int

Serial Number

dwSlaveId: int

[out] Slave ID

dwSystemTimeDifference: int

dwSystemTimeDifference

dwVendorId: int

Vendor Identification

wAlStatusCode: int

[out] AL Status Code (ESC register 0x0134)

wAlStatusValue: int

[out] AL Status Register Value (ESC register 0x0130)

wAliasAddress: int

[out] Slave alias address

wCfgPhyAddress: int

[out] Slave configured station address

wNumProcessVarsInp: int

[out] Number of output process data variables

wNumProcessVarsOutp: int

[out] Number of input process data variables

wPhysAddress: int

[out] Slave station address

wPortState: int

[out] port link state (SB Instance)

wSupportedMbxProtocols: int

AoE, EoE, CoE, FoE, SoE

Type

[out] Supported mailbox protocols

class EcWrapperPythonTypes.DN_EC_T_HC_DETECTALLGROUP_NTFY_DESC
adwGroupMask: List[int]

Bitmask of first 3200 Groups

dwGroupCount: int

Total number of Groups

dwGroupMask: int

Bitmask of first 32 Groups. 1 = present, 0 = absent.

dwGroupsPresent: int

Number of connected groups

dwResultCode: int

Result of Group detection

class EcWrapperPythonTypes.DN_EC_T_HC_GROUP_INFO
bIsMandatory: bool

[out] EC_TRUE if HC group is mandatory, EC_FALSE otherwise

bIsPresent: bool

[out] EC_TRUE if HC group is present, EC_FALSE otherwise

dwHcGroupIdx: int

[out] Index of Hot Connect group

dwNumOfSlaves: int

[out] Number of Slaves within the group

szGroupName: str

[out] Hot connect group name (from ENI file)

wHeadSlaveStationAddress: int

[out] Physical address of the head slave of the HC group

wIdentificationAdo: int

[out] Ado of Identification check

wIdentificationVal: int

[out] Val of Identification check

class EcWrapperPythonTypes.DN_EC_T_INITCMD_ERR_DESC
EErrorType: EcWrapperPythonTypes.DN_EC_T_INITCMD_ERR_TYPE

Init command error type

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

achStateChangeName: str

State change description when the error occurred

szComment: str

Comment (ENI)

class EcWrapperPythonTypes.DN_EC_T_INITCMD_ERR_TYPE(value)

EtherCAT init command response error descriptor

ALSTATUS_ERROR = 5

Error in AL Status Register

BCppDummy = 4294967295

BCppDummy

FAILED = 3

Init commands failed (state could not be reached)

MBXSLAVE_ERROR = 6

Error at Mailbox Init Command

NOT_PRESENT = 4

Slave not present on the bus

NO_ERROR = 0

No error

NO_RESPONSE = 1

No Ethernet frame received (timeout)

PDI_WATCHDOG = 7

PDI watchdog has been detected

VALIDATION_ERR = 2

Validation error (invalid slave command response)

class EcWrapperPythonTypes.DN_EC_T_INITRASPARAMS

RAS parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_MASTER_PARMS
MasterRedParms: EcWrapperPythonTypes.DN_EC_T_MASTER_RED_PARMS

[in] Master Redundancy parameters

PerfMeasInternalParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INTERNAL_PARMS

[in] Internal performance measurement parameters

bApiLockByApp: bool

application is responsible for locking.

Type

[in] Lock pending API against emDeinitMaster(). EC_FALSE (default)

Type

locked internally. EC_TRUE

bNoConsecutiveAcycFrames: bool

Don’t process and send acyclic frames in the same cycle to reduce CPU load.

Type

[in] EC_FALSE(default)

Type

no restriction. EC_TRUE

dwAdditionalEoEEndpoints: int

[in] Additional EoE endpoints

dwBusCycleTimeNsec: int

[in] Bus cycle time [ns]

dwEcatCmdMaxRetries: int

[in] Maximum retries to send pending EtherCAT command frames /defaultparm{EC_DEFAULTPARM_dwMaxAcycCmdRetries}

dwEcatCmdTimeout: int

[in] Timeout [ms] to send pending EtherCAT command frames /defaultparm{EC_DEFAULTPARM_dwAcycCmdTimeout}

dwLogLevel: EcWrapperPythonTypes.DN_EC_LOG_LEVEL

dwLogLevel

dwMaxAcycBytesPerCycle: int

[in] Maximum bytes sent during eUsrJob_SendAcycFrames per cycle /defaultparm{EC_DEFAULTPARM_dwMaxAcycBytesPerCycle}

dwMaxAcycCmdsPerCycle: int

[in] Maximum commands sent during eUsrJob_SendAcycFrames per cycle /defaultparm{EC_DEFAULTPARM_dwMaxAcycCmdsPerFrame}

dwMaxAcycFramesPerCycle: int

[in] Maximum frames sent during eUsrJob_SendAcycFrames per cycle /defaultparm{EC_DEFAULTPARM_dwMaxAcycFramesPerCycle}

dwMaxAcycFramesQueued: int

[in] Maximum queued acyclic frames

dwMaxBusSlaves: int

[in] Maximum pre-allocated bus slave objects /defaultparm{EC_DEFAULTPARM_dwMaxBusSlaves}

dwMaxQueuedS2SMbxTfer: int

[in] S2S Fifo number of entries /defaultparm{EC_DEFAULTPARM_dwMaxQueuedS2SMbxTfer}

dwMaxS2SMbxSize: int

[in] Size of the queued S2S mailbox in bytes /defaultparm{EC_DEFAULTPARM_dwMaxS2SMbxSize}

dwMaxSlavesProcessedPerCycle: int

[in] Maximum slave-related state machine calls per cycle (default = all)

oLinkParms: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS

oLinkParms

oLinkParmsRed: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS

oLinkParmsRed

wMaxSlavesProcessedPerBusScanStep: int

[in] Maximum slave-related calls per cycle during bus scans (default = all)

class EcWrapperPythonTypes.DN_EC_T_INIT_MBXGATEWAY_PARMS

MBX Gateway Parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS

Abstract initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MASTER

EcMaster initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MASTER_RAS_SERVER

RAS server of EcMaster initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MBXGATEWAY_CLIENT

Mailbox gateway client of EcMaster initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MBXGATEWAY_SERVER

Mailbox gateway server of EcMaster initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MONITOR

EcMonitor initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_MONITOR_RAS_SERVER

RAS server of EcMonitor initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_RAS_CLIENT

RAS client initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_SIMULATOR

EcSimulator initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_SIMULATOR_RAS_SERVER

RAS server of EcSimulator initalization parameters

class EcWrapperPythonTypes.DN_EC_T_INNER_IPADDR
by: List[int]

IPv4 address (endianness independent)

class EcWrapperPythonTypes.DN_EC_T_IOCTL(value)

Specifies IOCTL codes

ACTIVATE_VOE_RECV_FIFO = 81
ADDITIONAL_VARIABLES_FOR_SPECIFIC_DATA_TYPES = 58
ADD_BRD_SYNC_WINDOW_MONITORING = 20
ADD_COE_INITCMD = 26
ADD_PADDING_TO_DC_FRAMES = 80
ALL_SLAVES_MUST_REACH_MASTER_STATE = 49
CHECK_OEM_KEY = 16711686
CLEAR_MASTER_INFO_COUNTERS = 63
CLR_SLVSTATISTICS = 46
DCM_GET_LOG = 458756
DCM_REGISTER_STARTSO_CALLBACK = 458755
DCM_REGISTER_TIMESTAMP = 458753
DCM_UNREGISTER_TIMESTAMP = 458754
DC_ENABLE_ALL_DC_SLV = 196628
DC_FIRST_DC_SLV_AS_REF_CLOCK = 196626
DC_SETSYNCSTARTOFFSET = 196625
DC_SET_RED_PROPAGDELAY = 196629
DC_SHIFT_SYSTIME = 196624
DC_SLAVE_CONTROLLED_BY_PDI = 196627
DC_SLV_SYNC_DEVLIMIT_GET = 196615
DC_SLV_SYNC_DEVLIMIT_SET = 196614
DC_SLV_SYNC_STATUS_GET = 196613
FORCE_BROADCAST_DESTINATION = 42
FORCE_SLVSTAT_COLLECTION = 44
GET_CYCLIC_CONFIG_INFO = 15
GET_FAST_CONTEXT = 16711684
GET_LINKLAYER_MODE = 16
GET_MASTER_MAX_STATE = 74
GET_NOTIFICATION_ENABLED = 54
GET_PDMEMORYSIZE = 40
GET_SLVSTATISTICS = 45
GET_SLVSTAT_PERIOD = 66
HC_CONFIGURETIMEOUTS = 393219
HC_GETMODE = 393218
HC_SETMODE = 393217
INITIATE_UPDATE_ALL_SLAVE_STATE = 19
IS_SLAVETOSLAVE_COMM_CONFIGURED = 17
LINKLAYER_DBG_MSG = 10
MASTEROD_SET_VALUE = 51
MONITOR_SET_COESDO_CLEAR_ON_READ = 3439329281
MONITOR_SET_IGNORE_COE_API_TIMEOUTS = 3439329282
ONLY_PROCESS_DATA_IN_IMAGE = 21
REALLOC_MBX_QUEUE = 84
REGISTERCLIENT = 2
REGISTER_CYCFRAME_RX_CB = 22
REGISTER_FRAMECALLBACK = 82
REGISTER_PDMEMORYPROVIDER = 41
REG_DC_SLV_SYNC_NTFY = 196611
RESET_SLAVE = 13
SB_ACCEPT_TOPOLOGY_CHANGE = 327696
SB_BUSCNF_GETSLAVE_INFO = 327685
SB_BUSCNF_GETSLAVE_INFO_EEP = 327686
SB_BUSCNF_GETSLAVE_INFO_EX = 327689
SB_ENABLE = 327687
SB_GET_BUS_SLAVE_PORTS_INFO = 327702
SB_NOTIFY_UNEXPECTED_BUS_SLAVES = 327697
SB_RESTART = 327681
SB_SET_BUSCNF_READ_PROP = 327692
SB_SET_BUSCNF_VERIFY = 327683
SB_SET_BUSCNF_VERIFY_PROP = 327684
SB_SET_ERROR_ON_CROSSED_LINES = 327694
SB_SET_ERROR_ON_LINE_BREAK = 327703
SB_SET_IDENTIFICATION_FALLBACK_ENABLED = 327704
SB_SET_JUNCTION_REDUNDANCY_MODE = 327701
SB_SET_NOTIFY_NOT_CONNECTED_PORT_A = 327699
SB_SET_NOTIFY_UNEXPECTED_CONNECTED_PORT = 327700
SB_SET_NO_DC_SLAVES_AFTER_JUNCTION = 327705
SB_SET_RED_ENHANCED_LINE_CROSSED_DETECTION_ENABLED = 327698
SB_SET_TOPOLOGY_CHANGED_DELAY = 327693
SB_SET_TOPOLOGY_CHANGED_DELAYS = 327706
SB_SET_TOPOLOGY_CHANGE_AUTO_MODE = 327695
SB_STATUS_GET = 327682
SET_ADJUST_CYCFRAMES_AFTER_SLAVES_STATE_CHANGE = 65
SET_AUTO_ACK_AL_STATUS_ERROR_ENABLED = 61
SET_AUTO_ADJUST_CYCCMD_WKC_ENABLED = 62
SET_AUTO_ADJUST_MBX_STATE_COUNT_ENABLED = 89
SET_BUS_CYCLE_TIME = 57
SET_BUS_DIAGNOSIS_COUNTERS_OVERFLOW_ENABLED = 78
SET_CLEAR_ERROR_REGISTERS_INITCMD_ENABLED = 88
SET_CONFIGDATA_MEMORY_POOL = 75
SET_COPYINFO_IN_SENDCYCFRAMES = 56
SET_CYCFRAME_LAYOUT = 52
SET_DIAGMSG_CODE_BASE = 77
SET_EOE_DEFFERED_SWITCHING_ENABLED = 67
SET_FRAME_LOSS_SIMULATION = 16711681
SET_FRAME_RESPONSE_ERROR_NOTIFY_MASK = 8
SET_GENENI_ASSIGN_EEPROM_BACK_TO_ECAT = 60
SET_GEN_ENI_PARM = 83
SET_IGNORE_INPUTS_ON_WKC_ERROR = 59
SET_IGNORE_SWAPDATA = 72
SET_MAILBOX_POLLING_CYCLES = 71
SET_MASTER_DEFAULT_TIMEOUTS = 55
SET_MASTER_MAX_STATE = 73
SET_MBX_RETRYACCESS_COUNT = 47
SET_MBX_RETRYACCESS_PERIOD = 48
SET_NEW_BUSSLAVES_TO_INIT = 68
SET_NOTIFICATION_CTL = 50
SET_NOTIFICATION_ENABLED = 53
SET_OEM_KEY = 16711685
SET_RXFRAME_LOSS_SIMULATION = 16711682
SET_SENDCYCFRAMES_BEFORE_PROCESSALLRXFRAMES = 79
SET_SLAVE_MAX_STATE = 85
SET_SLVSTAT_PERIOD = 43
SET_SPLIT_FRAME_PROCESSING_ENABLED = 64
SET_STOP_TRANSITION_ON_PDI_WATCHDOG = 76
SET_TXFRAME_LOSS_SIMULATION = 16711683
SET_ZERO_INPUTS_ON_FRAME_LOSS = 87
SET_ZERO_INPUTS_ON_WKC_ERROR = 70
SET_ZERO_INPUTS_ON_WKC_ZERO = 69
SIMULATOR_GET_MBX_PROCESS_CTL = 3422552066
SIMULATOR_SET_MBX_PROCESS_CTL = 3422552065
SLAVE_LINKMESSAGES = 14
SLV_ALIAS_ENABLE = 327690
UNREGISTERCLIENT = 3
UNREG_DC_SLV_SYNC_NTFY = 196612
class EcWrapperPythonTypes.DN_EC_T_IPADDR
sAddr: EcWrapperPythonTypes.DN_EC_T_INNER_IPADDR

sAddr

class EcWrapperPythonTypes.DN_EC_T_JUNCTION_RED_CHANGE_DESC
SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

bLineBreak: bool

EC_TRUE for line break, EC_FALSE for line fixed

wPort: int

Port

class EcWrapperPythonTypes.DN_EC_T_LINE_CROSSED_DESC
SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

wInputPort: int

Port where frame was received

class EcWrapperPythonTypes.DN_EC_T_LINKLAYER_TIMING(value)
BCppDummy = 4294967295

BCppDummy

TMR = 1

Real-time Ethernet Driver Timer

TTS = 1

Real-time Ethernet Driver Time Triggered Send

Undefined = 0

Link Layer Timing is undefined must be TTS or TMR

class EcWrapperPythonTypes.DN_EC_T_LINKMODE(value)
BCppDummy = 4294967295

BCppDummy

INTERRUPT = 1

Link is in interrupt mode and is triggered by interrupts

POLLING = 2

Link is in polling mode and is polled periodically

UNDEFINED = 0

Link is in an undefined state, must be polling or interrupt

Receive buffer count. Must be a power of 2, maximum 1024.

Transmit buffer count. Must be a power of 2, maximum 1024.

Don’t check link status (forced)

DPDK EAL layer is initialized and deinitialized by user App

Change promiscuous mode setting

DPDK port ID

defaults to DPDK internal setting

Type

Receive buffer count, 0

default to DPDK internal setting

Type

Transmit buffer count, 0

Host IP Address

IP address of the EOM coupler

MAC address of the EOM coupler

Communication type

oHwLinkParms

Disable locks

bNotUseDmaBuffers

Timeout [ms] for auto negotiation

default to 96

Type

Receive buffer count, 0

buffer optimized for standard Ethernet frame.

Type

Receive buffer size for a single Ethernet frame. 0

default to 96

Type

Transmit buffer count, 0

buffer optimized for standard Ethernet frame.

Type

Transmit buffer size for a single Ethernet frame. 0

Disable locks

No PHY control (e.g. PHY reset, PHY PM settings, Gbits Ctrl) on link connection detected

Type

EC_TRUE

bNotUseDmaBuffers

Timeout [ms] for auto negotiation

default to 96

Type

Receive buffer count, 0

buffer optimized for standard Ethernet frame.

Type

Receive buffer size for a single Ethernet frame. 0

default to 96

Type

Transmit buffer count, 0

buffer optimized for standard Ethernet frame.

Type

Transmit buffer size for a single Ethernet frame. 0

Used CU2508 downlink port

Type of the Multiplier Ethernet port

oHwLinkParms

IP address of network adapter

FF:FF:FF:FF

Type

Don’t change target MAC address to FF

Type

FF

Disable adapter promiscuous mode

ServiceName of network adapter, see HKLM/SOFTWARE/Microsoft/Windows NT/CurrentVersion/NetworkCards in registry (zero terminated)

Destination adapter IP address (connect)

MAC address

Source adapter IP address (listen)

Frame buffer count for interrupt service thread (IST)

Socket type. Must be set to 1 (emrassocktype_tcp).

Destination port number (connect)

Source port number (listen)

Internal performance measurement parameters

MAC address

aoLinkParms

Connect hot connect groups in topology (floating group heads to free ports)

Don’t allocate Process Data Image at simulator (legacy support, CiA402 simulation)

implicitly by emllSimulator

Type

EC_FALSE

Type

esExecJob explicitly called by application, EC_TRUE

bStartRasServer

Cycle time of simulator job task

RAS server threads priority

RAS server threads stack size

Frame buffer count for IST

Reserved

See EC_SIMULATOR_DEVICE_CONNECTION_TYPE…

RAS server threads CPU affinity mask

64 bit OEM key (optional)

szEniFilename

License key (zero terminated string)

RAS server port

FF:FF:FF:FF

Type

Don’t change target MAC address to FF

Type

FF

Prevent adding Ethernet padding to work-around EtherCAT corruption bugs from native Linux driver(s)

Set Coalescing parameters to enhance the link layer performance

Enable promiscuous mode at network adapter

Use PACKET_MMAP PACKET_RX_RING for receive

Native ETH device name, e.g. ‘eth0’ (zero terminated)

MAC address

Frame buffer count for IST

GUID of virtual interface to connect (zero terminated)

Native tap device name, e.g. ‘tap0’ (zero terminated)

Vlan switch operation mode

oHwLinkParms

VLAN Identifier (VID)

VLAN Priority code point (PCP)

IP address

Filter input if EC_TRUE. This is needed on some system if the winpcap library notify the sent frames to the network adapter.

{XXXXXXXX-XXXX-XXXX-XXXX-XXXXXXXXXXXX}

Type

Adapter ID, format

[in] Bit offset of variable

[in] Pointer to application variable where process variable should be linked to

[in] Arbitrarily application-defined parameter

[in] Size of variable (in bits)

[in] Type of application variable

class EcWrapperPythonTypes.DN_EC_T_LOG_PARMS
dwLogLevel: int

[in] Log level. See /ref EC_LOG_LEVELS ‘EC_LOG_LEVEL…’

class EcWrapperPythonTypes.DN_EC_T_MAILBOX_STATISTICS

See also Object 0x2006 Mailbox Statistics Object

Aoe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

AoE mailbox transfer statistics

Coe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

CoE mailbox transfer statistics

Eoe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

EoE mailbox transfer statistics

Foe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

FoE mailbox transfer statistics

RawMbx: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

Raw mailbox transfer statistics

Soe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

SoE mailbox transfer statistics

Voe: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

VoE mailbox transfer statistics

aRes: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

aRes

class EcWrapperPythonTypes.DN_EC_T_MASTER_INFO

ecatGetMasterInfo

BusDiagnosisInfo: EcWrapperPythonTypes.DN_EC_T_BUS_DIAGNOSIS_INFO

Bus diagnostics

MailboxStatistics: EcWrapperPythonTypes.DN_EC_T_MAILBOX_STATISTICS

Mailbox statistics

RedundancyDiagnosisInfo: EcWrapperPythonTypes.DN_EC_T_REDUNDANCY_DIAGNOSIS_INFO

Redundancy diagnosis info

dwMasterStateSummary: int

Master state summary

dwMasterVersion: int

Master version

dwMasterVersionType: int

Master version type. See /ref EC_VERSION_TYPES ‘EC_VERSION_TYPE’

wMasterStateSummaryDiagBitOffset: int

Bit offset of Master state summary in diagnosis image

wMasterStateSummaryDiagBitSize: int

Bit offset size of Master state summary in diagnosis image

class EcWrapperPythonTypes.DN_EC_T_MASTER_RED_PARMS

Master Redundancy initialization parameters, see ecatInitMaster

bEnabled: bool

[in] Set to EC_TRUE if using Master Redundancy

bUpdateSlavePdIn: bool

[in] Set to EC_TRUE to update Slave INPUT Process Data Image at INACTIVE Master (from CMF)

bUpdateSlavePdOut: bool

[in] Set to EC_TRUE to update Slave OUTPUT Process Data Image at INACTIVE Master (from CSF)

dwMaxAcycFramesPerCycle: int

[in] Maximum acyclic Master Red frames sent per cycle

wMasterPdInSize: int

[in] INACTIVE to ACTIVE Master Process Data (in bytes)

wMasterPdOutSize: int

[in] ACTIVE to INACTIVE Master Process Data (in bytes)

class EcWrapperPythonTypes.DN_EC_T_MBOXRCV
class EcWrapperPythonTypes.DN_EC_T_MBOX_FOE_ABORT_DESC

EtherCAT FoE error

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

achErrorString: str

FoE error string

dwErrorCode: int

Error code

class EcWrapperPythonTypes.DN_EC_T_MBOX_SDO_ABORT_DESC

EtherCAT Sdo abort

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

bySubIndex: int

SDO object sub index

dwErrorCode: int

Error code

wObjIndex: int

SDO object index

class EcWrapperPythonTypes.DN_EC_T_MBXRCV_INVALID_DATA_DESC

Invalid mailbox data received error

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

class EcWrapperPythonTypes.DN_EC_T_MBXTFER_STATUS(value)

EtherCAT mailbox status values

BCppDummy = 4294967295

BCppDummy

Idle = 0

Mailbox transfer object not in use

Pend = 1

Mailbox transfer in process

TferDone = 2

Mailbox transfer completed

TferReqError = 3

Mailbox transfer request error

TferWaitingForContinue = 4

Mailbox transfer waiting for continue, object owned by application

class EcWrapperPythonTypes.DN_EC_T_MBXTFER_TYPE(value)

EtherCAT mailbox type values

AOE_READ = 17

AoE read

AOE_READWRITE = 19

AoE read/write

AOE_WRITE = 18

AoE write

AOE_WRITECONTROL = 20

AoE write control

BCppDummy = 4294967295

BCppDummy

COE_EMERGENCY = 5

CoE emergency request

COE_GETENTRYDESC = 4

CoE Get object entry description

COE_GETOBDESC = 3

CoE Get object description

COE_GETODLIST = 2

CoE Get object dictionary list

COE_RX_PDO = 6

CoE RxPDO

COE_SDO_DOWNLOAD = 0

CoE SDO download

COE_SDO_UPLOAD = 1

CoE SDO upload

EOE_RECEIVE_FRAME = 28

EoE receive frame

EOE_SEND_FRAME = 27

EoE send frame

EOE_SET_IP = 29

EoE set IP address

FOE_DOWNLOAD_REQ = 26

FoE download request

FOE_FILE_DOWNLOAD = 8

FoE download

FOE_FILE_UPLOAD = 7

FoE upload

FOE_SEG_DOWNLOAD = 22

FoE segmented download

FOE_SEG_UPLOAD = 23

FoE segmented upload

FOE_UPLOAD_REQ = 25

FoE upload request

RAWMBX = 21

Raw mbx

S2SMBX = 24

S2S mbx

SOE_EMERGENCY = 14

SoE emergency

SOE_NOTIFICATION = 13

SoE notification

SOE_READREQUEST = 9

SoE read request

SOE_READRESPONSE = 10

SoE read response

SOE_WRITEREQUEST = 11

SoE write request

SOE_WRITERESPONSE = 12

SoE write response

VOE_MBX_READ = 15

VoE read

VOE_MBX_WRITE = 16

VoE write

class EcWrapperPythonTypes.DN_EC_T_MBX_DATA_COE
bCompleteAccess: bool

Complete access

bySubIndex: int

Object subindex

wIndex: int

Object index

wStationAddress: int

Station address of the slave

class EcWrapperPythonTypes.DN_EC_T_MBX_DATA_FOE
dwBusyDone: int

0 … dwBusyEntire

Type

[out] If slave is busy

dwBusyEntire: int

Slave is busy

Type

[out] If dwBusyEntire > 0

dwFileSize: int

[out] File size

dwRequestedBytes: int

[out] Amount of bytes to be provided by the application

dwTransferredBytes: int

[out] Amount of transferred bytes

szBusyComment: str

[out] Busy Comment from slave

wStationAddress: int

[out] Station address of the slave

class EcWrapperPythonTypes.DN_EC_T_MBX_DATA_FOE_REQ
dwPassword: int

[out] FoE read/write request password

szFileName: str

[out] Name of the file to be read/write

wStationAddress: int

[out] Station address of the slave

class EcWrapperPythonTypes.DN_EC_T_MBX_PARMS
Coe: EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_COE

[in] CoE parameters

Foe: EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_FOE

[in] FoE parameters

dwMemoryPoolSize: int

dwMemoryPoolSize

class EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_COE
bDisableNotifications: bool

[in] Disable all CoE related EC_NOTIFY_MBOXRCV notifications

bDisableODStorage: bool

[in] Disable storage of CoE objects in the internal object dictionary

class EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_FOE
bDisableFileStorage: bool

[in] Disable storage of FoE transfers as a file on the file system

bDisableNotifications: bool

[in] Disable all FoE related EC_NOTIFY_MBOXRCV notifications

dwMaxQueuedMbxTransfers: int

defaults to 32.

Type

[in] Maximum number of queued single FoE mailbox transfers that be used as a file write buffer. 0

class EcWrapperPythonTypes.DN_EC_T_MONITOR_INIT_PARMS
MbxParms: EcWrapperPythonTypes.DN_EC_T_MBX_PARMS

[in] Mailbox monitoring parameters

PerfMeasInternalParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INTERNAL_PARMS

[in] Internal performance measurement parameters

WorkerThreadParms: EcWrapperPythonTypes.DN_EC_T_WORKER_THREAD_PARMS

[in] Internal worker thread parameters

bApiLockByApp: bool

application is responsible for locking.

Type

[in] Lock pending API against emonDeinitMonitor(). EC_FALSE (default)

Type

locked internally. EC_TRUE

bProcessRestructuredCyclicCmds: bool

[in] Support processing of restructured cyclic command layout. All cyclic commands are processed as long as they are within the process data boundary of the ENI.

dwBacktraceFrames: int

dwBacktraceFrames

dwBusCycleTimeNsec: int

[in] Bus cycle time [ns]

dwCommunicationTimeoutMsec: int

disables monitoring.

Type

[in] Timeout [ms] for communication on the Ethernet TAP. 0

Type

defaults to 3 sec, EC_WAITINFINITE

dwLogLevel: EcWrapperPythonTypes.DN_EC_LOG_LEVEL

dwLogLevel

dwMaxBusSlaves: int

[in] Maximum pre-allocated bus slave objects

eEthTapType: EcWrapperPythonTypes.DN_EC_T_ETHERNET_TAP_TYPE

[in] Type of Ethernet TAP

oLinkParms: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS

oLinkParms

szFileStoragePath: str

defaults to ‘’.

Type

[in] Path used to store records and files, e.g. FoE transfers. EC_NULL

wMainTapPortIn: int

X1.0 = 10, X1.1 = 11, X2.0 = 20, …, X4.1 = 41. For other supported TAPs, this is the port number starting from 0. If both wMainTapPortIn and wMainTapPortOut are 0, no filtering is performed

Type

[in] TAP IN port. For ET2000

wMainTapPortOut: int

[in] TAP OUT port. See wMainTapPortIn

class EcWrapperPythonTypes.DN_EC_T_MONITOR_STATUS
bNextCyclicEntryReceived: bool

[out] Indicates whether all frames from the next EtherCAT cycle have been received and have not yet been processed

bNextFramesReceived: bool

[out] Indicates whether further unprocessed frames form the next EtherCAT cycle were received

bPdCommunicationDetected: bool

[out] Process Data communication detected

bPdoAssigned: bool

[out] PDO assignment of all slaves detected and validated

bPdoMapped: bool

[out] PDO mapping (SyncSM/FMMU) of all slaves detected and validated

bTopologyKnown: bool

[out] Topology successfully detected and validated

dwCyclesProcessed: int

[out] Number of EtherCAT cycles processed

eEthTapType: EcWrapperPythonTypes.DN_EC_T_ETHERNET_TAP_TYPE

[out] Type of Ethernet TAP. Detected TAP if EC_T_MONITOR_INIT_PARMS::eEthTapType = eEthTap_AutoDetect is set.

wDeviceStatesDetected: int

[out] Bit mask that indicates which slave states already detected/monitored, see /ref DEVICE_STATES

wEthTapPositionAutoIncAddr: int

[out] Ethernet tap position as auto increment address

class EcWrapperPythonTypes.DN_EC_T_MSU_INFO
dwBitOffsIn: int

[out] Process Data Image INPUTs bit offset

dwBitOffsOut: int

[out] Process Data Image OUTPUTs bit offset

dwBitSizeIn: int

[out] Process Data Image INPUTs bit length

dwBitSizeOut: int

[out] Process Data Image OUTPUTs bit length

wMsuId: int

Slave/ProcessData/RxPdo[1..4]@Su, Slave/ProcessData/TxPdo[1..4]@Su, comment at Cyclic/Frame/Cmd)

Type

[out] Master Sync Unit ID (ENI

wWkcStateDiagOffsIn: int

0 = Process Data valid, 1 = Process Data invalid)

Type

[out] INPUTs WkcState bit offset in Diagnosis Image. (Bit values

wWkcStateDiagOffsOut: int

0 = Process Data valid, 1 = Process Data invalid)

Type

[out] OUTPUTs WkcState bit offset in Diagnosis Image. (Bit values

class EcWrapperPythonTypes.DN_EC_T_MULTIPLIER_TYPE(value)
Cu2508 = 0

Beckhoff CU2508 port multiplier

Et2000 = 1

Beckhoff ET2000 industrial Ethernet multi-channel probe

class EcWrapperPythonTypes.DN_EC_T_NOTIFYPARMS
dwInBufSize: int

[in] Size of notification input parameters in bytes

dwOutBufSize: int

[in] Size of buffer at pbyOutBuf in bytes

pCallerData: object

[in] Client depending caller data parameter. This pointer is one of the parameters when the client registers.

pbyInBuf: object

[in] Notification input parameters

pbyOutBuf: object

[out] Buffer for notification output (result)

pdwNumOutData: int

amount not set by notification.

Type

[out] Amount of bytes written to pbyOutBuf by notification. EC_NULL

class EcWrapperPythonTypes.DN_EC_T_OBJ2002

Object 0x2002 Bus Diagnosis Object

dwAcyclicDatagrams: int

dwAcyclicDatagrams

dwAcyclicFrames: int

dwAcyclicFrames

dwCRC32ConfigCheckSum: int

dwCRC32ConfigCheckSum

dwClearCounters: int

dwClearCounters

dwCyclicDatagrams: int

dwCyclicDatagrams

dwCyclicFrames: int

dwCyclicFrames

dwLostFrames: int

dwLostFrames

dwNumCfgSlaves: int

dwNumCfgSlaves

dwNumDCSlavesFound: int

dwNumDCSlavesFound

dwNumMbxSlaves: int

dwNumMbxSlaves

dwNumSlavesFound: int

dwNumSlavesFound

dwRXFrames: int

dwRXFrames

dwTXFrames: int

dwTXFrames

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ2003

Object 0x2003 Redundancy Diagnosis Object

byLineBreak: int

byLineBreak

byRedEnabled: int

byRedEnabled

wNumOfMainSlaves: int

wNumOfMainSlaves

wNumOfRedSlaves: int

wNumOfRedSlaves

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ2005

Object 0x2005 MAC Address Object

abyCfgDestination: List[int]

abyCfgDestination

abyCfgSource: List[int]

abyCfgSource

abyHardware: List[int]

abyHardware

abyRedHardware: List[int]

abyRedHardware

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ2020

Object 0x2020 Master Initialization parameters

bAllocSendFrameActive: bool

bAllocSendFrameActive

bPollingModeActive: bool

bPollingModeActive

dwApplicationVersion: int

dwApplicationVersion

dwBusCycleTimeUsec: int

dwBusCycleTimeUsec

dwEcatCmdMaxRetries: int

dwEcatCmdMaxRetries

dwEcatCmdTimeout: int

dwEcatCmdTimeout

dwEoeTimeout: int

dwEoeTimeout

dwFoeBusyTimeout: int

dwFoeBusyTimeout

dwMasterVersion: int

dwMasterVersion

dwMaxAcycCmdsPerFrame: int

dwMaxAcycCmdsPerFrame

dwMaxAcycFramesQueued: int

dwMaxAcycFramesQueued

dwMaxBusSlave: int

dwMaxBusSlave

dwMaxSlavesProcessedPerCycle: int

dwMaxSlavesProcessedPerCycle

dwStateChangeDebug: int

dwStateChangeDebug

szDriverIdent: str

szDriverIdent

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ2200

Object 0x2200 Bus Load Statistics

dwBytesPerCycleAct: int

dwBytesPerCycleAct

dwBytesPerCycleMax: int

dwBytesPerCycleMax

dwBytesPerCycleMin: int

dwBytesPerCycleMin

dwBytesPerSecondAct: int

dwBytesPerSecondAct

dwBytesPerSecondMax: int

dwBytesPerSecondMax

dwBytesPerSecondMin: int

dwBytesPerSecondMin

wClearCounters: int

wClearCounters

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ3XXX

Object 0x3000 - 0x3FFF Slave Objects

bDC64Support: bool

bDC64Support

bDCSupport: bool

bDCSupport

bEnableLinkMsgs: bool

bEnableLinkMsgs

bEntryValid: bool

bEntryValid

bErrFlagSet: bool

bErrFlagSet

bMailboxSupport: bool

bMailboxSupport

bSlaveIsOptional: bool

bSlaveIsOptional

bSlaveIsPresent: bool

bSlaveIsPresent

bSyncPulseActive: bool

bSyncPulseActive

byESCType: int

byESCType

byEcatProcUnitErrorCounter: int

byEcatProcUnitErrorCounter

byFmmusSupported: int

byFmmusSupported

byFwdRxErrorCounter0: int

byFwdRxErrorCounter0

byFwdRxErrorCounter1: int

byFwdRxErrorCounter1

byFwdRxErrorCounter2: int

byFwdRxErrorCounter2

byFwdRxErrorCounter3: int

byFwdRxErrorCounter3

byLostLinkCounter0: int

byLostLinkCounter0

byLostLinkCounter1: int

byLostLinkCounter1

byLostLinkCounter2: int

byLostLinkCounter2

byLostLinkCounter3: int

byLostLinkCounter3

byPDIErrorCounter: int

byPDIErrorCounter

byPortDescriptor: int

byPortDescriptor

byRamSizeKb: int

byRamSizeKb

bySyncManagersSupported: int

bySyncManagersSupported

dwCurState: int

dwCurState

dwDCSync0Period: int

dwDCSync0Period

dwDCSync1Period: int

dwDCSync1Period

dwErrorCode: int

dwErrorCode

dwHotConnectGroupId: int

dwHotConnectGroupId

dwPdOffsIn: int

dwPdOffsIn

dwPdOffsOut: int

dwPdOffsOut

dwPdSizeIn: int

dwPdSizeIn

dwPdSizeOut: int

dwPdSizeOut

dwProductCode: int

dwProductCode

dwReqState: int

dwReqState

dwRevisionNo: int

dwRevisionNo

dwSBErrorCode: int

dwSBErrorCode

dwSerialNo: int

dwSerialNo

dwSystemTimeDifference: int

dwSystemTimeDifference

dwVendorID: int

dwVendorID

szDeviceName: str

szDeviceName

wAliasAddr: int

wAliasAddr

wAutoIncAddr: int

wAutoIncAddr

wConfigPhysAddr: int

wConfigPhysAddr

wMbxSupportedProtocols: int

wMbxSupportedProtocols

wPhysAddr: int

wPhysAddr

wPortState: int

wPortState

wRxErrorCounter0: int

wRxErrorCounter0

wRxErrorCounter1: int

wRxErrorCounter1

wRxErrorCounter2: int

wRxErrorCounter2

wRxErrorCounter3: int

wRxErrorCounter3

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ8XXX

Object 0x8000 - 0x8FFF Slave Objects (configured slaves) ‘Modular Device Profiles’

byFlags: int

byFlags

byLinkPreset: int

byLinkPreset

dwDeviceType: int

dwDeviceType

dwProductCode: int

dwProductCode

dwRevision: int

dwRevision

dwSerial: int

dwSerial

dwVendorID: int

dwVendorID

szName: str

szName

szType: str

szType

wFixedStationAddr: int

wFixedStationAddr

wMailboxInSize: int

wMailboxInSize

wMailboxOutSize: int

wMailboxOutSize

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJ9XXX

Modular Device Profiles: EtherCAT Master - internal slave object element (connected slaves)

dwProductCode: int

dwProductCode

dwRevision: int

dwRevision

dwSerial: int

dwSerial

dwVendorID: int

dwVendorID

wDLStatus: int

wDLStatus

wFixedStationAddr: int

wFixedStationAddr

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJAXXX

Modular Device Profiles: EtherCAT Master - internal slave object element (slave diagnosis)

bDisableAutomaticLinkControl: int

bDisableAutomaticLinkControl

byLinkConnStatus: int

byLinkConnStatus

byLinkControl: int

byLinkControl

dwAbnormalStateCounter: int

dwAbnormalStateCounter

dwCRCErrorCounterPort0: int

dwCRCErrorCounterPort0

dwCRCErrorCounterPort1: int

dwCRCErrorCounterPort1

dwCRCErrorCounterPort2: int

dwCRCErrorCounterPort2

dwCRCErrorCounterPort3: int

dwCRCErrorCounterPort3

dwCyclicWCErrorCounter: int

dwCyclicWCErrorCounter

dwSlaveNotPresentCounter: int

dwSlaveNotPresentCounter

wALControl: int

wALControl

wALStatus: int

wALStatus

wFixedAddressConnPort0: int

wFixedAddressConnPort0

wFixedAddressConnPort1: int

wFixedAddressConnPort1

wFixedAddressConnPort2: int

wFixedAddressConnPort2

wFixedAddressConnPort3: int

wFixedAddressConnPort3

wLastALStatusCode: int

wLastALStatusCode

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJF000

Modular Device Profiles: EtherCAT Master - modular device profile

dwGeneralCfg: int

dwGeneralCfg

dwGeneralInfo: int

dwGeneralInfo

wIndexDistance: int

wIndexDistance

wMaxModuleCnt: int

wMaxModuleCnt

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJF02X

Modular Device Profiles: EtherCAT Master - configured address list

awStationAddr: List[int]

awStationAddr

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_OBJF04X

Modular Device Profiles: EtherCAT Master - detected address list

awStationAddr: List[int]

awStationAddr

wSubIndex0: int

wSubIndex0

class EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_INFO
dwCyclesProcessed: int

[out] Number of EtherCAT cycles processed

eStatus: EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_STATUS

[out] Status of packet capture processing

qwBytesProcessed: int

[out] Number of processed bytes from the current packet capture file

qwFileSize: int

[out] File size[bytes] of the current packet capture

qwFrameNumberCur: int

[out] Last processed frame number from the current packet capture file

qwFrameNumberTotal: int

[out] Total number of processed frames from all capture files

qwTimeStamp: int

[out] Time stamp [ns] of the last processed frame from the current packet capture file

szFileName: str

[out] File name of current processed capture

class EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_PARMS
bReadMultipleFiles: bool

bReadMultipleFiles

dwMaxFileSize: int

[in] Creates a new file every time the number of bytes written exceeds this limit. Disabled with a value set to 0.

dwMaxFrameCnt: int

[in] Creates a new file every time the number of frames written exceeds this limit. Disabled with a value set to 0.

dwRingBufferFileCnt: int

dwRingBufferFileCnt

szFileName: str

[in] File name. Supported formats are .pcap or .pcapng.

class EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_STATUS(value)
Dummy = 4294967295

Dummy

Finished = 3

Packet capture processing finished

NotLoaded = 1

No packet capture loaded

Running = 2

Packet capture processing running

Unknown = 0

Unknown packet capture status

class EcWrapperPythonTypes.DN_EC_T_PDIWATCHDOG_DESC

PDI Watchdog expired

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_APP_PARMS
class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_COUNTER_PARMS
qwFrequency: int

[in] Frequency in Hz used by the timer in GetCounterTicks

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_FLAG(value)

An enumeration.

LONG_TIMER = 2
OFFSET = 1
class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_HISTOGRAM
aBinsObj: List[int]

aBinsObj

dwBinCount: int

length of aBins

qwMaxTicks: int

Results above qwMaxTicks are stored in the last bin

qwMinTicks: int

Results below qwMinTicks are stored in the first bin

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_HISTOGRAM_PARMS
dwBinCount: int

[in] Amount of bins to use for the histogram

qwMaxTicks: int

[in] Results above qwMaxTicks are stored in the last bin

qwMinTicks: int

[in] Results below qwMinTicks are stored in the first bin

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INFO
dwBinCountHistogram: int

length of Histogram Bins

dwFlags: int

Flags associated with the benchmark (See EC_T_PERF_MEAS_FLAG…)

eUserJob: EcWrapperPythonTypes.DN_EC_T_USER_JOB

UserJob associated with the benchmark

qwFrequency: int

Frequency in Hz used by the timer

szName: str

Name of the benchmark

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INFO_PARMS
dwFlags: int

[in] Flags associated with the benchmark (See EC_T_PERF_MEAS_FLAG…)

szName: str

[in] Performance counter name

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INTERNAL_PARMS
CounterParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_COUNTER_PARMS

[in] Timer function settings. When not provided OsMeasGetCounterTicks is used.

HistogramParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_HISTOGRAM_PARMS

[in] Histogram settings. When not provided the histogram is disabled.

bEnabled: bool

[in] Enable/disable internal performance counters

class EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_VAL
qwAvgTicks: int

[ticks]

qwCurrTicks: int

[ticks]

qwMaxTicks: int

[ticks]

qwMinTicks: int

[ticks]

class EcWrapperPythonTypes.DN_EC_T_PORT_OPERATION_NTFY_DESC
SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

dwResult: int

Result of request

dwTferId: int

Transfer ID. For every new port operation a unique ID has to be assigned. This ID can be used after completion to identify the transfer.

wPortStateNew: int

New state of the slave ports

wPortStateOld: int

Old state of the slave ports

class EcWrapperPythonTypes.DN_EC_T_PROCESS_VAR_INFO

emGetSlaveInpVarInfo / emGetSlaveOutpVarInfo

bIsInputData: bool

[out] Determines whether the found process variable is an input variable or an output variable

nBitOffs: int

[out] Bit offset in the process data image

nBitSize: int

[out] Size in bits of the found process variable

szName: str

[out] Name of the found process variable

wDataType: int

[out] Data type of the found process variable (according to ETG.1000, section 5). See also EcType.h, DEFTYPE_BOOLEAN.

wFixedAddr: int

[out] Station address of the slave that is owner of this variable

class EcWrapperPythonTypes.DN_EC_T_PROCESS_VAR_INFO_EX
CopyInfo: EcWrapperPythonTypes.DN_EC_T_CYC_COPY_INFO

[out] Copy Info if applied to the variable

bIsInputData: bool

[out] Determines whether the found process variable is an input variable or an output variable

dwTaskId: int

[out] ID of task where process variable is located

nBitOffs: int

[out] Bit offset in the process data image

nBitSize: int

[out] Size in bits of the found process variable

szName: str

[out] Name of the found process variable

wDataType: int

[out] Data type of the found process variable (according to ETG.1000, section 5). See also EcType.h, DEFTYPE_BOOLEAN.

wFixedAddr: int

[out] Station address of the slave that is owner of this variable

wIndex: int

[out] Object index

wMasterSyncUnit: int

Slave/ProcessData/RxPdo[1..4]@Su, Slave/ProcessData/TxPdo[1..4]@Su, comment at Cyclic/Frame/Cmd)

Type

[out] Master Sync Unit ID (ENI

wPdoIndex: int

[out] Index of PDO (process data object)

wRes1: int

wRes1

wSubIndex: int

[out] Object sub index

wWkcStateDiagOffs: int

[out] Bit offset in the diagnostic image (API GetDiagnosisImagePtr)

class EcWrapperPythonTypes.DN_EC_T_PROFILE_CHANNEL_INFO
szDisplayName: str

[out] Display name

wAddInfo: int

‘high word of CoE object 0x1000’

Type

[out] AddInfo

wProfileNo: int

‘low word of CoE object 0x1000’

Type

[out] ProfileNo

class EcWrapperPythonTypes.DN_EC_T_PTS_SRV_START_PARMS

Start parameter for the Pass-Through-Server

dwPtsThreadPriority: int

dwPtsThreadPriority

oIpAddr: EcWrapperPythonTypes.DN_EC_T_IPADDR

oIpAddr

wPort: int

wPort

class EcWrapperPythonTypes.DN_EC_T_RAS_CONNECTION_INFO
dwAccessControlActive: int

dwAccessControlActive

dwAccessLevel: int

dwAccessLevel

class EcWrapperPythonTypes.DN_EC_T_RAS_EXCEPTIONDESC
class EcWrapperPythonTypes.DN_EC_T_RAWCMDRESPONSE_NTFY_DESC
dwAddr: int

[in] Address Field

dwCmdIdx: int

[in] Command Index Field

dwInvokeId: int

[in] Invoke Id from callee. Only lower 16 bits are relevant

dwLength: int

[in] Length of data portion (11 relevant bits)

dwResult: int

[in] EC_E_NOERROR on success, error code otherwise

dwWkc: int

[in] Received working counter

pbyData: object

[in] Pointer to data portion within a PDU. The callback function has to store the data into application memory, the data pointer will be invalid after returning from the callback.

class EcWrapperPythonTypes.DN_EC_T_REDUNDANCY_DIAGNOSIS_INFO

See also Object 0x2003 Redundancy Diagnosis Object

bLineBreakDetected: bool

Line Break Detected

bRedEnabled: bool

Cable Redundancy Enabled

dwMainSlaveCnt: int

Main Line Slave Count

dwRedSlaveCnt: int

Red Line Slave Count

dwRes: List[int]

dwRes

class EcWrapperPythonTypes.DN_EC_T_REFCLOCK_PRESENCE_NTFY_DESC

Distributed clocks (DC) Reference Clock Presence

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

[in] Slave properties

bPresent: bool

[in] Reference clock present

class EcWrapperPythonTypes.DN_EC_T_REGISTERRESULTS

Client register result

dwClntId: int

[out] Client ID

dwPDInSize: int

[out] Size of process data input memory (in bytes)

dwPDOutSize: int

[out] Size of process data output memory (in bytes)

pbyPDIn: object

[out] Pointer to process data input memory

pbyPDOut: object

[out] Pointer to process data output memory

class EcWrapperPythonTypes.DN_EC_T_RELEASE_FORCED_PROCESSDATA_NTFY_DESC
bOutput: bool

Input Bits

Type

EC_TRUE

Type

Output Bits, EC_FALSE

dwOffset: int

Offset of the forced Bits

wBitLength: int

Bit length

class EcWrapperPythonTypes.DN_EC_T_S2SMBX_ERROR_DESC

S2S Mailbox Error

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties of requesting slave

dwErrorCode: int

Error code

wTargetFixedAddress: int

Fixed address of the target slave

class EcWrapperPythonTypes.DN_EC_T_SB_MISMATCH_DESC
bIdentificationError: bool

[in] Identification command sent to slave but failed

dwBusProdCode: int

[in] Unexpected slave (bus) product code

dwBusRevisionNo: int

[in] Unexpected slave (bus) revision number

dwBusSerialNo: int

[in] Unexpected slave (bus) serial number

dwBusVendorId: int

[in] Unexpected slave (bus) vendor ID

dwCfgProdCode: int

[in] Missing slave (config) Product code

dwCfgRevisionNo: int

[in] Missing slave (config) Revision Number

dwCfgSerialNo: int

[in] Missing slave (config) Serial Number

dwCfgVendorId: int

[in] Missing slave (config) Vendor ID

wBusAIncAddress: int

[in] Unexpected slave (bus) auto-inc address

wBusFixedAddress: int

[in] Unexpected slave (bus) station address

wCfgAIncAddress: int

[in] Missing slave (config) Auto-Increment Address

wCfgFixedAddress: int

[in] Missing slave (config) station Address

wIdentificationAdo: int

[in] Identification register

wIdentificationVal: int

[in] Last identification value read from slave according to the last used identification method

wIdentificationValExpected: int

[in] Identification expected value

wPrevAIncAddress: int

[in] Previous slave auto-increment address

wPrevFixedAddress: int

[in] Previous slave station address

wPrevPort: int

[in] Previous slave station address

class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_DESC
dwProductCode: int

[out] Product Code stored in the EEPROM at offset 0x000A

dwRevisionNumber: int

[out] Revision number stored in the EEPROM at offset 0x000C (Not read by default!)

dwScanBusStatus: int

[out] Scan bus status (determined in the latest scan bus) emNotify EC_NOTIFY_SB_STATUS

dwSerialNumber: int

[out] Serial number stored in the EEPROM at offset 0x000E (Not read by default!)

dwVendorId: int

[out] Vendor Identification stored in the EEPROM at offset 0x0008

class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_REQ_DESC
eInfoEntry: EcWrapperPythonTypes.DN_EC_T_eINFOENTRY

[in] Info Entry to read

wAutoIncAddress: int

[in] Auto-Increment address of the slave

class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_RES_DESC
dwInfoLength: int

[in, out] Length of Info Field (buffer, actually read length)

eInfoEntry: EcWrapperPythonTypes.DN_EC_T_eINFOENTRY

[out] Info entry read

pbyInfo: object

[out] Pointer to Info (-1 if no info found in XML file)

class EcWrapperPythonTypes.DN_EC_T_SB_STATUS_NTFY_DESC
dwResultCode: int

no bus scan executed, #EC_E_BUSCONFIG_MISMATCH: bus configuration mismatch result of scanbus

Type

[in] #EC_E_NOERROR

Type

success, #EC_E_NOTREADY

dwSlaveCount: int

[in] Number of slaves connected to the bus

class EcWrapperPythonTypes.DN_EC_T_SELFTESTSCAN_PARMS
bDetectBadConnections: bool

[in] Execute the bad connection detection after self-test

bMeasureRoundtripTimeForSingleFrame: bool

[in] Execute roundtrip time calculation for single frame

dwFrameCount: int

[in] Total number of frames sent during the self-test. Default value is 1500. A value of 0 sets the default value.

dwFrameSizeMax: int

[in] Max frame size [bytes]. Default value is 1514. A value of 0 sets the default value.

dwFrameSizeMin: int

[in] Min frame size [bytes]. Default value is 60. A value of 0 sets the default value.

dwFrameSizeStep: int

[in] Size [bytes] by which the frame increases or decreases continuously during the self-test. Default value is 1. A value of 0 sets the default value.

dwTimeout: int

[in] Timeout [ms], 0 or EC_NOWAIT defaults to 500ms

qwFrameRoundtripTimeAvg: int

[out] Roundtrip time average [us]. Time taken from sending to receiving the frame (master application level).

qwFrameRoundtripTimeMax: int

[out] Roundtrip time maximum [us]. Time taken from sending to receiving the frame (master application level).

qwFrameRoundtripTimeMin: int

[out] Roundtrip time minimum [us]. Time taken from sending to receiving the frame (master application level).

class EcWrapperPythonTypes.DN_EC_T_SIMULATOR_DEVICE_CONNECTION_DESC
byPort: int

Port A-D

Type

0…3

dwInstanceID: int

EC-Simulator Instance ID

dwType: int

EC_SIMULATOR_DEVICE_CONNECTION_TYPE…

wCfgFixedAddress: int

EC-Simulator Configuration (ENI/EXI)

class EcWrapperPythonTypes.DN_EC_T_SIMULATOR_INIT_PARMS
PerfMeasInternalParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INTERNAL_PARMS

[in] Internal performance measurement parameters

aoLinkParms: List[EcWrapperPythonTypes.DN_EC_T_LINK_PARMS]

aoLinkParms

bApiLockByApp: bool

application is responsible for locking.

Type

[in] Lock pending API against esDeinitSimulator(). EC_FALSE (default)

Type

locked internally. EC_TRUE

bConnectHcGroups: bool

[in] Connect hot connect groups in topology (floating group heads to free ports)

bDisableProcessDataImage: bool

[in] Disable Process Data Image (Process Data Variables not supported)

dwBusCycleTimeNsec: int

[in] Bus cycle time in nanoseconds [ns]

dwLogLevel: EcWrapperPythonTypes.DN_EC_LOG_LEVEL

dwLogLevel

dwSimulatorAddress: int

[in] Reserved

oDeviceConnection: EcWrapperPythonTypes.DN_EC_T_SIMULATOR_DEVICE_CONNECTION_DESC

oDeviceConnection

class EcWrapperPythonTypes.DN_EC_T_SIM_SLAVE_CFG_INFO
aPortConnection: List[EcWrapperPythonTypes.DN_EC_T_SIMULATOR_DEVICE_CONNECTION_DESC]

/EtherCATConfig/ExtendedConfig/Slaves/Slave/PortConnection)

Type

[out] Explicit port connection (optional) (EXI

bIgnoreCoeDownloadError: bool

/EtherCATConfig/ExtendedConfig/Slaves/Slave/Mailbox/CoE@IgnoreDownloadError)

Type

[out] Slave ignores CoE download errors (EXI

bPowerOff: bool

/EtherCATConfig/ExtendedConfig/Slaves/Slave@PowerOff)

Type

[out] Slave powered off on startup (EXI

bSimulated: bool

/EtherCATConfig/ExtendedConfig/Slaves/Slave/Simulated)

Type

[out] Slave is simulated (EXI

szApplicationName: str

/EtherCATConfig/ExtendedConfig/Slaves/Slave/Application/Name)

Type

[out] Configured slave application name (EXI

szApplicationParms: str

/EtherCATConfig/ExtendedConfig/Slaves/Slave/Application/Parameter)

Type

[out] Configured slave application parameters (EXI

wFixedAddress: int

/EtherCATConfig/Config/Slave/Info/PhysAddr)

Type

[out] Slave’s station address (ENI/EXI

class EcWrapperPythonTypes.DN_EC_T_SIM_SLAVE_INFO
oCfg: EcWrapperPythonTypes.DN_EC_T_SIM_SLAVE_CFG_INFO

[out] Config Info (ENI/EXI)

oStatus: EcWrapperPythonTypes.DN_EC_T_SIM_SLAVE_STATUS_INFO

[out] Status Info

class EcWrapperPythonTypes.DN_EC_T_SIM_SLAVE_STATUS_INFO
aPortConnection: List[EcWrapperPythonTypes.DN_EC_T_SIMULATOR_DEVICE_CONNECTION_DESC]

[out] See esConnectPorts()

bIsPowerOn: bool

[out] Slave is powered on. See esPowerSlave().

bIsPresent: bool

[out] Slave is present in topology segment and connected to the network. See esConnectPorts(), Hot Connect.

wAlStatusCodeReq: int

[out] AL Status (0x0134) requested from Simulator application. See esSetSimSlaveState().

wAlStatusReq: int

[out] AL Status (0x0130) requested from Simulator application. See esSetSimSlaveState().

class EcWrapperPythonTypes.DN_EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC
bRead: bool

Write register transfer

Type

EC_TRUE

Type

Read register, EC_FALSE

dwResult: int

Result of Slave register transfer

dwTferId: int

Transfer ID. For every new slave register transfer a unique ID has to be assigned. This ID can be used after completion to identify the transfer.

pbyData: object

Pointer to the data read

wFixedAddr: int

Station address of slave

wLen: int

Length of slave register transfer

wRegisterOffset: int

Register offset

wWkc: int

Received working counter

class EcWrapperPythonTypes.DN_EC_T_SLAVES_ERROR_DESC

Slaves error status descriptor

SlaveError: List[EcWrapperPythonTypes.DN_EC_T_SLAVES_ERROR_DESC_ENTRY]

Slave error descriptions

wCount: int

Number of slave errors

wRes: int

wRes

class EcWrapperPythonTypes.DN_EC_T_SLAVES_ERROR_DESC_ENTRY

Slaves error status descriptor

wRes: int

wRes

wStationAddress: int

Slave station address

wStatus: int

Slave status (AL Status)

wStatusCode: int

Slave status code (AL Control Status)

class EcWrapperPythonTypes.DN_EC_T_SLAVES_PRESENCE_NTFY_DESC
SlavePresence: List[EcWrapperPythonTypes.DN_EC_T_SLAVE_PRESENCE_NTFY_DESC]

Slave presence descriptions

wCount: int

Number of slave presence notifications

class EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC
SlaveStates: List[EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC_ENTRY]

Slave state changed descriptor

wCount: int

Number of slave state changes

class EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC_ENTRY

Slaves state change descriptor

byState: int

New slave state

wStationAddress: int

Slave station address

class EcWrapperPythonTypes.DN_EC_T_SLAVES_UNEXPECTED_STATE_DESC

Slaves in unexpected state descriptor

SlaveStates: List[EcWrapperPythonTypes.DN_EC_T_SLAVES_UNEXPECTED_STATE_DESC_ENTRY]

Slave state change descriptions

wCount: int

Number of unexpected slave state changes

wRes: int

wRes

class EcWrapperPythonTypes.DN_EC_T_SLAVES_UNEXPECTED_STATE_DESC_ENTRY

Slaves in unexpected state descriptor

curState: EcWrapperPythonTypes.DN_EC_T_STATE

Current state

expState: EcWrapperPythonTypes.DN_EC_T_STATE

Expected state

wStationAddress: int

Slave station address

class EcWrapperPythonTypes.DN_EC_T_SLAVE_ERROR_INFO_DESC

EtherCAT Slave error status info descriptor

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

wStatus: int

Slave Status (AL Status)

wStatusCode: int

Error status code (AL STATUS CODE)

class EcWrapperPythonTypes.DN_EC_T_SLAVE_IDENTIFICATION_NTFY_DESC
SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

dwResult: int

Result of request

dwTferId: int

Transfer ID. For every new port operation a unique ID has to be assigned. This ID can be used after completion to identify the transfer.

wAdo: int

Slave address offset used for identification. Given by API.

wValue: int

Slave identification value. Given by API.

class EcWrapperPythonTypes.DN_EC_T_SLAVE_IDENT_TIMEOUT_DESC

Slave identification timeout

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

SlavePropParent: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties of parent slave

wPortAtParent: int

Port at parent slave

class EcWrapperPythonTypes.DN_EC_T_SLAVE_NOTSUPPORTED_DESC

Slave not supported

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

class EcWrapperPythonTypes.DN_EC_T_SLAVE_PRESENCE_NTFY_DESC

Slaves presence descriptor

bPresent: int

absent

Type

EC_TRUE

Type

present, EC_FALSE

wStationAddress: int

Slave station address

class EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

EtherCAT slave properties

achName: str

Configured name of the slave device (NULL terminated string)

wAutoIncAddr: int

Configured auto increment address or INVALID_AUTO_INC_ADDR

wStationAddress: int

Configured station address or INVALID_FIXED_ADDR

class EcWrapperPythonTypes.DN_EC_T_SLAVE_SELECTION(value)
eSlaveSelectionDummy = 4294967295

eSlaveSelectionDummy

eSlaveSelectionMasterSyncUnit = 2

[in] Select slave and his topological followers

eSlaveSelectionSingle = 0

[in] Select only one slave

eSlaveSelectionTopoFollowers = 1

[in] Select slave and his topological followers

class EcWrapperPythonTypes.DN_EC_T_SLAVE_STATECHANGED_NTFY_DESC

Slave state change descriptor

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

newState: EcWrapperPythonTypes.DN_EC_T_STATE

New slave state

class EcWrapperPythonTypes.DN_EC_T_SLAVE_UNEXPECTED_STATE_DESC

Slave in unexpected state descriptor

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties

curState: EcWrapperPythonTypes.DN_EC_T_STATE

Current state

expState: EcWrapperPythonTypes.DN_EC_T_STATE

Expected state

class EcWrapperPythonTypes.DN_EC_T_SLVSTATISTICS_DESC
abyFwdRxErrorCnt: List[int]

[out] Forwarded RX Error Counters per Slave Port

abyInvalidFrameCnt: List[int]

[out] Invalid Frame Counters per Slave Port

abyLostLinkCnt: List[int]

[out] Lost Link Counters per Slave Port

abyRxErrorCnt: List[int]

[out] RX Error Counters per Slave Port

byPdiErrorCnt: int

[out] PDI Error Counter

byProcessingUnitErrorCnt: int

[out] Processing Unit Error Counter

qwChangeTime: int

[out] Timestamp of the last counter change [ns]

qwReadTime: int

[out] Timestamp of the last read [ns]

wAlStatusCode: int

[out] AL Status Code

class EcWrapperPythonTypes.DN_EC_T_SOE_EMERGENCY

EtherCAT SoE emergency request

abyData: List[int]

Emergency error data

wHeader: int

SoE Header

wStationAddress: int

Station address of the slave initiated the emergency request

class EcWrapperPythonTypes.DN_EC_T_SOE_NOTIFICATION

EtherCAT SoE notification

abyData: List[int]

Error data

wHeader: int

SoE Header

wIdn: int

IDN number

wStationAddress: int

Station address of the slave

class EcWrapperPythonTypes.DN_EC_T_STATE(value)

EtherCAT state

BCppDummy = 4294967295

BCppDummy

BOOTSTRAP = 3

EtherCAT state BOOTSTRAP

INIT = 1

EtherCAT state INIT

OP = 8

EtherCAT state OP (operational)

PREOP = 2

EtherCAT state PREOP (pre-operational)

SAFEOP = 4

EtherCAT state SAFEOP (safe operational)

UNKNOWN = 0

Unknown state

class EcWrapperPythonTypes.DN_EC_T_STATECHANGE

EtherCAT state change

newState: EcWrapperPythonTypes.DN_EC_T_STATE

New operational state

oldState: EcWrapperPythonTypes.DN_EC_T_STATE

Old operational state

class EcWrapperPythonTypes.DN_EC_T_STATISTIC

See also Object 0x2006 Mailbox Statistics Object

dwLast: int

Last

dwTotal: int

Total

class EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER

See also Object 0x2006 Mailbox Statistics Object

Bytes: EcWrapperPythonTypes.DN_EC_T_STATISTIC

Number of bytes transferred

Cnt: EcWrapperPythonTypes.DN_EC_T_STATISTIC

Number of transfers

class EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER_DUPLEX

See also Object 0x2006 Mailbox Statistics Object

Read: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER

Number of read transfers

Write: EcWrapperPythonTypes.DN_EC_T_STATISTIC_TRANSFER

Number of write transfers

Link status of EC-Monitor - Ethernet Tap connection

class EcWrapperPythonTypes.DN_EC_T_TLS_CERT_TYPE(value)
BCppDummy = 4294967295

BCppDummy

Data = 2

TLS certificate type is a buffer

Filename = 1

TLS certificate type is a filename

Unknown = 0

Unknown

class EcWrapperPythonTypes.DN_EC_T_TLS_PRIVKEY_TYPE(value)
BCppDummy = 4294967295

BCppDummy

Data = 2

TLS private key type is a buffer

Filename = 1

TLS private key type is a filename

Unknown = 0

Unknown

class EcWrapperPythonTypes.DN_EC_T_TRACE_DATA_INFO
dwOffset: int

[out] Trace data offset in bytes

pbyData: object

[out] Process data output buffer, containing trace data

wSize: int

[out] Trace data size in bytes

class EcWrapperPythonTypes.DN_EC_T_TX_PDO_NTFY_DESC
dwNumber: int

dwNumber

pbyData: object

pbyData

wLen: int

wLen

wPhysAddr: int

wPhysAddr

class EcWrapperPythonTypes.DN_EC_T_USER_JOB(value)

EtherCAT user controlled execution job

BCppDummy = 4294967295

BCppDummy

MasterTimer = 4

Run internal master and slave state machines for generic management

MasterTimerMinimal = 8

no state change possible

Type

Run minimal master timer routine

MonitorTimer = 33

Run EC-Monitor timer routine (generic management)

ProcessAcycRxFrames = 10

Receive frames and process received data related to acyclic frames

ProcessAllRxFrames = 1

Receive frames and process all received data. Polling mode only.

ProcessRxFramesByTaskId = 9

Cyclic/TaskId)

Type

Receive frames and process received data related to a specific task id (ENI

SendAcycFrames = 6

Send acyclic frames

SendAllCycFrames = 2

Send all cyclic frames

SendCycFramesByTaskId = 7

Cyclic/TaskId)

Type

Send cyclic frames related to a specific task id (ENI

SimulatorTimer = 32

Run EC-Simulator timer routine (generic management)

StampSendAllCycFrames = 22

Obsolete

StampSendCycFramesByTaskId = 27

Obsolete

StartTask = 12

Start new task

StopTask = 13

Stop currently running task

SwitchEoeFrames = 11

Switch queued EoE frames (see EC_IOCTL_SET_EOE_DEFFERED_SWITCHING_ENABLED)

Undefined = 0

Undefined

class EcWrapperPythonTypes.DN_EC_T_VAR_DIRECTION(value)
All = 3

INPUTs and OUTPUTs

BCppDummy = 4294967295

BCppDummy

INPUT = 1

INPUTs

OUTPUT = 2

OUTPUTs

Undefined = 0

Undefined Direction

class EcWrapperPythonTypes.DN_EC_T_VAR_SOURCE(value)
All = 1

Slaves and Master/Monitor/Simulator

AllSlaves = 2

All Slaves

BCppDummy = 4294967295

BCppDummy

Master = 4

Master

Monitor = 5

Monitor

Simulator = 6

Simulator

Slave = 3

Slave

Undefined = 0

Undefined Source

class EcWrapperPythonTypes.DN_EC_T_VLAN_MODE(value)
Default = 0

default Vlan tag for programmable Switch

TailTag = 1

Tail tag for Micrel KSZ8863

class EcWrapperPythonTypes.DN_EC_T_WKCERR_DESC

EtherCAT command WKC error descriptor

SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP

Slave properties, content is undefined in case of cyclic WKC_ERROR

byCmd: int

EtherCAT command type

byRsvd: List[int]

byRsvd

dwAddr: int

Logical address or physical address (ADP/ADO)

dwTaskId: int

Cyclic/TaskId)

Type

Cyclic Task ID (ENI

wMsuId: int

Slave/ProcessData/RxPdo[1..4]@Su, Slave/ProcessData/TxPdo[1..4]@Su, comment at Cyclic/Frame/Cmd)

Type

Master Sync Unit ID (ENI

wWkcAct: int

Working counter actual value

wWkcSet: int

Working counter set value

class EcWrapperPythonTypes.DN_EC_T_WORKER_THREAD_PARMS
cpuAffinityMask: int

[in] CPU affinity to use for the worker thread

dwPrio: int

[in] Priority to use for the worker thread

class EcWrapperPythonTypes.DN_EC_T_eINFOENTRY(value)
BCppDummy = 4294967295

BCppDummy

alias_address = 9

alias_address

cfgphy_address = 10

cfgphy_address

dc64support = 8

dc64support

dcsupport = 7

dcsupport

device_name = 11

device_name

esctype = 51

esctype

ismailbox_slave = 12

ismailbox_slave

isoptional = 49

isoptional

ispresent = 50

ispresent

mbx_insize = 46

mbx_insize

mbx_insize2 = 48

mbx_insize2

mbx_outsize = 45

mbx_outsize

mbx_outsize2 = 47

mbx_outsize2

pdoffs_in = 1

pdoffs_in

pdoffs_in2 = 21

pdoffs_in2

pdoffs_in3 = 31

pdoffs_in3

pdoffs_in4 = 41

pdoffs_in4

pdoffs_out = 3

pdoffs_out

pdoffs_out2 = 23

pdoffs_out2

pdoffs_out3 = 33

pdoffs_out3

pdoffs_out4 = 43

pdoffs_out4

pdsize_in = 2

pdsize_in

pdsize_in2 = 22

pdsize_in2

pdsize_in3 = 32

pdsize_in3

pdsize_in4 = 42

pdsize_in4

pdsize_out = 4

pdsize_out

pdsize_out2 = 24

pdsize_out2

pdsize_out3 = 34

pdsize_out3

pdsize_out4 = 44

pdsize_out4

phys_address = 5

phys_address

portstate = 6

portstate

unknown = 0

unknown

class EcWrapperPythonTypes.DN_ESC_SII_REG(value)
ALIASADDRESS = 4

ALIASADDRESS

BOOT_RECV_MBX = 20

BOOT_RECV_MBX

BOOT_RECV_MBX_OFFSET = 20

BOOT_RECV_MBX_OFFSET

BOOT_RECV_MBX_SIZE = 21

BOOT_RECV_MBX_SIZE

BOOT_SEND_MBX = 22

BOOT_SEND_MBX

BOOT_SEND_MBX_OFFSET = 22

BOOT_SEND_MBX_OFFSET

BOOT_SEND_MBX_SIZE = 23

BOOT_SEND_MBX_SIZE

CHECKSUM = 7

CHECKSUM

EXTENDEDPDICONFIG = 3

EXTENDEDPDICONFIG

FIRSTCATEGORYHDR = 64

FIRSTCATEGORYHDR

MBX_PROTOCOL = 28

MBX_PROTOCOL

PDICONFIG = 1

PDICONFIG

PDICONTROL = 0

PDICONTROL

PRODUCTCODE = 10

PRODUCTCODE

REVISIONNUMBER = 12

REVISIONNUMBER

REVISIONNUMBER_HI = 13

REVISIONNUMBER_HI

REVISIONNUMBER_LO = 12

REVISIONNUMBER_LO

SERIALNUMBER = 14

SERIALNUMBER

STD_RECV_MBX = 24

STD_RECV_MBX

STD_RECV_MBX_OFFSET = 24

STD_RECV_MBX_OFFSET

STD_RECV_MBX_SIZE = 25

STD_RECV_MBX_SIZE

STD_SEND_MBX = 26

STD_SEND_MBX

STD_SEND_MBX_OFFSET = 26

STD_SEND_MBX_OFFSET

STD_SEND_MBX_SIZE = 27

STD_SEND_MBX_SIZE

SYNCIMPULSELENGTH = 2

SYNCIMPULSELENGTH

VENDORID = 8

VENDORID

class EcWrapperPythonTypes.DN_ETHERNET_ADDRESS
b: List[int]

MAC address

class EcWrapperPythonTypes.DN_MC_T_AXIS_PROFILE(value)
DS402 = 1

DS402

NONE = 0

NONE

SERCOS = 2

SERCOS

class EcWrapperPythonTypes.DN_MC_T_AXIS_TYPE(value)
AXIS_TYPE_REAL_ALL = 1

AXIS_TYPE_REAL_ALL

AXIS_TYPE_VIRTUAL = 0

AXIS_TYPE_VIRTUAL

class EcWrapperPythonTypes.DN_MC_T_BUFFER_MODE(value)
ABORTING = 0

ABORTING

BLENDING_HIGH = 5

BLENDING_HIGH

BLENDING_HIGH_STOP = 8

BLENDING_HIGH_STOP

BLENDING_LOW = 2

BLENDING_LOW

BLENDING_NEXT = 4

BLENDING_NEXT

BLENDING_NEXT_STOP = 7

BLENDING_NEXT_STOP

BLENDING_PREVIOUS = 3

BLENDING_PREVIOUS

BLENDING_PREVIOUS_STOP = 6

BLENDING_PREVIOUS_STOP

BUFFERED = 1

BUFFERED

class EcWrapperPythonTypes.DN_MC_T_CAM_INTERPOL_TYPE(value)
CAM_INTERPOL_TYPE_CUB = 2

CAM_INTERPOL_TYPE_CUB

CAM_INTERPOL_TYPE_LIN = 1

CAM_INTERPOL_TYPE_LIN

class EcWrapperPythonTypes.DN_MC_T_CAM_VAR_TYPE(value)
CAM_VAR_TYPE_INT = 1

CAM_VAR_TYPE_INT

CAM_VAR_TYPE_REAL = 2

CAM_VAR_TYPE_REAL

class EcWrapperPythonTypes.DN_MC_T_CIA402_OPMODE(value)
MODE_OP_CSP = 8

MODE_OP_CSP

MODE_OP_CST = 10

MODE_OP_CST

MODE_OP_CSV = 9

MODE_OP_CSV

MODE_OP_HOMING = 6

MODE_OP_HOMING

MODE_OP_INTER_POS = 7

MODE_OP_INTER_POS

MODE_OP_PROF_POS = 1

MODE_OP_PROF_POS

MODE_OP_PROF_TOR = 4

MODE_OP_PROF_TOR

MODE_OP_PROF_VEL = 3

MODE_OP_PROF_VEL

MODE_OP_VELOCITY = 2

MODE_OP_VELOCITY

class EcWrapperPythonTypes.DN_MC_T_CIA402_STATE(value)
DEV_STATE_MALFCT_REACTION = 6

DEV_STATE_MALFCT_REACTION

DEV_STATE_MALFUNCTION = 7

DEV_STATE_MALFUNCTION

DEV_STATE_NOT_READY = 0

DEV_STATE_NOT_READY

DEV_STATE_OP_ENABLED = 4

DEV_STATE_OP_ENABLED

DEV_STATE_QUICK_STOP = 5

DEV_STATE_QUICK_STOP

DEV_STATE_READY_TO_SWITCHON = 2

DEV_STATE_READY_TO_SWITCHON

DEV_STATE_SWITCHED_ON = 3

DEV_STATE_SWITCHED_ON

DEV_STATE_SWITCHON_DIS = 1

DEV_STATE_SWITCHON_DIS

class EcWrapperPythonTypes.DN_MC_T_DIRECTION(value)
DIR_CURRENT = 4

DIR_CURRENT

DIR_NEGATIVE = 3

DIR_NEGATIVE

DIR_POSITIVE = 1

DIR_POSITIVE

DIR_SHORTEST = 2

DIR_SHORTEST

class EcWrapperPythonTypes.DN_MC_T_EXECUTION_MODE(value)
IMMEDIATELY = 0

IMMEDIATELY

QUEUED = 1

QUEUED

class EcWrapperPythonTypes.DN_MC_T_FBID(value)
ID_ABORT_TRIGGER = 36

ID_ABORT_TRIGGER

ID_ACCELERATION_PROFILE = 16

ID_ACCELERATION_PROFILE

ID_CAMTABLE_SELECT = 37

ID_CAMTABLE_SELECT

ID_CAM_IN = 38

ID_CAM_IN

ID_CAM_OUT = 39

ID_CAM_OUT

ID_CHECK_TARGETPOS_REACHED = 42

ID_CHECK_TARGETPOS_REACHED

ID_DIGITAL_CAM_SWITCH = 34

ID_DIGITAL_CAM_SWITCH

ID_GEAR_IN = 40

ID_GEAR_IN

ID_GEAR_OUT = 41

ID_GEAR_OUT

ID_HALT = 4

ID_HALT

ID_HALT_RECOVERY = 43

ID_HALT_RECOVERY

ID_HALT_SUPERIMPOSED = 9

ID_HALT_SUPERIMPOSED

ID_HOME = 2

ID_HOME

ID_IDLE = 0

ID_IDLE

ID_MOVE_ABSOLUTE = 5

ID_MOVE_ABSOLUTE

ID_MOVE_ADDITIVE = 7

ID_MOVE_ADDITIVE

ID_MOVE_CONTINUOUS_ABSOLUTE = 11

ID_MOVE_CONTINUOUS_ABSOLUTE

ID_MOVE_CONTINUOUS_RELATIVE = 12

ID_MOVE_CONTINUOUS_RELATIVE

ID_MOVE_RELATIVE = 6

ID_MOVE_RELATIVE

ID_MOVE_SUPERIMPOSED = 8

ID_MOVE_SUPERIMPOSED

ID_MOVE_VELOCITY = 10

ID_MOVE_VELOCITY

ID_POSITION_PROFILE = 14

ID_POSITION_PROFILE

ID_POWER = 1

ID_POWER

ID_READ_ACTUAL_POSITION = 26

ID_READ_ACTUAL_POSITION

ID_READ_ACTUAL_TORQUE = 28

ID_READ_ACTUAL_TORQUE

ID_READ_ACTUAL_VELOCITY = 27

ID_READ_ACTUAL_VELOCITY

ID_READ_AXIS_ERROR = 32

ID_READ_AXIS_ERROR

ID_READ_AXIS_INFO = 31

ID_READ_AXIS_INFO

ID_READ_BOOL_PARAMETER = 20

ID_READ_BOOL_PARAMETER

ID_READ_DIGITAL_INPUT = 23

ID_READ_DIGITAL_INPUT

ID_READ_DIGITAL_OUTPUT = 24

ID_READ_DIGITAL_OUTPUT

ID_READ_MOTION_STATE = 30

ID_READ_MOTION_STATE

ID_READ_PARAMETER = 19

ID_READ_PARAMETER

ID_READ_STATUS = 29

ID_READ_STATUS

ID_RESET = 33

ID_RESET

ID_SET_OVERRIDE = 18

ID_SET_OVERRIDE

ID_SET_POSITION = 17

ID_SET_POSITION

ID_STOP = 3

ID_STOP

ID_TORQUE_CONTROL = 13

ID_TORQUE_CONTROL

ID_TOUCH_PROBE = 35

ID_TOUCH_PROBE

ID_VELOCITY_PROFILE = 15

ID_VELOCITY_PROFILE

ID_WRITE_BOOL_PARAMETER = 22

ID_WRITE_BOOL_PARAMETER

ID_WRITE_DIGITAL_OUTPUT = 25

ID_WRITE_DIGITAL_OUTPUT

ID_WRITE_PARAMETER = 21

ID_WRITE_PARAMETER

class EcWrapperPythonTypes.DN_MC_T_FBSTATE(value)
ACTIVE = 2

ACTIVE

BUSY = 1

BUSY

COMMAND_ABORTED = 5

COMMAND_ABORTED

DONE = 3

DONE

ERROR = 4

ERROR

IDLE = 0

IDLE

class EcWrapperPythonTypes.DN_MC_T_OPMODE(value)
CSP = 1

CSP

CST = 3

CST

CSV = 2

CSV

HOMING = 5

HOMING

NOTSET = 0

NOTSET

PP = 4

PP

class EcWrapperPythonTypes.DN_MC_T_PLCOPEN_STATE(value)
PLCOPEN_STATE_CONT_MOTION = 6

continous motion

PLCOPEN_STATE_DISABLED = 11

disabled

PLCOPEN_STATE_DISC_MOTION = 5

discrete motion

PLCOPEN_STATE_ERROR_STOP = 4

error stop

PLCOPEN_STATE_HOMING = 2

homing

PLCOPEN_STATE_STAND_STILL = 1

stand still

PLCOPEN_STATE_STOPPING = 3

stopping

PLCOPEN_STATE_SYNC_MOTION = 7

synchronized motion

PLCOPEN_STATE_TORQUE_CONTROL = 10

torque control

PLCOPEN_STATE_UNKNOWN = 0

unknown

class EcWrapperPythonTypes.DN_MC_T_PN(value)
PN_ACTUAL_POSITION = 1002

PN_ACTUAL_POSITION

PN_ACTUAL_VELOCITY = 10

PN_ACTUAL_VELOCITY

PN_COMMANDED_ACCELERATION = 1000

PN_COMMANDED_ACCELERATION

PN_COMMANDED_JERK = 1001

PN_COMMANDED_JERK

PN_COMMANDED_POSITION = 1

PN_COMMANDED_POSITION

PN_COMMANDED_VELOCITY = 11

PN_COMMANDED_VELOCITY

PN_ENA_LIMIT_NEG = 5

PN_ENA_LIMIT_NEG

PN_ENA_LIMIT_POS = 4

PN_ENA_LIMIT_POS

PN_SW_LIMIT_NEG = 3

PN_SW_LIMIT_NEG

PN_SW_LIMIT_POS = 2

PN_SW_LIMIT_POS

class EcWrapperPythonTypes.DN_MC_T_PROFILE_STATE(value)
Error = 0

Error

Halt = 8

Halt

Idle = 0

Idle

NewSetPoint = 1

NewSetPoint

StartHoming = 6

StartHoming

SwitchToHomingMode = 5

SwitchToHomingMode

WaitForAck = 2

WaitForAck

WaitHaltDone = 9

WaitHaltDone

WaitHomingDone = 7

WaitHomingDone

WaitQStop = 4

WaitQStop

WaitReached = 3

WaitReached

class EcWrapperPythonTypes.DN_MC_T_RECOVERY_MODE(value)
RECOVERY_ABORT_MOVEMENT = 1

RECOVERY_ABORT_MOVEMENT

RECOVERY_NO_ACTION = 0

RECOVERY_NO_ACTION

class EcWrapperPythonTypes.DN_MC_T_SERCOS_OPMODE(value)
OPMODE_POS_FB1 = 3

OPMODE_POS_FB1

OPMODE_POS_FB1FB2 = 5

OPMODE_POS_FB1FB2

OPMODE_POS_FB1FB2_LAGLESS = 13

OPMODE_POS_FB1FB2_LAGLESS

OPMODE_POS_FB1_LAGLESS = 11

OPMODE_POS_FB1_LAGLESS

OPMODE_POS_FB2 = 4

OPMODE_POS_FB2

OPMODE_POS_FB2_LAGLESS = 12

OPMODE_POS_FB2_LAGLESS

OPMODE_TORQUE = 1

OPMODE_TORQUE

OPMODE_VEL = 2

OPMODE_VEL

class EcWrapperPythonTypes.DN_MC_T_SERCOS_STATE(value)
SER_STATE_MALFUNCTION = 7

SER_STATE_MALFUNCTION

SER_STATE_NOT_READY = 0

SER_STATE_NOT_READY

SER_STATE_OP_ENABLED = 4

SER_STATE_OP_ENABLED

SER_STATE_READY_TO_SWITCHON = 2

SER_STATE_READY_TO_SWITCHON

SER_STATE_SWITCHED_ON = 3

SER_STATE_SWITCHED_ON

class EcWrapperPythonTypes.DN_MC_T_SETVALUE_SOURCE(value)
MASTER_CAMM = 5

MASTER_CAMM

MASTER_GEAR = 4

MASTER_GEAR

NONE = 0

NONE

TRAJGEN_DRV = 3

TRAJGEN_DRV

TRAJGEN_ECM = 1

TRAJGEN_ECM

TRAJGEN_EXT = 2

TRAJGEN_EXT

class EcWrapperPythonTypes.DN_MC_T_SIMU_STATE(value)
SIM_STATE_OP_ENABLED = 4

SIM_STATE_OP_ENABLED

class EcWrapperPythonTypes.DN_MC_T_SOURCE(value)
SOURCE_ACTUAL_VALUE = 2

SOURCE_ACTUAL_VALUE

SOURCE_SET_VALUE = 1

SOURCE_SET_VALUE

class EcWrapperPythonTypes.DN_MC_T_START_MODE(value)
SM_ABSOLUTE = 0

SM_ABSOLUTE

SM_RAMP_IN = 2

SM_RAMP_IN

SM_RAMP_IN_NEG = 4

SM_RAMP_IN_NEG

SM_RAMP_IN_POS = 3

SM_RAMP_IN_POS

SM_RELATIVE = 1

SM_RELATIVE

class EcWrapperPythonTypes.DN_MC_T_TRAJECT_STATE(value)
Acc = 1

Acc

Dec = 2

Dec

Idle = 0

Idle

Vel = 3

Vel

class EcWrapperPythonTypes.DN_NotifyCode(value)

Specifies EtherCAT errors codes

ALL_DEVICES_OPERATIONAL = 65569
AOE_MBXSND_WKC_ERROR = 65581
BAD_CONNECTION = 65578
CLIENTREGISTRATION_DROPPED = 65562
COE_MBXSND_WKC_ERROR = 65544
COE_TX_PDO = 131073
COMMUNICATION_TIMEOUT = 65579
CONFIG_LOAD = 111
CYCCMD_WKC_ERROR = 65537
DCL_STATUS = 8
DCM_SYNC = 9
DCX_SYNC = 10
DC_SLV_SYNC = 5
DC_STATUS = 4
EEPROM_CHECKSUM_ERROR = 65571
EOE_MBXSND_WKC_ERROR = 65543
FOE_MBSLAVE_ERROR = 65564
FOE_MBXSND_WKC_ERROR = 65545
FRAMELOSS_AFTER_SLAVE = 65576
FRAME_RESPONSE_ERROR = 65546
FSOE_CONNECTION_STATECHANGED = 112
HC_DETECTADDGROUPS = 262146
HC_PROBEALLGROUPS = 262147
HC_TOPOCHGDONE = 262148
JUNCTION_RED_CHANGE = 65573
LINE_CROSSED = 65572
MASTER_INITCMD_RESPONSE_ERROR = 65548
MASTER_INITCMD_WKC_ERROR = 65538
MASTER_RED_FOREIGN_SRC_MAC = 105
MASTER_RED_STATECHANGED = 104
MBOXRCV = 131072
MBSLAVE_COE_SDO_ABORT = 65561
MBSLAVE_INITCMD_TIMEOUT = 65550
MBXRCV_INVALID_DATA = 65565
NOT_ALL_DEVICES_OPERATIONAL = 65551
PDIWATCHDOG = 65566
PORT_OPERATION = 108
RAWCMD_DONE = 100
RED_LINEBRK = 65554
RED_LINEFIXED = 65563
REFCLOCK_PRESENCE = 103
RELEASE_FORCED_PROCESSDATA = 110
S2SMBX_ERROR = 65577
SB_DUPLICATE_HC_NODE = 196611
SB_EEPROM_ACCESS_DENIED = 196612
SB_MISMATCH = 196610
SB_SLAVE_IDENT_TIMEOUT = 196613
SB_STATUS = 3
SLAVES_ERROR_STATUS = 65575
SLAVES_PRESENCE = 102
SLAVES_STATECHANGED = 22
SLAVES_UNEXPECTED_STATE = 65574
SLAVE_ERROR_STATUS_INFO = 65556
SLAVE_IDENTIFICATION = 109
SLAVE_INITCMD_RESPONSE_ERROR = 65547
SLAVE_INITCMD_WKC_ERROR = 65539
SLAVE_NOTSUPPORTED = 65567
SLAVE_NOT_ADDRESSABLE = 65557
SLAVE_PRESENCE = 101
SLAVE_REGISTER_TRANSFER = 106
SLAVE_STATECHANGED = 21
SLAVE_UNEXPECTED_STATE = 65568
SOE_MBXSND_WKC_ERROR = 65559
SOE_WRITE_ERROR = 65560
STATECHANGED = 1
STATUS_SLAVE_ERROR = 65555
UNDEFINED = 0
VOE_MBXSND_WKC_ERROR = 65570
class EcWrapperPythonTypes.DN_NotifyType(value)

An enumeration.

EApp = 6
EBusScan = 4
EError = 1
EHotConnect = 5
EInfo = 2
EMailBox = 3
EUnknown = 0
class EcWrapperPythonTypes.DN_RasNotifyCode(value)

Specifies EtherCAT errors codes

ACKERROR = 1114114
CONNECTION = 1048577
EXCEPTION = 1114118
MARSHALERROR = 1114113
MBXNOTIFYMEMORYSMALL = 1114117
NONOTIFYMEMORY = 1114115
REGISTER = 1048578
STDNOTIFYMEMORYSMALL = 1114116
UNREGISTER = 1048579
class EcWrapperPythonTypes.EC_T_DEFALT_VALUE(value)

An enumeration.

BCppDummy = 4294967295
EC_T_DEFALT_VALUE_ATECAT_SIGNATURE = 1
EC_T_DEFALT_VALUE_EC_VERSION = 0
EC_T_DEFALT_VALUE_EL9010_SLAVE_ID = 6
EC_T_DEFALT_VALUE_FRAMELOSS_SLAVE_ID = 7
EC_T_DEFALT_VALUE_INVALID_SLAVE_ID = 2
EC_T_DEFALT_VALUE_JUNCTION_RED_FLAG = 8
EC_T_DEFALT_VALUE_MASTER_RED_SLAVE_ID = 5
EC_T_DEFALT_VALUE_MASTER_SLAVE_ID = 3
EC_T_DEFALT_VALUE_MAX_NUMOF_MASTER_INSTANCES = 4
class EcWrapperPythonTypes.EC_T_MOTION_CMD(value)

An enumeration.

EC_T_MOTION_CMD_AXIS_INIT_CREATE = 0
EC_T_MOTION_CMD_AXIS_INIT_DELETE = 1
EC_T_MOTION_CMD_AXIS_INIT_ECAT_CREATE = 150
EC_T_MOTION_CMD_AXIS_INIT_ECAT_DELETE = 151
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_COEIDXOPMODE = 156
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_COESUBIDXOPMODE = 157
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_PCONTROLWORD = 159
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_PROFILE = 154
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_PSTATUSWORD = 158
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_SERCOSDRIVENO = 155
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_SLAVEID = 152
EC_T_MOTION_CMD_AXIS_INIT_ECAT_SET_STATIONADDRESS = 153
EC_T_MOTION_CMD_AXIS_INIT_INPUTS_CREATE = 100
EC_T_MOTION_CMD_AXIS_INIT_INPUTS_DELETE = 101
EC_T_MOTION_CMD_AXIS_INIT_INPUTS_SET_PACTUALPOSITION = 102
EC_T_MOTION_CMD_AXIS_INIT_INPUTS_SET_PACTUALTORQUE = 103
EC_T_MOTION_CMD_AXIS_INIT_INPUTS_SET_PDIGITALINPUTS = 104
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_CREATE = 50
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_DELETE = 51
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PDIGITALOUTPUTS = 59
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PMODEOFOPERATION = 57
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PMODEOFOPERATIONDISPLAY = 58
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PTARGETPOSITION = 52
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PTARGETTORQUE = 55
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PTARGETVELOCITY = 53
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PTORQUEOFFSET = 56
EC_T_MOTION_CMD_AXIS_INIT_OUTPUTS_SET_PVELOCITYOFFSET = 54
EC_T_MOTION_CMD_AXIS_INIT_SET_AXISTYPE = 2
EC_T_MOTION_CMD_AXIS_INIT_SET_CYCLETIME = 3
EC_T_MOTION_CMD_AXIS_INIT_SET_INCFACTOR = 5
EC_T_MOTION_CMD_AXIS_INIT_SET_INCPERMM = 4
EC_T_MOTION_CMD_AXIS_INIT_SET_TORQUEGAIN = 7
EC_T_MOTION_CMD_AXIS_INIT_SET_VELOCITYGAIN = 6
EC_T_MOTION_CMD_AXIS_REF_CREATE = 200
EC_T_MOTION_CMD_AXIS_REF_DELETE = 201
EC_T_MOTION_CMD_AXIS_REF_EXEC_INIT = 202
EC_T_MOTION_CMD_AXIS_REF_EXEC_INITECAT = 205
EC_T_MOTION_CMD_AXIS_REF_EXEC_INITINPUTS = 203
EC_T_MOTION_CMD_AXIS_REF_EXEC_INITOUTPUTS = 204
EC_T_MOTION_CMD_AXIS_REF_EXEC_SETMODEOFOPERATION = 206
EC_T_MOTION_CMD_HALT_CREATE = 400
EC_T_MOTION_CMD_HALT_DELETE = 401
EC_T_MOTION_CMD_HALT_EXEC_ONCYCLE = 411
EC_T_MOTION_CMD_HALT_GET_BUSY = 404
EC_T_MOTION_CMD_HALT_GET_DECELERATION = 407
EC_T_MOTION_CMD_HALT_GET_DONE = 403
EC_T_MOTION_CMD_HALT_GET_EXECUTE = 405
EC_T_MOTION_CMD_HALT_GET_JERK = 409
EC_T_MOTION_CMD_HALT_SET_AXIS = 402
EC_T_MOTION_CMD_HALT_SET_DECELERATION = 408
EC_T_MOTION_CMD_HALT_SET_EXECUTE = 406
EC_T_MOTION_CMD_HALT_SET_JERK = 410
EC_T_MOTION_CMD_HOME_CREATE = 300
EC_T_MOTION_CMD_HOME_DELETE = 301
EC_T_MOTION_CMD_HOME_EXEC_ONCYCLE = 311
EC_T_MOTION_CMD_HOME_GET_BUSY = 304
EC_T_MOTION_CMD_HOME_GET_DONE = 303
EC_T_MOTION_CMD_HOME_GET_ENABLESETPOSITION = 309
EC_T_MOTION_CMD_HOME_GET_EXECUTE = 305
EC_T_MOTION_CMD_HOME_GET_POSITION = 307
EC_T_MOTION_CMD_HOME_SET_AXIS = 302
EC_T_MOTION_CMD_HOME_SET_ENABLESETPOSITION = 310
EC_T_MOTION_CMD_HOME_SET_EXECUTE = 306
EC_T_MOTION_CMD_HOME_SET_POSITION = 308
EC_T_MOTION_CMD_MOVE_ABSOLUTE_CREATE = 450
EC_T_MOTION_CMD_MOVE_ABSOLUTE_DELETE = 451
EC_T_MOTION_CMD_MOVE_ABSOLUTE_EXEC_ONCYCLE = 471
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_ACCELERATION = 463
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_BUSY = 454
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_CONTINUOUSUPDATE = 457
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_DECELERATION = 465
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_DIRECTION = 469
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_DONE = 453
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_EXECUTE = 455
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_JERK = 467
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_POSITION = 459
EC_T_MOTION_CMD_MOVE_ABSOLUTE_GET_VELOCITY = 461
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_ACCELERATION = 464
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_AXIS = 452
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_CONTINUOUSUPDATE = 458
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_DECELERATION = 466
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_DIRECTION = 470
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_EXECUTE = 456
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_JERK = 468
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_POSITION = 460
EC_T_MOTION_CMD_MOVE_ABSOLUTE_SET_VELOCITY = 462
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_CREATE = 600
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_DELETE = 601
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_EXEC_ONCYCLE = 623
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_ACCELERATION = 615
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_BUSY = 604
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_CONTINUOUSUPDATE = 607
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_DECELERATION = 617
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_DIRECTION = 621
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_ENDVELOCITY = 611
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_EXECUTE = 605
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_INENDVELOCITY = 603
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_JERK = 619
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_POSITION = 609
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_GET_VELOCITY = 613
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_ACCELERATION = 616
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_AXIS = 602
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_CONTINUOUSUPDATE = 608
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_DECELERATION = 618
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_DIRECTION = 622
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_ENDVELOCITY = 612
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_EXECUTE = 606
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_JERK = 620
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_POSITION = 610
EC_T_MOTION_CMD_MOVE_CONT_ABSOLUTE_SET_VELOCITY = 614
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_CREATE = 650
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_DELETE = 651
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_EXEC_ONCYCLE = 671
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_ACCELERATION = 665
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_BUSY = 654
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_CONTINUOUSUPDATE = 657
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_DECELERATION = 667
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_DISTANCE = 659
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_ENDVELOCITY = 661
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_EXECUTE = 655
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_INENDVELOCITY = 653
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_JERK = 669
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_GET_VELOCITY = 663
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_ACCELERATION = 666
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_AXIS = 652
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_CONTINUOUSUPDATE = 658
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_DECELERATION = 668
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_DISTANCE = 660
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_ENDVELOCITY = 662
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_EXECUTE = 656
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_JERK = 670
EC_T_MOTION_CMD_MOVE_CONT_RELATIVE_SET_VELOCITY = 664
EC_T_MOTION_CMD_MOVE_RELATIVE_CREATE = 500
EC_T_MOTION_CMD_MOVE_RELATIVE_DELETE = 501
EC_T_MOTION_CMD_MOVE_RELATIVE_EXEC_ONCYCLE = 519
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_ACCELERATION = 513
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_BUSY = 504
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_CONTINUOUSUPDATE = 507
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_DECELERATION = 515
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_DISTANCE = 509
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_DONE = 503
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_EXECUTE = 505
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_JERK = 517
EC_T_MOTION_CMD_MOVE_RELATIVE_GET_VELOCITY = 511
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_ACCELERATION = 514
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_AXIS = 502
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_CONTINUOUSUPDATE = 508
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_DECELERATION = 516
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_DISTANCE = 510
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_EXECUTE = 506
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_JERK = 518
EC_T_MOTION_CMD_MOVE_RELATIVE_SET_VELOCITY = 512
EC_T_MOTION_CMD_MOVE_VELOCITY_CREATE = 550
EC_T_MOTION_CMD_MOVE_VELOCITY_DELETE = 551
EC_T_MOTION_CMD_MOVE_VELOCITY_EXEC_ONCYCLE = 569
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_ACCELERATION = 561
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_BUSY = 554
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_CONTINUOUSUPDATE = 557
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_DECELERATION = 563
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_DIRECTION = 567
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_EXECUTE = 555
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_INVELOCITY = 553
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_JERK = 565
EC_T_MOTION_CMD_MOVE_VELOCITY_GET_VELOCITY = 559
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_ACCELERATION = 562
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_AXIS = 552
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_CONTINUOUSUPDATE = 558
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_DECELERATION = 564
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_DIRECTION = 568
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_EXECUTE = 556
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_JERK = 566
EC_T_MOTION_CMD_MOVE_VELOCITY_SET_VELOCITY = 560
EC_T_MOTION_CMD_POWER_CREATE = 250
EC_T_MOTION_CMD_POWER_DELETE = 251
EC_T_MOTION_CMD_POWER_EXEC_ONCYCLE = 262
EC_T_MOTION_CMD_POWER_GET_ENABLE = 256
EC_T_MOTION_CMD_POWER_GET_ENABLENEGATIVE = 260
EC_T_MOTION_CMD_POWER_GET_ENABLEPOSITIVE = 258
EC_T_MOTION_CMD_POWER_GET_FAULTREACTION = 255
EC_T_MOTION_CMD_POWER_GET_STATUS = 253
EC_T_MOTION_CMD_POWER_GET_VALID = 254
EC_T_MOTION_CMD_POWER_SET_AXIS = 252
EC_T_MOTION_CMD_POWER_SET_ENABLE = 257
EC_T_MOTION_CMD_POWER_SET_ENABLENEGATIVE = 261
EC_T_MOTION_CMD_POWER_SET_ENABLEPOSITIVE = 259
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_CREATE = 1100
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_DELETE = 1101
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_EXEC_ONCYCLE = 1107
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_GET_ENABLE = 1105
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_GET_POSITION = 1104
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_GET_VALID = 1103
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_SET_AXIS = 1102
EC_T_MOTION_CMD_READ_ACTUAL_POSITION_SET_ENABLE = 1106
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_CREATE = 1150
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_DELETE = 1151
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_EXEC_ONCYCLE = 1157
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_GET_ENABLE = 1155
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_GET_VALID = 1153
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_GET_VELOCITY = 1154
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_SET_AXIS = 1152
EC_T_MOTION_CMD_READ_ACTUAL_VELOCITY_SET_ENABLE = 1156
EC_T_MOTION_CMD_READ_AXIS_INFO_CREATE = 1250
EC_T_MOTION_CMD_READ_AXIS_INFO_DELETE = 1251
EC_T_MOTION_CMD_READ_AXIS_INFO_EXEC_ONCYCLE = 1264
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_COMMANDEDPOSITION = 1259
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_DRIVEERRORACK = 1262
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_DRIVEERRORACKREQ = 1258
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_DRIVESTATE = 1257
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_ENABLE = 1260
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_PLCOPENSTATE = 1256
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_SIMULATION = 1254
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_VALID = 1253
EC_T_MOTION_CMD_READ_AXIS_INFO_GET_VERBOSE = 1255
EC_T_MOTION_CMD_READ_AXIS_INFO_SET_AXIS = 1252
EC_T_MOTION_CMD_READ_AXIS_INFO_SET_DRIVEERRORACK = 1263
EC_T_MOTION_CMD_READ_AXIS_INFO_SET_ENABLE = 1261
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_CREATE = 800
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_DELETE = 801
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_EXEC_ONCYCLE = 810
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_GET_BUSY = 804
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_GET_ENABLE = 806
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_GET_PARAMETERNUMBER = 808
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_GET_VALID = 803
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_GET_VALUE = 805
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_SET_AXIS = 802
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_SET_ENABLE = 807
EC_T_MOTION_CMD_READ_BOOL_PARAMETER_SET_PARAMETERNUMBER = 809
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_CREATE = 950
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_DELETE = 951
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_EXEC_ONCYCLE = 960
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_GET_BUSY = 954
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_GET_ENABLE = 956
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_GET_INPUTNUMBER = 958
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_GET_VALID = 953
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_GET_VALUE = 955
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_SET_AXIS = 952
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_SET_ENABLE = 957
EC_T_MOTION_CMD_READ_DIGITAL_INPUT_SET_INPUTNUMBER = 959
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_CREATE = 1000
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_DELETE = 1001
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_EXEC_ONCYCLE = 1010
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_GET_BUSY = 1004
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_GET_ENABLE = 1006
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_GET_OUTPUTNUMBER = 1008
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_GET_VALID = 1003
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_GET_VALUE = 1005
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_SET_AXIS = 1002
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_SET_ENABLE = 1007
EC_T_MOTION_CMD_READ_DIGITAL_OUTPUT_SET_OUTPUTNUMBER = 1009
EC_T_MOTION_CMD_READ_ERROR_CREATE = 1300
EC_T_MOTION_CMD_READ_ERROR_DELETE = 1301
EC_T_MOTION_CMD_READ_ERROR_EXEC_ONCYCLE = 1306
EC_T_MOTION_CMD_READ_ERROR_GET_ENABLE = 1304
EC_T_MOTION_CMD_READ_ERROR_GET_VALID = 1303
EC_T_MOTION_CMD_READ_ERROR_SET_AXIS = 1302
EC_T_MOTION_CMD_READ_ERROR_SET_ENABLE = 1305
EC_T_MOTION_CMD_READ_MOTION_STATE_CREATE = 1200
EC_T_MOTION_CMD_READ_MOTION_STATE_DELETE = 1201
EC_T_MOTION_CMD_READ_MOTION_STATE_EXEC_ONCYCLE = 1211
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_ACCELERATING = 1205
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_CONSTANTVELOCITY = 1204
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_DECELERATING = 1206
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_DIRECTIONNEGATIVE = 1208
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_DIRECTIONPOSITIVE = 1207
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_ENABLE = 1209
EC_T_MOTION_CMD_READ_MOTION_STATE_GET_VALID = 1203
EC_T_MOTION_CMD_READ_MOTION_STATE_SET_AXIS = 1202
EC_T_MOTION_CMD_READ_MOTION_STATE_SET_ENABLE = 1210
EC_T_MOTION_CMD_READ_PARAMETER_CREATE = 750
EC_T_MOTION_CMD_READ_PARAMETER_DELETE = 751
EC_T_MOTION_CMD_READ_PARAMETER_EXEC_ONCYCLE = 760
EC_T_MOTION_CMD_READ_PARAMETER_GET_BUSY = 754
EC_T_MOTION_CMD_READ_PARAMETER_GET_ENABLE = 756
EC_T_MOTION_CMD_READ_PARAMETER_GET_PARAMETERNUMBER = 758
EC_T_MOTION_CMD_READ_PARAMETER_GET_VALID = 753
EC_T_MOTION_CMD_READ_PARAMETER_GET_VALUE = 755
EC_T_MOTION_CMD_READ_PARAMETER_SET_AXIS = 752
EC_T_MOTION_CMD_READ_PARAMETER_SET_ENABLE = 757
EC_T_MOTION_CMD_READ_PARAMETER_SET_PARAMETERNUMBER = 759
EC_T_MOTION_CMD_RESET_CREATE = 1350
EC_T_MOTION_CMD_RESET_DELETE = 1351
EC_T_MOTION_CMD_RESET_EXEC_ONCYCLE = 1357
EC_T_MOTION_CMD_RESET_GET_BUSY = 1354
EC_T_MOTION_CMD_RESET_GET_DONE = 1353
EC_T_MOTION_CMD_RESET_GET_EXECUTE = 1355
EC_T_MOTION_CMD_RESET_SET_AXIS = 1352
EC_T_MOTION_CMD_RESET_SET_EXECUTE = 1356
EC_T_MOTION_CMD_SET_POSITION_CREATE = 700
EC_T_MOTION_CMD_SET_POSITION_DELETE = 701
EC_T_MOTION_CMD_SET_POSITION_EXEC_ONCYCLE = 713
EC_T_MOTION_CMD_SET_POSITION_GET_BUSY = 704
EC_T_MOTION_CMD_SET_POSITION_GET_DONE = 703
EC_T_MOTION_CMD_SET_POSITION_GET_EXECUTE = 705
EC_T_MOTION_CMD_SET_POSITION_GET_EXECUTIONMODE = 711
EC_T_MOTION_CMD_SET_POSITION_GET_POSITION = 707
EC_T_MOTION_CMD_SET_POSITION_GET_RELATIVE = 709
EC_T_MOTION_CMD_SET_POSITION_SET_AXIS = 702
EC_T_MOTION_CMD_SET_POSITION_SET_EXECUTE = 706
EC_T_MOTION_CMD_SET_POSITION_SET_EXECUTIONMODE = 712
EC_T_MOTION_CMD_SET_POSITION_SET_POSITION = 708
EC_T_MOTION_CMD_SET_POSITION_SET_RELATIVE = 710
EC_T_MOTION_CMD_STOP_CREATE = 350
EC_T_MOTION_CMD_STOP_DELETE = 351
EC_T_MOTION_CMD_STOP_EXEC_ONCYCLE = 362
EC_T_MOTION_CMD_STOP_GET_BUSY = 354
EC_T_MOTION_CMD_STOP_GET_COMMANDABORTED = 355
EC_T_MOTION_CMD_STOP_GET_DECELERATION = 358
EC_T_MOTION_CMD_STOP_GET_DONE = 353
EC_T_MOTION_CMD_STOP_GET_EXECUTE = 356
EC_T_MOTION_CMD_STOP_GET_JERK = 360
EC_T_MOTION_CMD_STOP_SET_AXIS = 352
EC_T_MOTION_CMD_STOP_SET_DECELERATION = 359
EC_T_MOTION_CMD_STOP_SET_EXECUTE = 357
EC_T_MOTION_CMD_STOP_SET_JERK = 361
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_CREATE = 900
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_DELETE = 901
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_EXEC_ONCYCLE = 910
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_GET_BUSY = 903
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_GET_EXECUTE = 904
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_GET_PARAMETERNUMBER = 906
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_GET_VALUE = 908
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_SET_AXIS = 902
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_SET_EXECUTE = 905
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_SET_PARAMETERNUMBER = 907
EC_T_MOTION_CMD_WRITE_BOOL_PARAMETER_SET_VALUE = 909
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_CREATE = 1050
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_DELETE = 1051
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_EXEC_ONCYCLE = 1062
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_BUSY = 1054
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_DONE = 1053
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_EXECUTE = 1055
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_EXECUTIONMODE = 1060
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_OUTPUTNUMBER = 1056
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_GET_VALUE = 1058
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_SET_AXIS = 1052
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_SET_EXECUTIONMODE = 1061
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_SET_OUTPUTNUMBER = 1057
EC_T_MOTION_CMD_WRITE_DIGITAL_OUTPUT_SET_VALUE = 1059
EC_T_MOTION_CMD_WRITE_PARAMETER_CREATE = 850
EC_T_MOTION_CMD_WRITE_PARAMETER_DELETE = 851
EC_T_MOTION_CMD_WRITE_PARAMETER_EXEC_ONCYCLE = 860
EC_T_MOTION_CMD_WRITE_PARAMETER_GET_BUSY = 853
EC_T_MOTION_CMD_WRITE_PARAMETER_GET_EXECUTE = 854
EC_T_MOTION_CMD_WRITE_PARAMETER_GET_PARAMETERNUMBER = 856
EC_T_MOTION_CMD_WRITE_PARAMETER_GET_VALUE = 858
EC_T_MOTION_CMD_WRITE_PARAMETER_SET_AXIS = 852
EC_T_MOTION_CMD_WRITE_PARAMETER_SET_EXECUTE = 855
EC_T_MOTION_CMD_WRITE_PARAMETER_SET_PARAMETERNUMBER = 857
EC_T_MOTION_CMD_WRITE_PARAMETER_SET_VALUE = 859
class EcWrapperPythonTypes.ECoEObjCode(value)

OB Desc Object Code

ARRAY = 8
RECORD = 9
VARIABLE = 7
class EcWrapperPythonTypes.ECoeObEntryAccess(value)

OB Entry Access

R_OP = 4
R_PREOP = 1
R_SAFEOP = 2
W_OP = 32
W_PREOP = 8
W_SAFEOP = 16
class EcWrapperPythonTypes.ECoeObEntryDescInfo(value)

OB Entry Description Information

DEFAULTVALUE = 16
MAXVALUE = 64
MINVALUE = 32
OBJACCESS = 1
OBJCATEGORY = 2
PDOMAPPING = 4
UNITTYPE = 8
class EcWrapperPythonTypes.EEscPort(value)

ESC Ports (see defines ESC_PORT_A..D)

PORT_A = 0
PORT_B = 1
PORT_C = 2
PORT_D = 3
PORT_INVALID = 255
class EcWrapperPythonTypes.ELinkMode(value)

Link Layer Modi

INTERRUPT = 1
POLLING = 2
UNDEFINED = 0
class EcWrapperPythonTypes.ELinkType(value)

Link Layer Type

BCMNETXTREME = 14
CCAT = 8
DPDK = 15
EOM = 5
I8254X = 3
I8255X = 4
INTELGBE = 12
MULTIPLIER = 16
NDIS = 9
RTL8139 = 6
RTL8169 = 7
Remote = 11
SOCKRAW = 2
Simulator = 10
TAP = 13
UNDEFINED = 0
VLAN = 17
WINPCAP = 1
class EcWrapperPythonTypes.EMailBoxFlags(value)

MailBoxFlags

NONE_ = 0
SDO_COMPLETE = 1
class EcWrapperPythonTypes.EMbxProtocol(value)

Supported mailbox protocols

AOE = 1
COE = 4
EOE = 2
FOE = 8
SOE = 16
VOE = 32
class EcWrapperPythonTypes.EcDeviceState(value)

Specifies all possible Device states

BOOTSTRAP = 3
INIT = 1
OP = 8
PREOP = 2
SAFEOP = 4
Unknown = 65519
class EcWrapperPythonTypes.EcRunMode(value)

Run modes

Daq = 11
DaqReader = 12
LibAccess = 13
Master = 1
MbxGateway = 4
MbxGatewaySrv = 5
Monitor = 9
MonitorRasServer = 10
None_ = 0
RasClient = 3
RasServer = 2
SimulatorHil = 7
SimulatorRasServer = 8
SimulatorSil = 6
class EcWrapperPythonTypes.uint32Enum(value)

Base class for creating enumerated constants of unsigned 32 bit integers

3.4. Error Codes

class EcWrapperPythonTypes.ECError(value)

Specifies EtherCAT errors codes

EC_ACCESSDENIED = 2551250966

Access Denied (e.g. master internal software error)

Type

0x98110016

Type

ISW

EC_ACYC_FRM_FREEQ_EMPTY = 2551250953

Cannot queue acyclic EtherCAT command (Acyclic command queue is full. Possible solution: Increase of configuration value dwMaxQueuedEthFrames)

Type

0x98110009

Type

ISW

EC_ADO_NOT_SUPPORTED = 2551251326

ADO for slave identification not supported (e.g. Request ID mechanism (ADO 0x134) not supported by slave)

Type

0x9811017E

Type

SLV

EC_ADS_IS_RUNNING = 2551251250

ADS adapter (Pass Through Server) is running (API call conflicts with ADS state (running))

Type

0x98110132

Type

PTS

EC_AI_ADDRESS = 2551250985

Auto increment address increment mismatch (e.g. Network information file and bus topology doesn’t match any more. Error shows only, if an already recognized slave isn’t present any more)

Type

0x98110029

Type

SLV

EC_AOE_ABORTED = 2551251293

Request aborted

Type

0x9811015D

Type

AoE

EC_AOE_ACCESSDENIED = 2551251297

Access denied

Type

0x98110161

Type

AoE

EC_AOE_AMS_SYNC_AMS = 2551382041

Sync AMS error

Type

0x98130019

Type

AoE

EC_AOE_AMS_SYNC_NO_INDEX_MAP = 2551382042

Sync no index map

Type

0x9813001A

Type

AoE

EC_AOE_AMS_SYNC_TIMEOUT = 2551382040

Sync Timeout

Type

0x98130018

Type

AoE

EC_AOE_AMS_SYNC_WIN32 = 2551382039

Sync Win 32 error

Type

0x98130017

Type

AoE

EC_AOE_BAD_TASK_ID = 2551382033

Bad task ID

Type

0x98130011

Type

AoE

EC_AOE_BUSY = 2551251270

Device busy

Type

0x98110146

Type

AoE

EC_AOE_CLIENTUNKNOWN = 2551251283

Notification client not registered

Type

0x98110153

Type

AoE

EC_AOE_ERROR = 2551251262

Common AoE device error

Type

0x9811013E

Type

AoE

EC_AOE_EXISTS = 2551251277

Object already exists

Type

0x9811014D

Type

AoE

EC_AOE_HOST_UNREACHABLE = 2551382044

Host unreachable

Type

0x9813001C

Type

AoE

EC_AOE_INCOMPATIBLE = 2551251276

Objects do not match

Type

0x9811014C

Type

AoE

EC_AOE_INTERNAL = 2551251298

Internal error

Type

0x98110162

Type

AoE

EC_AOE_INVALIDACCESS = 2551251266

Reading/writing not permitted

Type

0x98110142

Type

AoE

EC_AOE_INVALIDAMSFRAGMENT = 2551382045

Invalid AMS fragment

Type

0x9813001D

Type

AoE

EC_AOE_INVALIDARRAYIDX = 2551251295

Invalid array index

Type

0x9811015F

Type

AoE

EC_AOE_INVALIDCLSID = 2551251290

Class ID invalid

Type

0x9811015A

Type

AoE

EC_AOE_INVALIDCONTEXT = 2551251271

Invalid context

Type

0x98110147

Type

AoE

EC_AOE_INVALIDDATA = 2551251268

Invalid parameter value(s)

Type

0x98110144

Type

AoE

EC_AOE_INVALIDGRP = 2551251264

Invalid index group

Type

0x98110140

Type

AoE

EC_AOE_INVALIDINTERFACE = 2551251289

Wrong interface required

Type

0x98110159

Type

AoE

EC_AOE_INVALIDOBJID = 2551251291

Object ID invalid

Type

0x9811015B

Type

AoE

EC_AOE_INVALIDOFFSET = 2551251265

Invalid index offset

Type

0x98110141

Type

AoE

EC_AOE_INVALIDPARM = 2551251273

Invalid parameter value(s)

Type

0x98110149

Type

AoE

EC_AOE_INVALIDSIZE = 2551251267

Parameter size not correct

Type

0x98110143

Type

AoE

EC_AOE_INVALIDSTATE = 2551251280

Server in invalid state

Type

0x98110150

Type

AoE

EC_AOE_INVALIDWATCHSIZE = 2551251285

Size for watch to big

Type

0x98110155

Type

AoE

EC_AOE_INVALID_AMS_ID = 2551251304

invalid AMS Net ID

Type

0x98110168

Type

AoE

EC_AOE_INVALID_AMS_LENGTH = 2551251303

Invalid AMS length

Type

0x98110167

Type

AoE

EC_AOE_INVALID_AMS_PORT = 2551251307

Invalid AMS port

Type

0x9811016B

Type

AoE

EC_AOE_INV_RESPONSE_SIZE = 2551251261

Invalid AoE response received

Type

0x9811013D

Type

AoE

EC_AOE_LOCKED_MEMORY = 2551382030

Allocation locked memory

Type

0x9813000E

Type

AoE

EC_AOE_LOW_INSTALL_LEVEL = 2551382037

Low installation level

Type

0x98130015

Type

AoE

EC_AOE_MAILBOX = 2551382031

Insert mailbox error

Type

0x9813000F

Type

AoE

EC_AOE_MAILBOX_FULL = 2551382047

Mailbox full

Type

0x9813001F

Type

AoE

EC_AOE_MBX_WKC_ERROR = 2551251234

Mailbox receive: working counter

Type

0x98110122

Type

AoE

EC_AOE_NOINTERFACE = 2551251288

Query interface failed

Type

0x98110158

Type

AoE

EC_AOE_NOMEMORY = 2551251272

Out of memory

Type

0x98110148

Type

AoE

EC_AOE_NOMOREHDLS = 2551251284

No more notification handles

Type

0x98110154

Type

AoE

EC_AOE_NOTFOUND = 2551251274

Not found

Type

0x9811014A

Type

AoE

EC_AOE_NOTIFYHNDINVALID = 2551251282

Notification handle invalid

Type

0x98110152

Type

AoE

EC_AOE_NOTINIT = 2551251286

Device not initialized

Type

0x98110156

Type

AoE

EC_AOE_NOTREADY = 2551251269

Device not in a ready state

Type

0x98110145

Type

AoE

EC_AOE_NO_DEBUG = 2551382038

No debug available

Type

0x98130016

Type

AoE

EC_AOE_NO_IO = 2551382034

No IO

Type

0x98130012

Type

AoE

EC_AOE_NO_LOCKED_MEMORY = 2551382046

No allocation locked memory

Type

0x9813001E

Type

AoE

EC_AOE_NO_MEMORY = 2551251308

No memory

Type

0x9811016C

Type

AoE

EC_AOE_NO_RTIME = 2551382029

No Rtime

Type

0x9813000D

Type

AoE

EC_AOE_PENDING = 2551251292

Request pending

Type

0x9811015C

Type

AoE

EC_AOE_PORT_CONNECTED = 2551251306

Port already connected

Type

0x9811016A

Type

AoE

EC_AOE_PORT_DISABLED = 2551251305

Port disabled

Type

0x98110169

Type

AoE

EC_AOE_PORT_NOT_CONNECTED = 2551251302

Port not connected

Type

0x98110166

Type

AoE

EC_AOE_SRVNOTSUPP = 2551251263

Service not supported by server

Type

0x9811013F

Type

AoE

EC_AOE_SYMBOLNOTACTIVE = 2551251296

Symbol not active -> release handle and try again

Type

0x98110160

Type

AoE

EC_AOE_SYMBOLNOTFOUND = 2551251278

Symbol not found

Type

0x9811014E

Type

AoE

EC_AOE_SYMBOLVERSIONINVALID = 2551251279

Symbol version invalid

Type

0x9811014F

Type

AoE

EC_AOE_SYNTAX = 2551251275

Syntax error in command or file

Type

0x9811014B

Type

AoE

EC_AOE_TARGET_MACHINE_NOT_FOUND = 2551251300

Target machine not found

Type

0x98110164

Type

AoE

EC_AOE_TARGET_PORT_NOT_FOUND = 2551251299

Target port not found

Type

0x98110163

Type

AoE

EC_AOE_TCP_SEND = 2551382043

TCP send error

Type

0x9813001B

Type

AoE

EC_AOE_TIMEOUT = 2551251287

Device has a timeout

Type

0x98110157

Type

AoE

EC_AOE_TRANSMODENOTSUPP = 2551251281

AdsTransMode not supported

Type

0x98110151

Type

AoE

EC_AOE_UNKNOWN_AMS_COMMAND = 2551382035

Unknown ADS command

Type

0x98130013

Type

AoE

EC_AOE_UNKNOWN_CMD_ID = 2551251301

Unknown command ID

Type

0x98110165

Type

AoE

EC_AOE_VENDOR_SPECIFIC = 2551251309

Vendor specific AoE device error

Type

0x9811016D

Type

AoE

EC_AOE_WARNING = 2551251294

Signal warning

Type

0x9811015E

Type

AoE

EC_AOE_WIN32 = 2551382036

Win 32 error

Type

0x98130014

Type

AoE

EC_AOE_WRONG_HMSG = 2551382032

Wrong receive HMSG

Type

0x98130010

Type

AoE

EC_BAD_CONNECTION = 2551382066

Bad connection

Type

0x98130032

EC_BUSCONFIG_MISMATCH = 2551250974

Bus configuration mismatch (e.g. Network information file and currently connected bus topology does not match)

Type

0x9811001E

Type

ENI

EC_BUSCONFIG_TOPOCHANGE = 2551251230

Bus configuration not detected, Topology changed (e.g. Topology changed while scanning bus)

Type

0x9811011E

EC_BUSY = 2551250952

Busy (e.g. EtherCAT stack is currently busy and not available to process the API request. The function may be called again later)

Type

0x98110008

Type

APP

EC_CANCEL = 2551250948

Cancel (e.g. EtherCAT stack should abort current mailbox transfer)

Type

0x98110004

Type

APP

EC_CFGFILENOTFOUND = 2551251056

Network configuration file not found (e.g. path to configuration file (XML) was wrong or the file is not available)

Type

0x98110070

Type

CFG

EC_CMD_MISSING = 2551250982

At least one EtherCAT command is missing in the received frame (e.g. received EtherCAT frame incomplete)

Type

0x98110026

Type

SLV

EC_COE_MBXRCV_WKC_ERROR = 2551250992

CoE mailbox receive: working counter (e.g. CoE mailbox couldn’t be read from slave)

Type

0x98110030

Type

SLV

EC_COE_MBXSND_WKC_ERROR = 2551250991

CoE mailbox send: working counter (e.g. CoE mailbox couldn’t be read on slave, slave didn’t read out mailbox since last write)

Type

0x9811002F

Type

SLV

EC_CONFIGDATAREAD = 2551250975

Error reading configuration file (e.g. Network information file could not be read)

Type

0x9811001F

Type

ENI

EC_CYCCMD_WKC_ERROR = 2551250983

Cyclic command WKC error

Type

0x98110027

EC_CYC_CMDS_OVERFLOW = 2551250988

Too many cyclic commands in XML configuration file (e.g. EC_T_INIT_MASTER_PARMS.dwMaxAcycFramesQueued too small)

Type

0x9811002C

Type

ENI

EC_DATA_TYPE_CONVERSION_FAILED = 2551251321

Data type conversion failed

Type

0x98110179

EC_DC_REF_CLOCK_NOT_FOUND = 2551251257

Reference clock not found! May happen if reference clock is removed from network.

Type

0x98110139

Type

SLV

EC_DC_REF_CLOCK_SYNC_OUT_UNIT_DISABLED = 2551251256

DC (time loop control) unit of reference clock disabled

Type

0x98110138

EC_DC_SLAVES_BEFORE_REF_CLOCK = 2551251320

Slaves with DC configured present on bus before reference clock (e.g. The first DC Slave was not configured as potential reference clock)

Type

0x98110178

Type

ENI

EC_DLSTATUS_IRQ_TOPOCHANGED = 2551251248

Data link (DL) status interrupt because of changed topology (automatically handled by master)

Type

0x98110130

Type

SLV

EC_DUPLICATE = 2551250957

Duplicated fixed address detected (handled internally)

Type

0x9811000D

Type

ISW

EC_EEPROMASSIGNERROR = 2551251236

EEPROM assignment failed

Type

0x98110124

Type

SLV

EC_EEPROMREADERROR = 2551251057

Command error while EEPROM upload (read slave EEPROM)

Type

0x98110071

Type

SLV

EC_EEPROMRELOADERROR = 2551251216

Command error while EEPROM reload

Type

0x98110110

EC_EEPROMWRITEERROR = 2551251058

Command error while EEPROM download (write slave EEPROM)

Type

0x98110072

Type

SLV

EC_ENI_ENCRYPTED = 2551382026

Loading encrypted ENI needs OEM key

Type

0x9813000A

Type

OEM

EC_ENI_ENCRYPTION_WRONG_VERSION = 2551382025

ENI encryption algorithm version not supported

Type

0x98130009

Type

ENI, OEM

EC_ENI_NO_SAFEOP_OP_SUPPORT = 2551250976

Configuration doesn’t support SAFEOP and OP requested state

Type

0x98110020

EC_EOE_MBX_WKC_ERROR = 2551251231

Mailbox receive: working counter

Type

0x9811011F

Type

EoE

EC_ERROR = 2551250944

Unspecific Error

Type

0x98110000

EC_ERROR2 = 2551382016

EC_ERROR2

EC_ERROR_LAST = 2551251327

EC_ERROR_LAST

EC_ERROR_LAST2 = 2551447551

EC_ERROR_LAST2

EC_EVAL_EXPIRED = 2551251000

Evaluation Time limit reached (e.g. License not provided and evaluation period (1 hour) of protected version exceeded)

Type

0x98110038

Type

CFG

EC_EVAL_VIOLATION = 2551250999

Configuration violates Evaluation limits (obsolete)

Type

0x98110037

Type

ENI

EC_FEATURE_DISABLED = 2551250972

Feature disabled (e.g. Application tried to perform a missing or disabled API function)

Type

0x9811001C

Type

APP

EC_FOE_ERRCODE_ACCESS = 2551251042

ERROR FoE: access denied (FoE Error Code 2 (0x8002) of slave)

Type

0x98110062

Type

SLV

EC_FOE_ERRCODE_BOOTSTRAPONLY = 2551251048

ERROR FoE: bootstrap only (FoE Error Code 8 (0x8008) of slave)

Type

0x98110068

Type

SLV

EC_FOE_ERRCODE_DISKFULL = 2551251043

ERROR FoE: disk full (FoE Error Code 3 (0x8003) of slave)

Type

0x98110063

Type

SLV

EC_FOE_ERRCODE_EXISTS = 2551251046

ERROR FoE: already exists (FoE Error Code 6 (0x8006) of slave)

Type

0x98110066

Type

SLV

EC_FOE_ERRCODE_FILE_HEAD_MISSING = 2551382017

ERROR FoE: File header does not exist (FoE Error Code 16 (0x8010) of slave)

Type

0x98130001

Type

SLV

EC_FOE_ERRCODE_FILE_INCOMPATIBLE = 2551382019

ERROR FoE: File incompatible (FoE Error Code 18 (0x8012) of slave)

Type

0x98130003

Type

SLV

EC_FOE_ERRCODE_FLASH_PROBLEM = 2551382018

ERROR FoE: Flash problem (FoE Error Code 17 (0x8011) of slave)

Type

0x98130002

Type

SLV

EC_FOE_ERRCODE_ILLEGAL = 2551251044

ERROR FoE: illegal (FoE Error Code 4 (0x8004) of slave)

Type

0x98110064

Type

SLV

EC_FOE_ERRCODE_INVALIDPASSWORD = 2551251050

ERROR FoE: no rights (FoE Error Code 10 (0x800A) of slave)

Type

0x9811006A

Type

SLV

EC_FOE_ERRCODE_INVALID_CHECKSUM = 2551251052

Wrong checksum

Type

0x9811006C

Type

FoE

EC_FOE_ERRCODE_INVALID_FIRMWARE = 2551251053

ERROR FoE: Firmware does not fit for Hardware (FoE Error Code 13 (0x800D) of slave)

Type

0x9811006D

Type

SLV

EC_FOE_ERRCODE_MAX_FILE_SIZE = 2551251322

ERROR FoE: File is bigger than max file size (e.g. Slave returned more data than the buffer provided by application can store.)

Type

0x9811017A

Type

APP

EC_FOE_ERRCODE_NOTDEFINED = 2551251040

ERROR FoE: not defined (FoE Error Code 0 (0x8000) of slave)

Type

0x98110060

Type

SLV

EC_FOE_ERRCODE_NOTFOUND = 2551251041

ERROR FoE: not found (FoE Error Code 1 (0x8001) of slave)

Type

0x98110061

Type

SLV

EC_FOE_ERRCODE_NOTINBOOTSTRAP = 2551251049

ERROR FoE: Downloaded file name is not valid in Bootstrap state (FoE Error Code 9 (0x8009) of slave)

Type

0x98110069

Type

SLV

EC_FOE_ERRCODE_NOUSER = 2551251047

ERROR FoE: no user (FoE Error Code 7 (0x8007) of slave)

Type

0x98110067

Type

SLV

EC_FOE_ERRCODE_NO_FILE = 2551251055

ERROR FoE: No file to read (FoE Error Code 15 (0x800F) of slave)

Type

0x9811006F

Type

SLV

EC_FOE_ERRCODE_PACKENO = 2551251045

ERROR FoE: packet number wrong (FoE Error Code 5 (0x8005) of slave)

Type

0x98110065

Type

SLV

EC_FOE_ERRCODE_PROGERROR = 2551251051

ERROR FoE: program error (FoE Error Code 11 (0x800B) of slave)

Type

0x9811006B

Type

SLV

EC_FOE_MBX_WKC_ERROR = 2551251232

Mailbox receive: working counter

Type

0x98110120

Type

FoE

EC_FRAMELOSS_AFTER_SLAVE = 2551251327

Frameloss after Slave (opening port destroys communication)

Type

0x9811017F

EC_FRAME_LOST = 2551250981

Frame lost, IDX mismatch (EtherCAT frame(s) lost on bus, means the response was not received. In case this error shows frequently a problem with the wiring could be the cause)

Type

0x98110025

Type

SLV

EC_IDENTIFICATIONFAILED = 2551250967

Identification failed (e.g. identification command failed)

Type

0x98110017

Type

ENI

EC_INSERTMAILBOX = 2551250963

Insert Mailbox error (internal limit MAX_QUEUED_COE_CMDS: 20)

Type

0x98110013

Type

CFG

EC_INVALIDCMD = 2551250964

Invalid Command (Unknown mailbox command code)

Type

0x98110014

Type

ISW

EC_INVALIDDATA = 2551250950

Invalid data (multiple error sources)

Type

0x98110006

Type

ISW

EC_INVALIDINDEX = 2551250946

Invalid index (e.g. CoE: invalid SDO index)

Type

0x98110002

Type

APP

EC_INVALIDOFFSET = 2551250947

Invalid offset (e.g. invalid offset while accessing Process Data Image)

Type

0x98110003

Type

ISW

EC_INVALIDPARM = 2551250955

Invalid parameter (e.g. API function called with erroneous parameter set)

Type

0x9811000B

Type

APP

EC_INVALIDSIZE = 2551250949

Invalid size

Type

0x98110005

Type

APP

EC_INVALIDSTATE = 2551250958

Invalid state (EtherCAT stack not initialized or not configured)

Type

0x9811000E

Type

ISW

EC_INVALID_DCL_MODE = 2551250984

IOCTL EC_IOCTL_DC_LATCH_REQ_LTIMVALS invalid in DCL auto read mode (this function cannot be used if DC Latching is running in mode “Auto Read”)

Type

0x98110028

Type

APP

EC_INVALID_SLAVE_STATE = 2551250986

Slave in invalid state, e.g. not in OP (API not callable in this state) (mailbox commands are not allowed in current slave state)

Type

0x9811002A

Type

APP

EC_JUNCTION_RED_LINE_BREAK = 2551382054

Junction redundancy line break

Type

0x98130026

EC_LICENSE_MISSING = 2551251001

License key invalid or missing

Type

0x98110039

EC_LINE_CROSSED = 2551251323

Line crossed (cabling wrong)

Type

0x9811017B

EC_LINE_CROSSED_SLAVE_INFO = 2551251324

Line crossed at slave (obsolete)

Type

0x9811017C

Ethernet link cable disconnected (e.g. EtherCAT bus segment not connected to network interface)

Type

0x9811002D

Type

SLV

EC_LOCK_CREATE_FAILED = 2551250968

Create lock failed (e.g. OsCreateLockTyped failed)

Type

0x98110018

Type

SYS

EC_MASTERCORE_INACCESSIBLE = 2551250990

Simulator core not accessible (e.g. Connection to remote server was terminated or simulator instance has been stopped on remote side)

Type

0x9811002E

Type

RAS

EC_MASTER_RED_STATE_ACTIVE = 2551382053

Master Redundancy State is ACTIVE (e.g. API not allowed in current Master Redundancy State)

Type

0x98130025

Type

APP

EC_MASTER_RED_STATE_INACTIVE = 2551382052

Master Redundancy State is INACTIVE (e.g. API not allowed in current Master Redundancy State)

Type

0x98130024

Type

APP

EC_MAX_BUS_SLAVES_EXCEEDED = 2551251311

Error: Maximum number of bus slave has been exceeded (The maximum number of preallocated bus slave objects is too small. The maximum number can be adjusted by the master initialization parameter EC_T_INITMASTERPARMS.dwMaxBusSlaves)

Type

0x9811016F

Type

CFG

EC_MBXERR_INVALIDCHANNEL = 2551251314

Mailbox error: Field contains wrong value (Slave error mailbox return value: 0x03)

Type

0x98110172

Type

SLV

EC_MBXERR_INVALIDHEADER = 2551251316

Mailbox error: The mailbox protocol header of the mailbox protocol is wrong (Slave error mailbox return value: 0x05)

Type

0x98110174

Type

SLV

EC_MBXERR_INVALIDSIZE = 2551251319

Mailbox error: The length of data is inconsistent (Slave error mailbox return value: 0x08)

Type

0x98110177

Type

SLV

EC_MBXERR_NOMOREMEMORY = 2551251318

Mailbox error: Mailbox protocol can not be processed because of limited resources (Slave error mailbox return value: 0x07)

Type

0x98110176

Type

SLV

EC_MBXERR_SERVICENOTSUPPORTED = 2551251315

Mailbox error: The addressed service in the mailbox protocol is not supported (Slave error mailbox return value: 0x04)

Type

0x98110173

Type

SLV

EC_MBXERR_SIZETOOSHORT = 2551251317

Mailbox error: Length of received mailbox data is too short (Slave error mailbox return value: 0x06)

Type

0x98110175

Type

SLV

EC_MBXERR_SYNTAX = 2551251312

Mailbox error: Syntax of 6 octet Mailbox header is wrong (Slave error mailbox return value: 0x01)

Type

0x98110170

Type

SLV

EC_MBXERR_UNSUPPORTEDPROTOCOL = 2551251313

Mailbox error: The Mailbox protocol is not supported (Slave error mailbox return value: 0x02)

Type

0x98110171

Type

SLV

EC_MBX_CMD_WKC_ERROR = 2551251259

Mailbox command working counter error (e.g. Mailbox init command Retry Count exceeded)

Type

0x9811013B

Type

SLV

EC_MBX_ERROR_TYPE = 2551251237

Unknown mailbox error code received in mailbox

Type

0x98110125

Type

SLV

EC_MCSM_FATAL_ERROR = 2551250979

Fatal internal McSm (master control state machine is in an undefined state)

Type

0x98110023

Type

ISW

EC_NOERROR = 0

No Error

Type

0x00000000

EC_NOMEMORY = 2551250954

No memory left (e.g. memory full / fragmented))

Type

0x9811000A

Type

CFG

EC_NOTFOUND = 2551250956

Not found (e.g. Network Information File ENI not found or API called with invalid slave ID)

Type

0x9811000C

Type

APP

EC_NOTREADY = 2551250951

Not ready (multiple error sources)

Type

0x98110007

Type

ISW

EC_NOTSUPPORTED = 2551250945

Feature not supported (e.g. function or property not available)

Type

0x98110001

Type

APP

EC_NO_AOE_SUPPORT = 2551251260

AoE: Protocol not supported (e.g. Application calls AoE-API although not implemented at slave)

Type

0x9811013C

Type

APP / SLV

EC_NO_COE_SUPPORT = 2551250994

CoE protocol not supported (e.g. Configuration error or slave information file doesn’t match slave firmware)

Type

0x98110032

Type

ENI

EC_NO_EOE_SUPPORT = 2551250995

EoE protocol not supported (e.g. Configuration error or slave information file doesn’t match slave firmware)

Type

0x98110033

Type

ENI

EC_NO_FOE_SUPPORT = 2551250996

FoE protocol not supported (e.g. Configuration error or slave information file doesn’t match slave firmware)

Type

0x98110034

Type

ENI

EC_NO_FOE_SUPPORT_BS = 2551251215

ERROR FoE: Protocol not supported in boot strap (e.g. Application requested FoE in Bootstrap although slave does not support this)

Type

0x9811010F

Type

APP

EC_NO_MBX_SUPPORT = 2551250993

No mailbox support (e.g. Slave does not support mailbox access)

Type

0x98110031

Type

APP

EC_NO_SOE_SUPPORT = 2551250997

SoE protocol not supported (e.g. Configuration error or slave information file doesn’t match slave firmware)

Type

0x98110035

Type

ENI

EC_NO_VOE_SUPPORT = 2551250998

VoE protocol not supported (e.g. Configuration error or slave information file doesn’t match slave firmware)

Type

0x98110036

Type

ENI

EC_OEM_KEY_MISMATCH = 2551382027

OEM key mismatch

Type

0x9813000B

Type

RAS, APP

EC_OEM_KEY_MISSING = 2551382028

OEM key access needs OEM key set (e.g. Application must call esSetOemKey (HiL) or set EC_T_LINK_PARMS_SIMULATOR::qwOemKey (SiL))

Type

0x9813000C

Type

APP

EC_OEM_SIGNATURE_MISMATCH = 2551382024

Manufacturer signature mismatch

Type

0x98130008

Type

ENI, OEM

EC_OPENFAILED = 2551250961

Open failed

Type

0x98110011

Type

ISW

EC_PDIWATCHDOG = 2551382065

PDI watchdog expired

Type

0x98130031

EC_PORTCLOSE = 2551251062

Port close failed

Type

0x98110076

EC_PORTOPEN = 2551251063

Port open failed

Type

0x98110077

EC_PRODKEY_INVALID = 2551250970

Product Key Invalid (e.g. application using protected version of the stack, which stops operation after the evaluation time limit reached if a license is not provided)

Type

0x9811001A

Type

CFG

EC_PTS_IS_NOT_RUNNING = 2551251249

Pass Through Server is not running (Pass-Through-Server was tried to be enabled/disabled or stopped without being started)

Type

0x98110131

Type

PTS

EC_PTS_IS_RUNNING = 2551251250

Pass Through Server is running (obsolete, replaced by EC_E_ADS_IS_RUNNING)

Type

0x98110132

Type

PTS

EC_PTS_LL_MODE_NOT_SUPPORTED = 2551251254

The Link Layer mode is not supported by the Pass Through Server (e.g. The Master is running in interrupt mode but the Pass-Through-Server only supports polling mode)

Type

0x98110136

Type

PTS

EC_PTS_NOT_ENABLED = 2551251253

The Pass Through Server is running but not enabled

Type

0x98110135

Type

PTS

EC_PTS_SOCK_BIND_FAILED = 2551251252

The Pass Through Server could not bind the IP address with a socket (e.g. Possibly because the IPaddress (and Port) is already in use or the IP-address does not exist)

Type

0x98110134

Type

PTS

EC_PTS_THREAD_CREATE_FAILED = 2551251251

Could not start the Pass Through Server

Type

0x98110133

Type

PTS

EC_REDLINEBREAK = 2551251238

Redundancy line break (e.g. cable break between slaves or between EtherCAT network adapter and first slave)

Type

0x98110126

Type

SLV

EC_S2SMBX_DEST_SLAVE_NOT_FOUND = 2551382051

Destination Slave not found

Type

0x98130023

Type

S2S

EC_S2SMBX_NOT_CONFIGURED = 2551382048

Not Configured

Type

0x98130020

Type

S2S

EC_S2SMBX_NO_DESCRIPTOR = 2551382050

No Descriptor

Type

0x98130022

Type

S2S

EC_S2SMBX_NO_MEMORY = 2551382049

No Memory

Type

0x98130021

Type

S2S

EC_SDO_ABORTCODE_ACCESS = 2551251015

SDO: Unsupported access to an object (CoE abort code 0x06010000 of slave)

Type

0x98110047

Type

SLV

EC_SDO_ABORTCODE_BLK_SIZE = 2551251011

SDO: Invalid block size (block mode only) (CoE abort code 0x05040002 of slave)

Type

0x98110043

Type

SLV

EC_SDO_ABORTCODE_CA_TYPE_MISM = 2551382021

SDO: Complete access not supported for objects of variable length such as ENUM object types (CoE abort code 0x06010004 of slave)

Type

0x98130005

Type

SLV

EC_SDO_ABORTCODE_CCS_SCS = 2551251010

SDO: Client/server command specifier not valid or unknown (CoE abort code 0x05040001 of slave)

Type

0x98110042

Type

SLV

EC_SDO_ABORTCODE_CRC = 2551251013

SDO: CRC error (block mode only) (CoE abort code 0x05040004 of slave)

Type

0x98110045

Type

SLV

EC_SDO_ABORTCODE_DATA_LENGTH_NOT_MATCH = 2551251024

SDO: Data type does not match, length of service parameter does not match (CoE abort code 0x06070010 of slave)

Type

0x98110050

Type

SLV

EC_SDO_ABORTCODE_DATA_LENGTH_TOO_HIGH = 2551251025

SDO: Data type does not match, length of service parameter too high (CoE abort code 0x06070012 of slave)

Type

0x98110051

Type

SLV

EC_SDO_ABORTCODE_DATA_LENGTH_TOO_LOW = 2551251026

SDO: Data type does not match, length of service parameter too low (CoE abort code 0x06070013 of slave)

Type

0x98110052

Type

SLV

EC_SDO_ABORTCODE_DICTIONARY = 2551251036

SDO: Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error) (CoE abort code 0x08000023 of slave)

Type

0x9811005C

Type

SLV

EC_SDO_ABORTCODE_FIRST = 2551251008

EC_SDO_ABORTCODE_FIRST

EC_SDO_ABORTCODE_GENERAL = 2551251032

SDO: General error (CoE abort code 0x08000000 of slave)

Type

0x98110058

Type

SLV

EC_SDO_ABORTCODE_HARDWARE = 2551251023

SDO: Access failed due to a hardware error (CoE abort code 0x06060000 of slave)

Type

0x9811004F

Type

SLV

EC_SDO_ABORTCODE_INDEX = 2551251018

SDO: Object does not exist in the object dictionary (CoE abort code 0x06020000 of slave)

Type

0x9811004A

Type

SLV

EC_SDO_ABORTCODE_I_INCOMP = 2551251022

SDO: General internal incompatibility in the device (CoE abort code 0x06040047 of slave)

Type

0x9811004E

Type

SLV

EC_SDO_ABORTCODE_LAST = 2551251038

EC_SDO_ABORTCODE_LAST

EC_SDO_ABORTCODE_MEMORY = 2551251014

SDO: Out of memory (CoE abort code 0x05040005 of slave)

Type

0x98110046

Type

SLV

EC_SDO_ABORTCODE_MINMAX = 2551251031

SDO: Maximum value is less than minimum value (CoE abort code 0x06090036 of slave)

Type

0x98110057

Type

SLV

EC_SDO_ABORTCODE_MODULE_ID_LIST_NOT_MATCH = 2551251038

Detected Module Ident List (0xF030) and Configured Module Ident list (0xF050) does not match

Type

0x9811005E

EC_SDO_ABORTCODE_OBJ_TOO_BIG = 2551382022

SDO: Object length exceeds mailbox size (CoE abort code 0x06010005 of slave)

Type

0x98130006

Type

SLV

EC_SDO_ABORTCODE_OFFSET = 2551251027

SDO: Sub-index does not exist (CoE abort code 0x06090011 of slave)

Type

0x98110053

Type

SLV

EC_SDO_ABORTCODE_PDO_LEN = 2551251020

SDO: The number and length of the objects to be mapped would exceed PDO length (CoE abort code 0x06040042 of slave)

Type

0x9811004C

Type

SLV

EC_SDO_ABORTCODE_PDO_MAP = 2551251019

SDO: Object cannot be mapped to the PDO (CoE abort code 0x06040041 of slave)

Type

0x9811004B

Type

SLV

EC_SDO_ABORTCODE_PDO_MAPPED = 2551382023

SDO: Object mapped to RxPDO, SDO Download blocked (CoE abort code 0x06010006 of slave)

Type

0x98130007

Type

SLV

EC_SDO_ABORTCODE_P_INCOMP = 2551251021

SDO: General parameter incompatibility reason (CoE abort code 0x06040043 of slave)

Type

0x9811004D

Type

SLV

EC_SDO_ABORTCODE_READONLY = 2551251017

SDO: Attempt to write a read only object (CoE abort code 0x06010002 of slave)

Type

0x98110049

Type

SLV

EC_SDO_ABORTCODE_SEQNO = 2551251012

SDO: Invalid sequence number (block mode only) (CoE abort code 0x05040003 of slave)

Type

0x98110044

Type

SLV

EC_SDO_ABORTCODE_SI_NOT_WRITTEN = 2551382020

SDO: Sub Index cannot be written, SI0 must be 0 for write access (CoE abort code 0x06010003 of slave)

Type

0x98130004

Type

SLV

EC_SDO_ABORTCODE_TIMEOUT = 2551251009

SDO: Protocol timed out (CoE abort code 0x05040000 of slave)

Type

0x98110041

Type

SLV

EC_SDO_ABORTCODE_TOGGLE = 2551251008

SDO: Toggle bit not alternated (CoE abort code 0x05030000 of slave)

Type

0x98110040

Type

SLV

EC_SDO_ABORTCODE_TRANSFER = 2551251033

SDO: Data cannot be transferred or stored to the application (CoE abort code 0x08000020 of slave)

Type

0x98110059

Type

SLV

EC_SDO_ABORTCODE_TRANSFER_DEVICE_STATE = 2551251035

SDO: Data cannot be transferred or stored to the application because of the present device state (CoE abort code 0x08000022 of slave)

Type

0x9811005B

Type

SLV

EC_SDO_ABORTCODE_TRANSFER_LOCAL_CONTROL = 2551251034

SDO: Data cannot be transferred or stored to the application because of local control (CoE abort code 0x08000021 of slave)

Type

0x9811005A

Type

SLV

EC_SDO_ABORTCODE_UNKNOWN = 2551251037

SDO: Unknown code (Unknown CoE abort code of slave)

Type

0x9811005D

Type

SLV

EC_SDO_ABORTCODE_VALUE_RANGE = 2551251028

SDO: Value range of parameter exceeded (only for write access) (CoE abort code 0x06090030 of slave)

Type

0x98110054

Type

SLV

EC_SDO_ABORTCODE_VALUE_TOO_HIGH = 2551251029

SDO: Value of parameter written too high (CoE abort code 0x06090031 of slave)

Type

0x98110055

Type

SLV

EC_SDO_ABORTCODE_VALUE_TOO_LOW = 2551251030

SDO: Value of parameter written too low (CoE abort code 0x06090032 of slave)

Type

0x98110056

Type

SLV

EC_SDO_ABORTCODE_WRITEONLY = 2551251016

SDO: Attempt to read a write only object (CoE abort code 0x06010001 of slave)

Type

0x98110048

Type

SLV

EC_SENDFAILED = 2551250962

Frame send failed

Type

0x98110012

Type

LLA

EC_SHADOW_MEMORY = 2551250973

Shadow memory requested in wrong mode

Type

0x9811001D

EC_SIGNATURE_MISMATCH = 2551382064

Signature mismatch

Type

0x98130030

EC_SLAVECTRLRESETERROR = 2551251217

Command error while Reset Slave Controller

Type

0x98110111

EC_SLAVE_ERROR = 2551250980

Slave error (e.g. A slave error was detected. See also EC_NOTIFY_STATUS_SLAVE_ERROR and EC_NOTIFY_SLAVE_ERROR_STATUS_INFO)

Type

0x98110024

Type

SLV

EC_SLAVE_NOT_ADDRESSABLE = 2551250987

Station address lost (or slave missing) - FPRD to AL_STATUS failed (e.g. Slave had a power cycle)

Type

0x9811002B

Type

SLV

EC_SLAVE_NOT_PRESENT = 2551251214

command not executed (slave not present on bus) (e.g. slave disappeared or was never present)

Type

0x9811010E

Type

APP / SLV

EC_SOCKET_DISCONNECTED = 2551251325

Socket disconnected (e.g. IP connection terminated or lost)

Type

0x9811017D

Type

RAS

EC_SOE_ERRCODE_NO_ELEM_ADR = 2551251213

No element addressed

Type

0x9811010D

Type

ERROR SoE

EC_SOE_ERRORCODE_ALREADY_ACTIVE = 2551251103

Command already active

Type

0x9811009F

Type

ERROR SoE

EC_SOE_ERRORCODE_ATTR_UNCHANGE = 2551251074

Attribute unchangeable

Type

0x98110082

Type

ERROR SoE

EC_SOE_ERRORCODE_ATTR_WR_PROT = 2551251075

Attribute currently write-protected

Type

0x98110083

Type

ERROR SoE

EC_SOE_ERRORCODE_BUFFER_FULL = 2551251206

RX buffer full (EtherCAT call with to small data-buffer)

Type

0x98110106

Type

ERROR SoE

EC_SOE_ERRORCODE_CMD_NOT_AVAIL = 2551251201

Command not available (in this phase)

Type

0x98110101

Type

ERROR SoE

EC_SOE_ERRORCODE_CMD_NOT_AVAIL1 = 2551251202

Command not available (invalid parameter)

Type

0x98110102

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_INCOR = 2551251098

Data item incorrect

Type

0x9811009A

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_MAX_LIMIT = 2551251097

Data item exceeds maximum input value limit

Type

0x98110099

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_MIN_LIMIT = 2551251096

Data item less than minimum input value limit

Type

0x98110098

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_NOT_EXIST = 2551251091

Data item does not exist

Type

0x98110093

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_OVERSIZE = 2551251093

Data item oversize in transmission

Type

0x98110095

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_UNCHANGE = 2551251094

Data item unchangeable

Type

0x98110096

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_UNDERSIZE = 2551251092

Data item undersize in transmission

Type

0x98110094

Type

ERROR SoE

EC_SOE_ERRORCODE_DATA_WR_PROT = 2551251095

Data item currently write-protected

Type

0x98110097

Type

ERROR SoE

EC_SOE_ERRORCODE_DEFAULT_LONG = 2551251209

Default value transmission too long

Type

0x98110109

Type

ERROR SoE

EC_SOE_ERRORCODE_DEFAULT_WP = 2551251210

Default value cannot be changed, read only

Type

0x9811010A

Type

ERROR SoE

EC_SOE_ERRORCODE_DRIVE_NO = 2551251203

Response drive number not identical with requested drive number

Type

0x98110103

Type

ERROR SoE

EC_SOE_ERRORCODE_FRAGMENT_LOST = 2551251205

At least one fragment lost

Type

0x98110105

Type

ERROR SoE

EC_SOE_ERRORCODE_GENERAL_ERROR = 2551251212

General error

Type

0x9811010C

Type

ERROR SoE

EC_SOE_ERRORCODE_IDN = 2551251204

Response IDN not identical with requested IDN

Type

0x98110104

Type

ERROR SoE

EC_SOE_ERRORCODE_INVALID_ACCESS = 2551251064

Invalid access to element 0

Type

0x98110078

Type

ERROR SoE

EC_SOE_ERRORCODE_INVL_ACC_ELEM1 = 2551251066

Invalid access to element 1

Type

0x9811007A

Type

ERROR SoE

EC_SOE_ERRORCODE_INVL_DRIVE_NO = 2551251211

Invalid drive number

Type

0x9811010B

Type

ERROR SoE

EC_SOE_ERRORCODE_INVL_INDIRECT = 2551251101

Invalid indirect

Type

0x9811009D

Type

ERROR SoE

EC_SOE_ERRORCODE_MAX_NOT_EXIST = 2551251086

Maximum input value does not exist

Type

0x9811008E

Type

ERROR SoE

EC_SOE_ERRORCODE_MAX_OVERSIZE = 2551251088

Maximum input value oversize in transmission

Type

0x98110090

Type

ERROR SoE

EC_SOE_ERRORCODE_MAX_UNCHANGE = 2551251089

Maximum input value unchangeable

Type

0x98110091

Type

ERROR SoE

EC_SOE_ERRORCODE_MAX_UNDERSIZE = 2551251087

Maximum input value undersize in transmission

Type

0x9811008F

Type

ERROR SoE

EC_SOE_ERRORCODE_MAX_WR_PROT = 2551251090

Maximum input value currently write-protected

Type

0x98110092

Type

ERROR SoE

EC_SOE_ERRORCODE_MIN_NOT_EXIST = 2551251081

Minimum input value does not exist

Type

0x98110089

Type

ERROR SoE

EC_SOE_ERRORCODE_MIN_OVERSIZE = 2551251083

Minimum input value oversize in transmission

Type

0x9811008B

Type

ERROR SoE

EC_SOE_ERRORCODE_MIN_UNCHANGE = 2551251084

Minimum input value unchangeable

Type

0x9811008C

Type

ERROR SoE

EC_SOE_ERRORCODE_MIN_UNDERSIZE = 2551251082

Minimum input value undersize in transmission

Type

0x9811008A

Type

ERROR SoE

EC_SOE_ERRORCODE_MIN_WR_PROT = 2551251085

Minimum input value currently write-protected

Type

0x9811008D

Type

ERROR SoE

EC_SOE_ERRORCODE_NAME_NOT_EXIST = 2551251067

Name does not exist

Type

0x9811007B

Type

ERROR SoE

EC_SOE_ERRORCODE_NAME_OVERSIZE = 2551251069

Name oversize in transmission

Type

0x9811007D

Type

ERROR SoE

EC_SOE_ERRORCODE_NAME_UNCHANGE = 2551251070

Name unchangeable

Type

0x9811007E

Type

ERROR SoE

EC_SOE_ERRORCODE_NAME_UNDERSIZE = 2551251068

Name undersize in transmission

Type

0x9811007C

Type

ERROR SoE

EC_SOE_ERRORCODE_NAME_WR_PROT = 2551251071

Name currently write-protected

Type

0x9811007F

Type

ERROR SoE

EC_SOE_ERRORCODE_NOT_EXIST = 2551251065

Does not exist

Type

0x98110079

Type

ERROR SoE

EC_SOE_ERRORCODE_NOT_INTERRUPT = 2551251200

Command not interruptible

Type

0x98110100

Type

ERROR SoE

EC_SOE_ERRORCODE_NO_DATA = 2551251207

No data state

Type

0x98110107

Type

ERROR SoE

EC_SOE_ERRORCODE_NO_DEFAULT_VALUE = 2551251208

No default value

Type

0x98110108

Type

ERROR SoE

EC_SOE_ERRORCODE_OVERS_TRANS = 2551251073

Attribute oversize in transmission

Type

0x98110081

Type

ERROR SoE

EC_SOE_ERRORCODE_PASWD_PROT = 2551251099

Data item protected by password

Type

0x9811009B

Type

ERROR SoE

EC_SOE_ERRORCODE_TEMP_UNCHANGE = 2551251100

Data item temporary unchangeable (in AT or MDT)

Type

0x9811009C

Type

ERROR SoE

EC_SOE_ERRORCODE_TEMP_UNCHANGE1 = 2551251102

Data item temporary unchangeable (parameter or opmode)

Type

0x9811009E

Type

ERROR SoE

EC_SOE_ERRORCODE_UNDERS_TRANS = 2551251072

Attribute undersize in transmission

Type

0x98110080

Type

ERROR SoE

EC_SOE_ERRORCODE_UNIT_NOT_EXIST = 2551251076

Unit does not exist

Type

0x98110084

Type

ERROR SoE

EC_SOE_ERRORCODE_UNIT_OVERSIZE = 2551251078

Unit oversize in transmission

Type

0x98110086

Type

ERROR SoE

EC_SOE_ERRORCODE_UNIT_UNCHANGE = 2551251079

Unit unchangeable

Type

0x98110087

Type

ERROR SoE

EC_SOE_ERRORCODE_UNIT_UNDERSIZE = 2551251077

Unit undersize in transmission

Type

0x98110085

Type

ERROR SoE

EC_SOE_ERRORCODE_UNIT_WR_PROT = 2551251080

Unit currently write-protected

Type

0x98110088

Type

ERROR SoE

EC_SOE_MBX_WKC_ERROR = 2551251233

mailbox receive: working counter

Type

0x98110121

Type

SoE

EC_SYSDRIVERMISSING = 2551251218

Cannot open system driver (e.g. system driver was not loaded)

Type

0x98110112

Type

SYS

EC_TIMEOUT = 2551250960

Timeout

Type

0x98110010

EC_TIMEOUT_WAITING_FOR_DC = 2551382056

Timeout waiting for DC

Type

0x98130028

EC_TIMEOUT_WAITING_FOR_DCM = 2551382057

Timeout waiting for DCM

Type

0x98130029

EC_TIMER_LIST_FULL = 2551250959

Cannot add slave to timer list (slave timer list full)

Type

0x9811000F

Type

ISW

EC_UNKNOWN_MBX_PROTOCOL = 2551250965

Unknown Mailbox Protocol Command (Unknown Mailbox protocol or mailbox command with unknown protocol association)

Type

0x98110015

Type

ISW

EC_VALIDATION_ERROR = 2551382055

Validation error (validation data mismatch)

Type

0x98130027

EC_VERSION_MISMATCH = 2551250969

Version mismatch for loaded library

Type

0x98110019

Type

APP

EC_VOE_MBX_WKC_ERROR = 2551251235

VoE mailbox send: working counter (VoE mailbox couldn’t be written)

Type

0x98110123

Type

SLV

EC_VOE_NO_MBX_RECEIVED = 2551251255

No VoE mailbox received yet from specific slave

Type

0x98110137

Type

SLV

EC_WRONG_FORMAT = 2551250971

Wrong configuration format (e.g. Network information file empty or malformed), SLV: Malformed EEPROM content

Type

0x9811001B

Type

ENI

EC_XML_ALSTATUS_READ_MISSING = 2551250978

AL_STATUS register read missing in XML file for at least one state (e.g. Read of AL Status register is missing in cyclic part of given network information file)

Type

0x98110022

Type

ENI

EC_XML_AOE_NETID_INVALID = 2551251310

AoE: Invalid NetID (e.g. Error from Configuration Tool)

Type

0x9811016E

Type

ENI

EC_XML_CYCCMDS_MISSING = 2551250977

Cyclic commands are missing (e.g. Network information file does not contain cyclic commands)

Type

0x98110021

Type

ENI

EC_XML_CYCCMDS_SIZEMISMATCH = 2551251059

Cyclic command wrong size (too long) (size in network configuration file (XML) does not match size of process data)

Type

0x98110073

Type

ENI

EC_XML_DC_CYCCMDS_MISSING = 2551251241

DC enabled and DC cyclic commands missing (e.g. access to 0x0900)

Type

0x98110129

EC_XML_INCONSISTENT = 2551382067

Inconsistent content

Type

0x98130033

Type

ENI

EC_XML_INVALID_CMD_WITH_RED = 2551251239

Invalid EtherCAT command in cyclic frame with redundancy (e.g. BRW commands are not allowed with redundancy)

Type

0x98110127

Type

ENI

EC_XML_INVALID_INP_OFF = 2551251060

Invalid input offset in cyclic command, please check InputOffs

Type

0x98110074

Type

ENI

EC_XML_INVALID_OUT_OFF = 2551251061

Invalid output offset in cyclic command, please check OutputOffs

Type

0x98110075

Type

ENI

EC_XML_PREV_PORT_MISSING = 2551251240

<PreviousPort>-tag is missing (e.g. if the auto increment address is not the first slave on the bus we check if a previous port tag OR a hot connect tag is available)

Type

0x98110128

Type

ENI

EMRAS_ACCESSLESS = 2551251336

No access to this call at this access level (e.g. a higher SPoC access level is needed to use the called Remote API function)

Type

0x98110188

Type

RAS

EMRAS_ACCESS_NOT_FOUND = 2551251352

Access not configured for this call (e.g. SPoC access configuration missing)

Type

0x98110198

Type

RAS

EMRAS_CLIENTLOGON = 2551251348

Client logged on

Type

0x98110194

Type

RAS Server

EMRAS_CLNTDISC = 2551251351

Client disconnect

Type

0x98110197

Type

RAS

EMRAS_ERROR = 2551251328

Unspecific RAS Error

Type

0x98110180

EMRAS_ERROR_LAST = 2551251391

EMRAS_ERROR_LAST

EMRAS_INVALIDACCESSCONFIG = 2551251335

Access configuration is invalid (e.g. SPoC access configuration invalid)

Type

0x98110187

Type

RAS

EMRAS_INVALIDCOOKIE = 2551251329

Invalid Cookie (e.g.obsolete)

Type

0x98110181

Type

RAS

EMRAS_INVALIDDATARECEIVED = 2551251337

Invalid data received (communication corrupted)

Type

0x98110189

Type

RAS

EMRAS_INVALIDVERSION = 2551251334

Invalid Version (Connection reject because of using mismatching protocol versions on client and server side)

Type

0x98110186

Type

RAS

EMRAS_LOGONCANCELLED = 2551251332

Logon canceled (Server-side connection reject while opening a client connection.)

Type

0x98110184

Type

RAS

EMRAS_MULSRVDISMULCON = 2551251331

Connect 2nd server denied because Multi Server support is disabled (obsolete)

Type

0x98110183

Type

RAS

EMRAS_RECONEXPIRED = 2551251347

Reconnect expired (obsolete)

Type

0x98110193

Type

RAS

EMRAS_RECONNECT = 2551251349

obsolete

Type

0x98110195

Type

RAS

EMRAS_SERVERSTOPPED = 2551251345

Server stopped (e.g. connection dropped because of Remote API Server stop)

Type

0x98110191

Type

RAS

EMRAS_SOCKCHANGE = 2551251350

Socket exchanged after reconnect (obsolete)

Type

0x98110196

Type

RAS

EMRAS_TLS_CERTIFICATE_ERROR = 2551251356

TLS certificate error

Type

0x9811019C

Type

RAS

EMRAS_TLS_HANDSHAKE_FAILED = 2551251358

TLS handshake failed

Type

0x9811019E

Type

RAS

EMRAS_TLS_PRIVATEKEY_ERROR = 2551251357

TLS private key error

Type

0x9811019D

Type

RAS

EMRAS_TOKEN_DENIED = 2551251355

Token denied

Type

0x9811019B

Type

RAS

EMRAS_TOKEN_INVALID = 2551251354

Token invalid

Type

0x9811019A

Type

RAS

EMRAS_TOKEN_MISSING = 2551251353

Token missing

Type

0x98110199

Type

RAS

EMRAS_WDEXPIRED = 2551251346

Watchdog expired (e.g. connection dropped because of missing keep-alive messages)

Type

0x98110192

Type

RAS