EC-Monitor

• 1. Introduction
  • 1.1. What is EtherCAT?
  • 1.2. The EC-Monitor - Features
  • 1.3. Protected version
    • 1.3.1. Licensing procedure for Development Licenses
    • 1.3.2. Licensing procedure for Runtime Licenses
  • 1.4. License
    • 1.4.1. EC-Monitor license
    • 1.4.2. Free Open Source Software contained in EC-Monitor
      • 1.4.2.1. Expat XML parser license
    • 1.4.3. Free Open Source Software supported by EC-Monitor
      • 1.4.3.1. acontis atemsys Linux kernel module
      • 1.4.3.2. WinPCap
      • 1.4.3.3. Npcap
• 2. Architecture
  • 2.1. EtherCAT Network Configuration (ENI)
  • 2.2. Operating system configuration
• 3. Ethernet TAP
  • 3.1. Generic 100MBit/s Ethernet Switch
  • 3.2. Beckhoff ET2000
  • 3.3. Dualcomm ETAP-1000
  • 3.4. Hilscher netAnalyser
  • 3.5. ProfiTap ProfiShark
• 4. Getting Started
  • 4.1. Running EcMonitorDemo
    • 4.1.1. Command line parameters
      • 4.1.1.1. Link Layer
  • 4.2. Compiling the EcMonitorDemo
    • 4.2.1. Software Development Kit (SDK)
    • 4.2.2. Include search path
    • 4.2.3. Libraries
    • 4.2.4. Preprocessor definitions
• 5. Software Integration
  • 5.1. Example application
    • 5.1.1. File reference
    • 5.1.2. EC-Monitor life cycle
  • 5.2. Event notification
    • 5.2.1. Direct event notification handling
    • 5.2.2. Postponed notification handling
  • 5.3. Logging
  • 5.4. EtherCAT Network Configuration ENI
    • 5.4.1. Single cyclic entry configuration
    • 5.4.2. Multiple cyclic entries configuration
  • 5.5. Process Data Access
    • 5.5.1. Process Data Access Functions
    • 5.5.2. Process variables’ offset and size
    • 5.5.3. Process variable access via hard coded offsets
    • 5.5.4. Process variable access via generated PD Layout
    • 5.5.5. Process variable access dynamically from ENI
      • 5.5.5.1. emGetCfgSlaveInfo
      • 5.5.5.2. emGetSlaveOutpVarInfo
      • 5.5.5.3. emFindOutpVarByName
      • 5.5.5.4. emGetSlaveOutpVarByObjectEx
  • 5.6. EC-Monitor Source Code
    • 5.6.1. Link Layer Binaries
    • 5.6.2. EC-Monitor Binaries
    • 5.6.3. Remote API Server Binaries:
• 6. Platform and Operating Systems (OS)
  • 6.1. Linux
    • 6.1.1. OS optimizations
      • 6.1.1.1. CPUIDLE sub-system
      • 6.1.1.2. CPUFREQ sub-system
      • 6.1.1.3. ISOLCPUS
    • 6.1.2. atemsys kernel module
      • 6.1.2.1. atemsys as Device Tree Ethernet Driver
      • 6.1.2.2. atemsys and PHY OS Driver
    • 6.1.3. Unbind Link Layer instance
      • 6.1.3.1. Unbind from kernel driver
      • 6.1.3.2. Unload kernel driver
    • 6.1.4. Docker
    • 6.1.5. Setting up and running EcMonitorDemo
      • 6.1.5.1. Run in Docker container
    • 6.1.6. OS Compiler settings
  • 6.2. QNX Neutrino
    • 6.2.1. Thread priority
    • 6.2.2. Unbind Link Layer instance
    • 6.2.3. IOMMU/SMMU support
    • 6.2.4. Setting up and running EcMonitorDemo
    • 6.2.5. OS Compiler settings
  • 6.3. Windriver VxWorks
    • 6.3.1. VxWorks native
    • 6.3.2. SNARF Link Layer
    • 6.3.3. Setting up and running EcMonitorDemo
    • 6.3.4. OS Compiler settings
  • 6.4. Microsoft Windows
    • 6.4.1. EcMonitorDemo
    • 6.4.2. OS Compiler settings
• 7. Link Layer
  • 7.1. Link Layer selection
    • 7.1.1. Optimized Link Layer drivers
    • 7.1.2. Optimized Link Layer drivers and PHY OS Driver
    • 7.1.3. Link Layer selection and initialization
    • 7.1.4. Link Layer instance selection via PCI location
  • 7.2. Windows NDIS - emllNdis
  • 7.3. Windows WinPcap - emllPcap
    • 7.3.1. WinPcap, Npcap support
• 8. Application programming interface, reference
  • 8.1. General functions
    • 8.1.1. emInitMonitor
    • 8.1.2. emDeinitMonitor
    • 8.1.3. emConfigureNetwork
    • 8.1.4. emGetMonitorStatus
    • 8.1.5. emSetLicenseKey
    • 8.1.6. emRegisterClient
    • 8.1.7. emUnregisterClient
    • 8.1.8. emGetSrcMacAddress
    • 8.1.9. emExecJob
    • 8.1.10. emGetMonitorParms
    • 8.1.11. emSetMonitorParms
    • 8.1.12. emGetVersion
    • 8.1.13. emGetText
    • 8.1.14. emGetMemoryUsage
    • 8.1.15. emGetMasterState
    • 8.1.16. emGetMasterStateEx
    • 8.1.17. emFindInpVarByName - “Inputs.DevicesState”
    • 8.1.18. emFindInpVarByName - “Inputs.BusTime”
    • 8.1.19. emIoControl
    • 8.1.20. emIoControl - EC_IOCTL_REGISTER_CYCFRAME_RX_CB
    • 8.1.21. emIoControl - EC_IOCTL_GET_CYCLIC_CONFIG_INFO
    • 8.1.22. emIoControl - EC_IOCTL_IS_SLAVETOSLAVE_COMM_CONFIGURED
  • 8.2. Packet Capture
    • 8.2.1. emOpenPacketCapture
    • 8.2.2. emClosePacketCapture
    • 8.2.3. emGetPacketCaptureInfo
    • 8.2.4. emStartLivePacketCapture
    • 8.2.5. emStopLivePacketCapture
    • 8.2.6. emBacktracePacketCapture
  • 8.3. Process Data functions
    • 8.3.1. emGetProcessData
    • 8.3.2. emGetProcessDataBits
    • 8.3.3. emGetProcessImageInputPtr
    • 8.3.4. emGetProcessImageOutputPtr
    • 8.3.5. emFindInpVarByName
    • 8.3.6. emFindInpVarByNameEx
    • 8.3.7. emFindOutpVarByName
    • 8.3.8. emFindOutpVarByNameEx
    • 8.3.9. emIoControl - EC_IOCTL_GET_PDMEMORYSIZE
    • 8.3.10. Process Data access functions
      • 8.3.10.1. EC_COPYBITS
      • 8.3.10.2. EC_GET_FRM_WORD
      • 8.3.10.3. EC_GET_FRM_DWORD
      • 8.3.10.4. EC_GET_FRM_QWORD
      • 8.3.10.5. EC_GETBITS
    • 8.3.11. emIoControl - EC_IOCTL_SET_IGNORE_INPUTS_ON_WKC_ERROR
    • 8.3.12. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ERROR
    • 8.3.13. emIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ZERO
  • 8.4. Slave status functions
    • 8.4.1. emGetNumConfiguredSlaves
    • 8.4.2. emGetNumConnectedSlaves
    • 8.4.3. emGetSlaveId
    • 8.4.4. emGetSlaveIdAtPosition
    • 8.4.5. emGetSlaveState
    • 8.4.6. emIsSlavePresent
    • 8.4.7. emGetSlaveProp
    • 8.4.8. emGetSlaveInpVarInfoNumOf
    • 8.4.9. emGetSlaveInpVarInfo
    • 8.4.10. emGetSlaveInpVarInfoEx
    • 8.4.11. emGetSlaveOutpVarInfoNumOf
    • 8.4.12. emGetSlaveOutpVarInfo
    • 8.4.13. emGetSlaveOutpVarInfoEx
    • 8.4.14. emReadSlaveRegister
    • 8.4.15. emGetCfgSlaveInfo
    • 8.4.16. emGetBusSlaveInfo
  • 8.5. Diagnosis
    • 8.5.1. emIoControl - EC_IOCTL_SB_STATUS_GET
    • 8.5.2. emIoControl - EC_IOCTL_GET_SLVSTATISTICS
    • 8.5.3. emGetSlaveStatistics
    • 8.5.4. emIoControl - EC_IOCTL_CLR_SLVSTATISTICS
    • 8.5.5. emClearSlaveStatistics
    • 8.5.6. emGetDiagnosisImagePtr
    • 8.5.7. emGetMasterSyncUnitInfoNumOf
    • 8.5.8. emGetMasterSyncUnitInfo
  • 8.6. Link Layer Control Interface
    • 8.6.1. emIoControl - EC_IOCTL_ISLINK_CONNECTED
    • 8.6.2. emIoControl - EC_IOCTL_GET_LINKLAYER_MODE
    • 8.6.3. emIoControl - EC_LINKIOCTL…
    • 8.6.4. emIoControl - EC_LINKIOCTL_GET_ETHERNET_ADDRESS
    • 8.6.5. emIoControl - EC_LINKIOCTL_GET_SPEED
  • 8.7. EtherCAT Mailbox Transfer
    • 8.7.1. Mailbox transfer object states
    • 8.7.2. emMbxTferCreate
    • 8.7.3. emMbxTferAbort
    • 8.7.4. emMbxTferDelete
    • 8.7.5. emNotify - EC_NOTIFY_MBOXRCV
  • 8.8. CAN application protocol over EtherCAT (CoE)
    • 8.8.1. emNotify - eMbxTferType_COE_SDO_DOWNLOAD
    • 8.8.2. emNotify - eMbxTferType_COE_SDO_UPLOAD
    • 8.8.3. CoE Emergency (emNotify - eMbxTferType_COE_EMERGENCY)
    • 8.8.4. emCoeSdoUpload
    • 8.8.5. emCoeSdoUploadReq
    • 8.8.6. emCoeGetODList
    • 8.8.7. emNotify - eMbxTferType_COE_GETODLIST
    • 8.8.8. emNotify - eMbxTferType_COE_GETENTRYDESC
  • 8.9. File access over EtherCAT (FoE)
    • 8.9.1. Notification sequence
    • 8.9.2. emNotify - eMbxTferType_FOE_DOWNLOAD_REQ
    • 8.9.3. emNotify - eMbxTferType_FOE_SEG_DOWNLOAD
    • 8.9.4. emNotify - eMbxTferType_FOE_UPLOAD_REQ
    • 8.9.5. emNotify - eMbxTferType_FOE_SEG_UPLOAD
    • 8.9.6. emNotify - EC_NOTIFY_FOE_MBSLAVE_ERROR
    • 8.9.7. emConvertEcErrorToFoeError
  • 8.10. Hot Connect
    • 8.10.1. emHCGetNumGroupMembers
    • 8.10.2. emHCGetSlaveIdsOfGroup
    • 8.10.3. emNotify - EC_NOTIFY_HC_DETECTADDGROUPS
    • 8.10.4. emNotify - EC_NOTIFY_HC_PROBEALLGROUPS
    • 8.10.5. emNotify - EC_NOTIFY_HC_TOPOCHGDONE
• 9. Generic notification interface
  • 9.1. Notification callback
  • 9.2. emNotifyApp
  • 9.3. Enable/Disable notifications
    • 9.3.1. emIoControl - EC_IOCTL_SET_NOTIFICATION_ENABLED
    • 9.3.2. emIoControl - EC_IOCTL_GET_NOTIFICATION_ENABLED
  • 9.4. Status notifications
    • 9.4.1. emNotify - EC_NOTIFY_STATECHANGED
    • 9.4.2. emNotify - EC_NOTIFY_SB_STATUS
    • 9.4.3. emNotify - EC_NOTIFY_SB_MISMATCH
    • 9.4.4. emNotify - EC_NOTIFY_HC_TOPOCHGDONE
    • 9.4.5. emNotify - EC_NOTIFY_SLAVE_PRESENCE
    • 9.4.6. emNotify - EC_NOTIFY_SLAVE_STATECHANGED
    • 9.4.7. emNotify - EC_NOTIFY_SLAVE_REGISTER_TRANSFER
  • 9.5. Error notifications
    • 9.5.1. emNotify - EC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL
    • 9.5.2. emNotify - EC_NOTIFY_ALL_DEVICES_OPERATIONAL
    • 9.5.3. emNotify - EC_NOTIFY_CLIENTREGISTRATION_DROPPED
    • 9.5.4. emNotify - EC_NOTIFY_CYCCMD_WKC_ERROR
    • 9.5.5. emNotify - EC_NOTIFY_FRAME_RESPONSE_ERROR
    • 9.5.6. emNotify - EC_NOTIFY_STATUS_SLAVE_ERROR
    • 9.5.7. emNotify - EC_NOTIFY_SLAVE_ERROR_STATUS_INFO
    • 9.5.8. emNotify - EC_NOTIFY_PDIWATCHDOG
    • 9.5.9. emNotify - EC_NOTIFY_COMMUNICATION_TIMEOUT
    • 9.5.10. emNotify - EC_NOTIFY_TAP_LINK_STATUS
• 10. RAS-Server for EC-Inspector and EC-Engineer
  • 10.1. Integration Requirements
  • 10.2. Application programming interface
    • 10.2.1. emRasSrvStart
    • 10.2.2. emRasSrvStop
    • 10.2.3. emRasNotify
    • 10.2.4. emRasNotify - ATEMRAS_NOTIFY_CONNECTION
    • 10.2.5. emRasNotify - ATEMRAS_NOTIFY_REGISTER
    • 10.2.6. emRasNotify - ATEMRAS_NOTIFY_UNREGISTER
    • 10.2.7. emRasNotify - ATEMRAS_NOTIFY_MARSHALERROR
    • 10.2.8. emRasNotify - ATEMRAS_NOTIFY_ACKERROR
    • 10.2.9. emRasNotify - ATEMRAS_NOTIFY_NONOTIFYMEMORY
    • 10.2.10. emRasNotify - ATEMRAS_NOTIFY_STDNOTIFYMEMORYSMALL
    • 10.2.11. emRasNotify - ATEMRAS_NOTIFY_MBXNOTIFYMEMORYSMALL
• 11. Error Codes
  • 11.1. Groups
  • 11.2. Generic Error Codes
  • 11.3. DCM Error Codes
  • 11.4. ADS over EtherCAT (AoE) Error Codes
  • 11.5. CAN application protocol over EtherCAT (CoE) SDO Error Codes
  • 11.6. File Transfer over EtherCAT (FoE) Error Codes
  • 11.7. Servo Drive Profil over EtherCAT (SoE) Error Codes
  • 11.8. Remote API Error Codes