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 V2.6.0
    • 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
  • 1.5. Versioning
• 2. Architecture
  • 2.1. EtherCAT® Network Configuration (ENI)
  • 2.2. Operating system configuration
• 3. Ethernet TAP
  • 3.1. TAP positioning
  • 3.2. Generic 100MBit/s Ethernet Switch
  • 3.3. Beckhoff ET2000
  • 3.4. Dualcomm ETAP-1000
  • 3.5. Hilscher netAnalyser
  • 3.6. Kunbus TAP Curious
  • 3.7. ProfiTap ProfiShark
  • 3.8. Port Mirror
• 4. EtherCAT® Masters
  • 4.1. Acontis EC-Master
  • 4.2. Beckhoff TwinCAT®
  • 4.3. CODESYS®
  • 4.4. KPA EtherCAT® Master
• 5. Getting Started
  • 5.1. Running EcMonitorDemo
    • 5.1.1. Command line parameters
      • 5.1.1.1. Link Layer
  • 5.2. Compiling the EcMonitorDemo
    • 5.2.1. Software Development Kit (SDK)
    • 5.2.2. Include search path
    • 5.2.3. Libraries
    • 5.2.4. Preprocessor definitions
• 6. Software Integration
  • 6.1. Example application
    • 6.1.1. File reference
    • 6.1.2. EC-Monitor life cycle
  • 6.2. Event notification
    • 6.2.1. Direct event notification handling
    • 6.2.2. Postponed notification handling
  • 6.3. Logging
  • 6.4. EtherCAT® Network Configuration ENI
    • 6.4.1. Single cyclic entry configuration
    • 6.4.2. Multiple cyclic entries configuration
  • 6.5. Process Data Access
    • 6.5.1. Process Data Access Functions
    • 6.5.2. Process variables’ offset and size
    • 6.5.3. Process variable access via hard coded offsets
    • 6.5.4. Process variable access via generated PD Layout
    • 6.5.5. Process variable access dynamically from ENI
      • 6.5.5.1. emonGetCfgSlaveInfo
      • 6.5.5.2. emonGetSlaveOutpVarInfo
      • 6.5.5.3. emonFindOutpVarByName
      • 6.5.5.4. emonGetSlaveOutpVarByObjectEx
  • 6.6. Diagnosis
    • 6.6.1. Working Counter
    • 6.6.2. Master Sync Units
  • 6.7. EC-Monitor Source Code
    • 6.7.1. Real-time Ethernet Driver Binaries
    • 6.7.2. EC-Monitor Binaries
    • 6.7.3. Remote API Server Binaries:
• 7. Platform and Operating Systems (OS)
  • 7.1. Linux
    • 7.1.1. OS optimizations
      • 7.1.1.1. CPUIDLE sub-system
      • 7.1.1.2. CPUFREQ sub-system
      • 7.1.1.3. ISOLCPUS
    • 7.1.2. atemsys kernel module
      • 7.1.2.1. atemsys as Device Tree Ethernet Driver
      • 7.1.2.2. atemsys and PHY OS Driver
    • 7.1.3. Unbind Ethernet Driver instance
      • 7.1.3.1. Unbind from kernel driver
      • 7.1.3.2. Unload kernel driver
    • 7.1.4. Docker
    • 7.1.5. Setting up and running EcMonitorDemo
      • 7.1.5.1. Run in Docker container
    • 7.1.6. OS Compiler settings
    • 7.1.7. Build using cmake on Linux
    • 7.1.8. Cross-platform development under Windows
  • 7.2. QNX Neutrino
    • 7.2.1. Thread priority
    • 7.2.2. Unbind Ethernet Driver instance
    • 7.2.3. IOMMU/SMMU support
    • 7.2.4. Setting up and running EcMonitorDemo
    • 7.2.5. OS Compiler settings
  • 7.3. Windriver VxWorks
    • 7.3.1. VxWorks native
    • 7.3.2. SNARF Ethernet Driver
    • 7.3.3. Setting up and running EcMonitorDemo
    • 7.3.4. OS Compiler settings
  • 7.4. Microsoft Windows
    • 7.4.1. EcMonitorDemo
    • 7.4.2. OS Compiler settings
    • 7.4.3. RtaccDevice for Real-time Ethernet Driver
• 8. Real-time Ethernet Driver
  • 8.1. Real-time Ethernet Driver selection
    • 8.1.1. Real-time Ethernet Driver and PHY OS Driver
    • 8.1.2. Real-time Ethernet Driver selection and initialization
    • 8.1.3. Real-time Ethernet Driver instance selection via PCI location
  • 8.2. Windows NDIS - emllNdis
  • 8.3. Windows WinPcap - emllPcap
    • 8.3.1. WinPcap, Npcap support
• 9. Application programming interface, reference
  • 9.1. General functions
    • 9.1.1. emonInitMonitor
    • 9.1.2. emonDeinitMonitor
    • 9.1.3. emonConfigureNetwork
    • 9.1.4. emonGetMonitorStatus
    • 9.1.5. emonSetLicenseKey
    • 9.1.6. emonRegisterClient
    • 9.1.7. emonUnregisterClient
    • 9.1.8. emonGetSrcMacAddress
    • 9.1.9. emonExecJob
    • 9.1.10. emonGetMonitorParms
    • 9.1.11. emonSetMonitorParms
    • 9.1.12. emonGetVersion
    • 9.1.13. emonGetText
    • 9.1.14. emonGetMemoryUsage
    • 9.1.15. emonGetMasterState
    • 9.1.16. emonGetMasterStateEx
    • 9.1.17. emonFindInpVarByName - “Inputs.DevicesState”
    • 9.1.18. emonFindInpVarByName - “Inputs.BusTime”
    • 9.1.19. emonIoControl
    • 9.1.20. emonIoControl - EC_IOCTL_REGISTER_CYCFRAME_RX_CB
    • 9.1.21. emonIoControl - EC_IOCTL_GET_CYCLIC_CONFIG_INFO
    • 9.1.22. emonIoControl - EC_IOCTL_IS_SLAVETOSLAVE_COMM_CONFIGURED
  • 9.2. Packet Capture
    • 9.2.1. emonOpenPacketCapture
    • 9.2.2. emonClosePacketCapture
    • 9.2.3. emonGetPacketCaptureInfo
    • 9.2.4. emonStartLivePacketCapture
    • 9.2.5. emonStopLivePacketCapture
    • 9.2.6. emonBacktracePacketCapture
  • 9.3. Process Data functions
    • 9.3.1. emonGetProcessData
    • 9.3.2. emonGetProcessDataBits
    • 9.3.3. emonGetProcessImageInputPtr
    • 9.3.4. emonGetProcessImageOutputPtr
    • 9.3.5. emonFindInpVarByName
    • 9.3.6. emonFindInpVarByNameEx
    • 9.3.7. emonFindOutpVarByName
    • 9.3.8. emonFindOutpVarByNameEx
    • 9.3.9. emonIoControl - EC_IOCTL_GET_PDMEMORYSIZE
    • 9.3.10. Process Data access functions
      • 9.3.10.1. EC_COPYBITS
      • 9.3.10.2. EC_GET_FRM_WORD
      • 9.3.10.3. EC_GET_FRM_DWORD
      • 9.3.10.4. EC_GET_FRM_QWORD
      • 9.3.10.5. EC_GETBITS
    • 9.3.11. emonIoControl - EC_IOCTL_SET_IGNORE_INPUTS_ON_WKC_ERROR
    • 9.3.12. emonIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ERROR
    • 9.3.13. emonIoControl - EC_IOCTL_SET_ZERO_INPUTS_ON_WKC_ZERO
  • 9.4. Slave status functions
    • 9.4.1. emonGetNumConfiguredSlaves
    • 9.4.2. emonGetNumConnectedSlaves
    • 9.4.3. emonGetSlaveId
    • 9.4.4. emonGetSlaveIdAtPosition
    • 9.4.5. emonGetSlaveState
    • 9.4.6. emonIsSlavePresent
    • 9.4.7. emonGetSlaveProp
    • 9.4.8. emonGetSlaveInpVarInfoNumOf
    • 9.4.9. emonGetSlaveInpVarInfo
    • 9.4.10. emonGetSlaveInpVarInfoEx
    • 9.4.11. emonGetSlaveOutpVarInfoNumOf
    • 9.4.12. emonGetSlaveOutpVarInfo
    • 9.4.13. emonGetSlaveOutpVarInfoEx
    • 9.4.14. emonGetSlaveInpVarByObjectEx
    • 9.4.15. emonGetSlaveOutpVarByObjectEx
    • 9.4.16. emonReadSlaveRegister
    • 9.4.17. emonGetCfgSlaveInfo
    • 9.4.18. emonGetCfgSlaveSmInfo
    • 9.4.19. emonGetBusSlaveInfo
  • 9.5. Diagnosis
    • 9.5.1. emonGetDiagnosisImagePtr
    • 9.5.2. emonGetDiagnosisImageSize
    • 9.5.3. emonGetMasterSyncUnitInfoNumOf
    • 9.5.4. emonGetMasterSyncUnitInfo
    • 9.5.5. emonGetSlaveStatistics
    • 9.5.6. emonIoControl - EC_IOCTL_GET_SLVSTATISTICS
    • 9.5.7. emonClearSlaveStatistics
    • 9.5.8. emonIoControl - EC_IOCTL_CLR_SLVSTATISTICS
    • 9.5.9. emonIoControl - EC_IOCTL_SB_STATUS_GET
  • 9.6. Real-time Ethernet Driver Control Interface
    • 9.6.1. emonIoControl - EC_IOCTL_ISLINK_CONNECTED
    • 9.6.2. emonIoControl - EC_IOCTL_GET_LINKLAYER_MODE
    • 9.6.3. emonIoControl - EC_LINKIOCTL…
    • 9.6.4. emonIoControl - EC_LINKIOCTL_GET_ETHERNET_ADDRESS
    • 9.6.5. emonIoControl - EC_LINKIOCTL_GET_SPEED
  • 9.7. EtherCAT® Mailbox Transfer
    • 9.7.1. Mailbox transfer object states
    • 9.7.2. emonMbxTferCreate
    • 9.7.3. emonMbxTferAbort
    • 9.7.4. emonMbxTferDelete
    • 9.7.5. emonNotify - EC_NOTIFY_MBOXRCV
  • 9.8. CAN application protocol over EtherCAT® (CoE)
    • 9.8.1. emonNotify - eMbxTferType_COE_SDO_DOWNLOAD
    • 9.8.2. emonNotify - eMbxTferType_COE_SDO_UPLOAD
    • 9.8.3. CoE Emergency (emonNotify - eMbxTferType_COE_EMERGENCY)
    • 9.8.4. emonCoeSdoUpload
    • 9.8.5. emonCoeSdoUploadReq
    • 9.8.6. emonIoControl - EC_IOCTL_MONITOR_SET_COESDO_CLEAR_ON_READ
    • 9.8.7. emonCoeGetODListReq
    • 9.8.8. emonNotify - eMbxTferType_COE_GETODLIST
    • 9.8.9. emonNotify - eMbxTferType_COE_GETENTRYDESC
  • 9.9. File access over EtherCAT® (FoE)
    • 9.9.1. Notification sequence
    • 9.9.2. emonNotify - eMbxTferType_FOE_DOWNLOAD_REQ
    • 9.9.3. emonNotify - eMbxTferType_FOE_SEG_DOWNLOAD
    • 9.9.4. emonNotify - eMbxTferType_FOE_UPLOAD_REQ
    • 9.9.5. emonNotify - eMbxTferType_FOE_SEG_UPLOAD
    • 9.9.6. emonNotify - EC_NOTIFY_FOE_MBSLAVE_ERROR
    • 9.9.7. emonConvertEcErrorToFoeError
  • 9.10. Hot Connect
    • 9.10.1. emonHCGetNumGroupMembers
    • 9.10.2. emonHCGetSlaveIdsOfGroup
    • 9.10.3. emonNotify - EC_NOTIFY_HC_DETECTADDGROUPS
    • 9.10.4. emonNotify - EC_NOTIFY_HC_PROBEALLGROUPS
    • 9.10.5. emonNotify - EC_NOTIFY_HC_TOPOCHGDONE
  • 9.11. Configuration adjustments
    • 9.11.1. emonConfigLoad
    • 9.11.2. emonConfigExcludeSlave
    • 9.11.3. emonConfigIncludeSlave
    • 9.11.4. emonConfigSetPreviousPort
    • 9.11.5. emonConfigApply
• 10. Generic notification interface
  • 10.1. Notification callback
  • 10.2. emonNotifyApp
  • 10.3. Enable/Disable notifications
    • 10.3.1. emonIoControl - EC_IOCTL_SET_NOTIFICATION_ENABLED
    • 10.3.2. emonIoControl - EC_IOCTL_GET_NOTIFICATION_ENABLED
  • 10.4. Status notifications
    • 10.4.1. emonNotify - EC_NOTIFY_STATECHANGED
    • 10.4.2. emonNotify - EC_NOTIFY_SB_STATUS
    • 10.4.3. emonNotify - EC_NOTIFY_SB_MISMATCH
    • 10.4.4. emonNotify - EC_NOTIFY_HC_TOPOCHGDONE
    • 10.4.5. emonNotify - EC_NOTIFY_SLAVE_PRESENCE
    • 10.4.6. emonNotify - EC_NOTIFY_SLAVE_STATECHANGED
    • 10.4.7. emonNotify - EC_NOTIFY_SLAVE_REGISTER_TRANSFER
  • 10.5. Error notifications
    • 10.5.1. emonNotify - EC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL
    • 10.5.2. emonNotify - EC_NOTIFY_ALL_DEVICES_OPERATIONAL
    • 10.5.3. emonNotify - EC_NOTIFY_CLIENTREGISTRATION_DROPPED
    • 10.5.4. emonNotify - EC_NOTIFY_CYCCMD_WKC_ERROR
    • 10.5.5. emonNotify - EC_NOTIFY_FRAME_RESPONSE_ERROR
    • 10.5.6. emonNotify - EC_NOTIFY_STATUS_SLAVE_ERROR
    • 10.5.7. emonNotify - EC_NOTIFY_SLAVE_ERROR_STATUS_INFO
    • 10.5.8. emonNotify - EC_NOTIFY_PDIWATCHDOG
    • 10.5.9. emonNotify - EC_NOTIFY_COMMUNICATION_TIMEOUT
    • 10.5.10. emonNotify - EC_NOTIFY_TAP_LINK_STATUS
• 11. RAS-Server for EC-Inspector and EC-Engineer
  • 11.1. Integration Requirements
  • 11.2. Application programming interface
    • 11.2.1. emonRasSrvStart
    • 11.2.2. emonRasSrvStop
    • 11.2.3. emonRasNotify
    • 11.2.4. emonRasNotify - ECMASTERRAS_NOTIFY_CONNECTION
    • 11.2.5. emonRasNotify - ECMASTERRAS_NOTIFY_REGISTER
    • 11.2.6. emonRasNotify - ECMASTERRAS_NOTIFY_UNREGISTER
    • 11.2.7. emonRasNotify - ECMASTERRAS_NOTIFY_MARSHALERROR
    • 11.2.8. emonRasNotify - ECMASTERRAS_NOTIFY_ACKERROR
    • 11.2.9. emonRasNotify - ECMASTERRAS_NOTIFY_NONOTIFYMEMORY
    • 11.2.10. emonRasNotify - ECMASTERRAS_NOTIFY_STDNOTIFYMEMORYSMALL
    • 11.2.11. emonRasNotify - ECMASTERRAS_NOTIFY_MBXNOTIFYMEMORYSMALL
• 12. Error Codes
  • 12.1. Groups
  • 12.2. Generic Error Codes
  • 12.3. DCM Error Codes
  • 12.4. ADS over EtherCAT (AoE) Error Codes
  • 12.5. CAN application protocol over EtherCAT (CoE) SDO Error Codes
  • 12.6. File Transfer over EtherCAT (FoE) Error Codes
  • 12.7. Servo Drive Profil over EtherCAT (SoE) Error Codes
  • 12.8. Remote API Error Codes