EC-Simulator

• 1. Introduction
  • 1.1. What is EtherCAT?
  • 1.2. EC-Simulator - Features
  • 1.3. Editions (HiL / SiL)
    • 1.3.1. Hardware-in-Loop (HiL) Simulation
    • 1.3.2. Software-in-the-Loop (SiL) Simulation
  • 1.4. Protected version
    • 1.4.1. Licensing procedure for Development Licenses
    • 1.4.2. Licensing procedure for Runtime Licenses
  • 1.5. Known restrictions
  • 1.6. License
    • 1.6.1. EC-Simulator license
    • 1.6.2. Free Open Source Software contained in EC-Simulator
    • 1.6.3. Free Open Source Software supported by EC-Simulator
• 2. Getting Started
  • 2.1. EC-Simulator Architecture
  • 2.2. Extended EtherCAT Network Configuration (EXI)
  • 2.3. HiL Simulation Software architecture
  • 2.4. SiL Simulation Software architecture
  • 2.5. Mixed mode of real slaves and simulated slaves
  • 2.6. Operating system configuration
  • 2.7. Running EcSimulatorHilDemo
    • 2.7.1. Setting up and running EcSimulatorHilDemo
    • 2.7.2. Command line parameters
  • 2.8. Using emllSimulator (SiL)
    • 2.8.1. Simulator Link Layer parameters
  • 2.9. EC-Simulator Software Development Kit (SDK)
    • 2.9.1. OS Compiler settings
  • 2.10. Link Layer configuration for EcSimulatorHilDemo
• 3. Software Integration
  • 3.1. EcSimulatorHilDemo
    • 3.1.1. File reference
    • 3.1.2. Simulator lifecycle
    • 3.1.3. Logging
  • 3.2. Process data update and synchronization
    • 3.2.1. Forced Data, Firmware Data, DPRAM
    • 3.2.2. EC-Simulator stack as process data memory provider
  • 3.3. Accessing process data in the application
    • 3.3.1. Process Data Access Functions selection
    • 3.3.2. Process variables’ offset and size
  • 3.4. Hot Connect
    • 3.4.1. Configured Station Alias
  • 3.5. Error detection and diagnosis
  • 3.6. RAS-Server for EC-Lyser and EC-Engineer
    • 3.6.1. Integration Requirements
    • 3.6.2. Pseudo Code
    • 3.6.3. Required API Calls
  • 3.7. EC-Simulator stack Source Code
  • 3.8. EcSimulatorHilDemoMotion
    • 3.8.1. Command line parameters
• 4. Platform and Operating Systems (OS)
  • 4.1. tenAsys INtime
    • 4.1.1. Setting up and running EcSimulatorHilDemo
    • 4.1.2. OS Compiler settings
  • 4.2. Linux
    • 4.2.1. OS optimizations
    • 4.2.2. atemsys kernel module
    • 4.2.3. Unbind Link Layer instance
    • 4.2.4. Docker
    • 4.2.5. Setting up and running EcSimulatorHilDemo
    • 4.2.6. OS Compiler settings
  • 4.3. QNX Neutrino
    • 4.3.1. Thread priority
    • 4.3.2. Unbind Link Layer instance
    • 4.3.3. IOMMU/SMMU support
    • 4.3.4. Setting up and running EcSimulatorHilDemo
    • 4.3.5. OS Compiler settings
  • 4.4. Windriver VxWorks
    • 4.4.1. VxWorks native
    • 4.4.2. SNARF Link Layer
    • 4.4.3. Setting up and running EcSimulatorHilDemo
    • 4.4.4. OS Compiler settings
  • 4.5. Microsoft Windows
    • 4.5.1. EcSimulatorHilDemo - Microsoft Windows
    • 4.5.2. OS Compiler settings
    • 4.5.3. EcatDrv for Auxillary Clock
    • 4.5.4. EcatDrv for Optimized Link Layer
  • 4.6. Xenomai
    • 4.6.1. Setting up and running EcSimulatorHilDemo
    • 4.6.2. OS compiler settings
• 5. Link Layer
  • 5.1. Link Layer initialization
    • 5.1.1. Link Layer instance selection via PCI location
  • 5.2. Intel Pro/1000 - emllI8254x
  • 5.3. Intel Pro/100 - emllI8255x
  • 5.4. Broadcom BcmGenet - emllBcmGenet
  • 5.5. Beckhoff CCAT - emllCCAT
  • 5.6. Texas Instruments CPSW - emllCPSW
    • 5.6.1. CPSW usage under Linux
  • 5.7. DW3504 - emllDW3504
  • 5.8. Xilinx EMAC - emllEMAC
  • 5.9. Freescale TSEC / eTSEC - emllETSEC
    • 5.9.1. ETSEC supported MAC’s
    • 5.9.2. Shared MII bus
    • 5.9.3. Locking
    • 5.9.4. Link check
    • 5.9.5. Fixed Link
  • 5.10. Freescale FslFec - emllFslFec
  • 5.11. Xilinx Zynq-7000/Ultrascale (GEM) - emllGEM
  • 5.12. Texas Instruments ICSS - emllICSS
    • 5.12.1. TTS Feature
    • 5.12.2. TI AM335x ICEV2
    • 5.12.3. TI AM57xx IDK
    • 5.12.4. AM5728 IDK and AM5718 IDK boards and Technical Limitations
  • 5.13. Windows NDIS - emllNdis
  • 5.14. Windows WinPcap - emllPcap
    • 5.14.1. WinPcap, Npcap support
  • 5.15. RDC R6040 - emllR6040
  • 5.16. emllRemote
  • 5.17. Realtek RTL8169 - emllRTL8169
    • 5.17.1. RTL8169 usage under Linux
  • 5.18. Renesas SHEth - emllSHEth
    • 5.18.1. SHEth link status update
    • 5.18.2. SHEth usage under Linux
  • 5.19. VxWorks SNARF - emllSNARF
  • 5.20. Linux SockRaw - emllSockRaw
  • 5.21. Windows TAP - emllTap
• 6. Application programming interface, reference
  • 6.1. Generic API return status values
  • 6.2. Multiple EtherCAT Network Support
    • 6.2.1. Overview
    • 6.2.2. Licensing
  • 6.3. General functions
    • 6.3.1. esInitSimulator
    • 6.3.2. esDeinitSimulator
    • 6.3.3. esGetSimulatorParms
    • 6.3.4. esSetSimulatorParms
    • 6.3.5. esGetSrcMacAddress
    • 6.3.6. esSetLicenseKey (HiL)
    • 6.3.7. esSetOemKey (HiL)
    • 6.3.8. esConfigureNetwork
    • 6.3.9. esSetSlaveSscApplication
    • 6.3.10. esRegisterClient
    • 6.3.11. esUnregisterClient
    • 6.3.12. esExecJob
    • 6.3.13. esGetMasterState
    • 6.3.14. esIoControl
    • 6.3.15. esIoControl - EC_IOCTL_GET_PDMEMORYSIZE
    • 6.3.16. esIoControl - EC_IOCTL_REGISTER_CYCFRAME_RX_CB
    • 6.3.17. esIoControl - EC_IOCTL_ISLINK_CONNECTED
    • 6.3.18. esIoControl - EC_IOCTL_GET_CYCLIC_CONFIG_INFO
    • 6.3.19. esIoControl - EC_IOCTL_ADDITIONAL_VARIABLES_FOR_SPECIFIC_DATA_TYPES
    • 6.3.20. esIoControl - EC_IOCTL_SIMULATOR_SET_MBX_PROCESS_CTL
    • 6.3.21. esIoControl - EC_IOCTL_SIMULATOR_GET_MBX_PROCESS_CTL
    • 6.3.22. esIoControl - EC_LINKIOCTL_XXXX
    • 6.3.23. esIoControl - EC_LINKIOCTL_GET_ETHERNET_ADDRESS
    • 6.3.24. esIoControl - EC_LINKIOCTL_GET_SPEED
    • 6.3.25. esGetVersion
    • 6.3.26. esGetText
    • 6.3.27. esGetMemoryUsage
    • 6.3.28. esPerfMeasInit
    • 6.3.29. esPerfMeasDeinit
    • 6.3.30. esPerfMeasEnable
    • 6.3.31. esPerfMeasDisable
    • 6.3.32. esPerfMeasStart
    • 6.3.33. esPerfMeasEnd
    • 6.3.34. esPerfMeasReset
    • 6.3.35. esPerfMeasShow
    • 6.3.36. esPerfMeasSetIrqCtlEnabled
    • 6.3.37. esLogFrameEnable
    • 6.3.38. esLogFrameDisable
  • 6.4. Process Data Access Functions
    • 6.4.1. esGetProcessImageInputPtr
    • 6.4.2. esGetProcessImageOutputPtr
    • 6.4.3. EC_COPYBITS
    • 6.4.4. EC_GET_FRM_WORD
    • 6.4.5. EC_GET_FRM_DWORD
    • 6.4.6. EC_GET_FRM_QWORD
    • 6.4.7. EC_SET_FRM_WORD
    • 6.4.8. EC_SET_FRM_DWORD
    • 6.4.9. EC_SET_FRM_QWORD
    • 6.4.10. EC_GETBITS
    • 6.4.11. EC_SETBITS
    • 6.4.12. esGetProcessData
    • 6.4.13. esSetProcessData
    • 6.4.14. esSetProcessDataBits
    • 6.4.15. esGetProcessDataBits
  • 6.5. Notifications
  • 6.6. esNotifyApp
  • 6.7. Network operation functions
    • 6.7.1. esConnectPorts
    • 6.7.2. esDisconnectPort
    • 6.7.3. esPowerSlave
  • 6.8. Error simulation functions
    • 6.8.1. esSetErrorAtSlavePort
    • 6.8.2. esSetErrorGenerationAtSlavePort
    • 6.8.3. esResetErrorGenerationAtSlavePorts
    • 6.8.4. esSetLinkDownAtSlavePort
    • 6.8.5. esSetLinkDownGenerationAtSlavePort
    • 6.8.6. esResetLinkDownGenerationAtSlavePorts
    • 6.8.7. esLogFrameEnableAtSlavePort
    • 6.8.8. esLogFrameDisableAtSlavePort
    • 6.8.9. esSendSlaveCoeEmergency
  • 6.9. Slave control and status functions
    • 6.9.1. esGetNumConfiguredSlaves
    • 6.9.2. esGetNumConnectedSlaves
    • 6.9.3. esGetSlaveId
    • 6.9.4. esGetSlaveIdAtPosition
    • 6.9.5. esGetSlaveState
    • 6.9.6. esSetSlaveState
    • 6.9.7. esIsSlavePresent
    • 6.9.8. esGetSlaveProp
    • 6.9.9. esGetSlavePortState
    • 6.9.10. esGetSlaveInpVarInfoNumOf
    • 6.9.11. esGetSlaveOutpVarInfoNumOf
    • 6.9.12. esGetSlaveInpVarInfo
    • 6.9.13. esGetSlaveInpVarInfoEx
    • 6.9.14. esGetSlaveOutpVarInfo
    • 6.9.15. esGetSlaveOutpVarInfoEx
    • 6.9.16. esGetSlaveInpVarByObjectEx
    • 6.9.17. esGetSlaveOutpVarByObjectEx
    • 6.9.18. esFindInpVarByName
    • 6.9.19. esFindInpVarByNameEx
    • 6.9.20. esFindOutpVarByName
    • 6.9.21. esFindOutpVarByNameEx
    • 6.9.22. EC_NOTIFY_SLAVE_PRESENCE
    • 6.9.23. EC_NOTIFY_SLAVE_STATECHANGED
    • 6.9.24. EC_NOTIFY_HC_TOPOCHGDONE
    • 6.9.25. esWriteSlaveRegister
    • 6.9.26. esReadSlaveRegister
    • 6.9.27. esReadSlaveEEPRom
    • 6.9.28. esWriteSlaveEEPRom
    • 6.9.29. esGetCfgSlaveInfo
    • 6.9.30. esGetSimSlaveInfo
    • 6.9.31. esGetBusSlaveInfo
    • 6.9.32. esReadSlaveIdentification
    • 6.9.33. esGetSlaveStatistics
    • 6.9.34. esClearSlaveStatistics
  • 6.10. ADS over EtherCAT (AoE)
    • 6.10.1. esAoeGetSlaveNetId
    • 6.10.2. esAoeRead
    • 6.10.3. esAoeWrite
    • 6.10.4. esAoeReadWrite
    • 6.10.5. esSetSlaveAoeObjectTransferCallbacks
    • 6.10.6. AoE Simulator and Master Example
  • 6.11. CAN application protocol over EtherCAT (CoE)
    • 6.11.1. esExtendSlaveCoeObjectDictionary
    • 6.11.2. esDeleteSlaveCoeObject
    • 6.11.3. esClearSlaveCoeObjectDictionary
    • 6.11.4. esResetSlaveCoeObjectDictionary
    • 6.11.5. esSetSlaveCoeObjectTransferCallbacks
    • 6.11.6. esCoeSdoDownload
    • 6.11.7. esCoeSdoUpload
    • 6.11.8. CoE transfer Simulator and Master Example
    • 6.11.9. esCoeGetODList
    • 6.11.10. esCoeGetObjectDesc
    • 6.11.11. esCoeGetEntryDesc
  • 6.12. Ethernet over EtherCAT (EoE)
    • 6.12.1. esEoeSendFrame
    • 6.12.2. esGetCfgSlaveEoeInfo
    • 6.12.3. EoE Ping Example
  • 6.13. File access over EtherCAT (FoE)
  • 6.14. Vendor specific access over EtherCAT (VoE)
    • 6.14.1. esVoeSend
    • 6.14.2. esSetVoeReceiveCallback
    • 6.14.3. VoE Receive Example
  • 6.15. Distributed Clocks (DC)
• 7. Error Codes
  • 7.1. Groups
  • 7.2. Generic Error Codes
  • 7.3. DCM Error Codes
  • 7.4. ADS over EtherCAT (AoE) Error Codes
  • 7.5. CAN application protocol over EtherCAT (CoE) SDO Error Codes
  • 7.6. File Transfer over EtherCAT (FoE) Error Codes
  • 7.7. Servo Drive Profil over EtherCAT (SoE) Error Codes
  • 7.8. Remote API Error Codes