3. Application programming interface, reference
Function prototypes, definitions etc. of the API can be found in EcWrapperPython.py and EcWrapperPythonTypes.py
3.1. CEcSimulatorPython
- class EcWrapperPython.CEcSimulatorPython
Bases:
CEcWrapperPythonEcSimulator for Python
- Close()
Deinitialize EcSimulator
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
3.2. CEcWrapperPython
- class EcWrapperPython.CEcWrapperPython
- AddDbgMsg(strDbgMsg: str)
Adds a debug message to the print message queue
- Parameters
strDbgMsg (str) – debug message
- 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
- 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
- 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
- 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
- ClearSlaveCoeObjectDictionary(wCfgFixedAddress: int) ECError
Delete all objects from slave’s CoE object dictionary.
- Parameters
wCfgFixedAddress (int) – Slave’s station address
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- ConnectPorts(wCfgFixedAddress1: int, byPort1: int, wCfgFixedAddress2: int, byPort2: int)
Connect a slave ESC port to another slave ESC port or to a network adapter.
- Parameters
wCfgFixedAddress1 (int) –
byPort1 (int) –
wCfgFixedAddress2 (int) –
byPort2 (int) –
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- static ConvValueFromString(type_: DN_EC_T_DEFTYPE, value: str) object
Converts value from string
- Parameters
type – Type
value (str) – Value
type_ (DN_EC_T_DEFTYPE) –
- 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
- static ConvValueToString(type_: DN_EC_T_DEFTYPE, value: object) str
Converts value to string
- Parameters
type – Type
value (object) – Value
type_ (DN_EC_T_DEFTYPE) –
- 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
- DeinitInstance()
Deinitialize EtherCAT wrapper
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- DeinitMotion() ECError
Deinitialize the motion
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- DeleteSlaveCoeObject(wCfgFixedAddress: int, wIndex: int) ECError
Delete object from slave’s CoE object dictionary.
- Parameters
wCfgFixedAddress (int) – Slave’s station address
wIndex (int) –
- Returns
_ #EC_E_NOERROR or error code
- Return type
- DisconnectPort(wCfgFixedAddress: int, byPort: int) ECError
Disconnect a slave ESC port or a network adapter.
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: network adapter.
byPort (int) – ESC port. 0, 1, 2, 3: port A, port B, port C, port D.
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- 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
- EoeUninstallEndpoint() ECError
Uninstall EoE endpoint
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- FastProcessAllRxFrames(out_pbAreAllCycFramesProcessed: bool) ECError
- Parameters
pbAreAllCycFramesProcessed –
out_pbAreAllCycFramesProcessed (bool) –
- Return type
Returns:
- 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
- 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
- FindOutpVarByName(szVariableName: str, out_pSlaveOutpVarInfo: DN_EC_T_PROCESS_VAR_INFO) ECError
Finds an output process variable information entry by the variable name.
- Parameters
szVariableName (str) – Variable name
pSlaveOutpVarInfo –
out_pSlaveOutpVarInfo (DN_EC_T_PROCESS_VAR_INFO) –
- Returns
EC_E_NOERROR or error code
- Return type
- 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
- 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
- ForceSlvStatCollection() ECError
Sends datagrams to collect slave statistics counters.
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- GetMasterState() DN_EC_T_STATE
Get the EtherCAT master current state.
Args:
- Returns
EtherCAT master state
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- GetScanBusStatus(out_oSbStatus: DN_EC_T_SB_STATUS_NTFY_DESC) ECError
Gets the status of the last bus scan.
- Parameters
oSbStatus – The last bus scan status
out_oSbStatus (DN_EC_T_SB_STATUS_NTFY_DESC) –
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- GetSimSlaveInfo(wCfgFixedAddress: int, out_pSimSlaveInfo: DN_EC_T_SIM_SLAVE_INFO) ECError
Get extended configuration and status information for slave from simulator
- Parameters
wCfgFixedAddress (int) – Slave’s station address
pSimSlaveInfo – Extended configuration and status information for slave from simulator
out_pSimSlaveInfo (DN_EC_T_SIM_SLAVE_INFO) –
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- 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
oReq (DN_EC_T_SB_SLAVEINFO_REQ_DESC) – Request parameter
out_oRes (DN_EC_T_SB_SLAVEINFO_RES_DESC) – The extended slave information structure
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- GetSlvStatistics(dwSlaveId: int, out_oStatistics: DN_EC_T_SLVSTATISTICS_DESC) ECError
Returns slave statistics counters.
- Parameters
dwSlaveId (int) – Slave ID
oStatistics – out Statistics counters
out_oStatistics (DN_EC_T_SLVSTATISTICS_DESC) –
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- InitMotion() ECError
Initialize the motion
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- IsThrottledNotification(tNotifyCode: DN_NotifyCode) bool
Checks if notification is throttled
- Returns
True, if notification is throttled
- Parameters
tNotifyCode (DN_NotifyCode) –
- Return type
bool
- 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
- MbxGatewayClntRemoveConnection() ECError
Tear down an existing connection to a mailbox gateway server.
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- PowerSlave(wCfgFixedAddress: int, bOn: bool) ECError
Power on or power off a slave.
- Parameters
wCfgFixedAddress (int) – Slave’s station address
bOn (bool) – EC_FALSE: switch off, EC_TRUE: switch on
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- RasGetConnectionInfo(out_pConInfo: DN_EC_T_RAS_CONNECTION_INFO) ECError
Get actual connection information
- Parameters
pConInfo – connection information
out_pConInfo (DN_EC_T_RAS_CONNECTION_INFO) –
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- ResetErrorGenerationAtSlavePorts(wCfgFixedAddress: int) ECError
Reset physical layer error generation destroying frames at slave port
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: all slaves.
- Returns
_ #EC_E_NOERROR or error code
- Return type
- ResetLinkDownGenerationAtSlavePorts(wCfgFixedAddress: int) ECError
Reset link lost event generation
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: all slaves
- Returns
_ #EC_E_NOERROR or error code
- Return type
- ResetSlaveCoeObjectDictionary(wCfgFixedAddress: int) ECError
Reset all objects from slave’s CoE object dictionary to default.
- Parameters
wCfgFixedAddress (int) – Slave’s station address
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- SendSlaveCoeEmergency(wCfgFixedAddress: int, wCode: int, pbyData: List[int], dwDataLen: int) ECError
Send CoE emergency (queued)
- Parameters
wCfgFixedAddress (int) – Slave’s station address
wCode (int) – Emergency code
pbyData (List[int]) – Emergency data
dwDataLen (int) – Length of emergency data in byte
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- SetErrorAtSlavePort(wCfgFixedAddress: int, byPort: int, bOutgoing: bool) ECError
Trigger loss of sent or received EtherCAT frames at slave port (“single shot”).
See ESC registers RX Error Counter (0x0300:0x0307), Forwarded RX Error Counter (0x0308:0x030B), ECAT Processing Unit Error Counter (0x030C)
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: all slaves.
byPort (int) – ESC port. 0, 1, 2, 3: port A, port B, port C, port D.
bOutgoing (bool) – Direction. EC_FALSE: Receive Frame, EC_TRUE: Send Frame.
- Returns
_ #EC_E_NOERROR or error code
- Return type
- SetErrorGenerationAtSlavePort(wCfgFixedAddress: int, byPort: int, bOutgoing: bool, dwLikelihoodPpm: int, dwFixedGoodFramesCnt: int, dwFixedErroneousFramesCnt: int) ECError
Simulate the loss of sent EtherCAT frames at the port of a simulated slave at either random, periodic or random periodic intervalls.
Random frame loss simulation: For each frame the dwLikelihoodPpm parameter determines whether the frame will be discarded.
Periodic frame loss simulation: After dwFixedErroneousFramesCnt discarded frames, dwFixedGoodFramesCnt frames will be processed.
Random periodic frame loss simulation: The dwLikelihoodPpm parameter determines whether a periodic frame loss sequence is triggered.
See ESC registers RX Error Counter (0x0300:0x0307), Forwarded RX Error Counter (0x0308:0x030B), ECAT Processing Unit Error Counter (0x030C)
- Parameters
wCfgFixedAddress (int) – Slave station address. 0: All slaves
byPort (int) – ESC port. 0, 1, 2, 3: port A, port B, port C, port D.
bOutgoing (bool) – Direction. EC_FALSE: Receive Frame, EC_TRUE: Send Frame.
dwLikelihoodPpm (int) – Likelihood (ppm) according to frame loss simulation mode (Random / Random Periodic). Set to 0 in case of Periodic frame loss simulation.
dwFixedGoodFramesCnt (int) – Number of processed frames according to frame loss simulation mode (Periodic / Random Periodic). Set to 0 in case of Random frame loss simulation.
dwFixedErroneousFramesCnt (int) – Number of discarded frames according to frame loss simulation mode (Periodic / Random Periodic). Set to 0 in case of Random frame loss simulation.
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- SetLinkDownAtSlavePort(wCfgFixedAddress: int, byPort: int, bDown: bool, dwLinkDownTimeMs: int) ECError
Trigger link lost event
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: all slaves.
byPort (int) – ESC port. 0, 1, 2, 3: port A, port B, port C, port D.
bDown (bool) – Connect or disconnect cable. EC_TRUE: disconnect.
dwLinkDownTimeMs (int) – Link down duration [ms] or EC_WAITINFINITE
- Returns
_ #EC_E_NOERROR or error code
- Return type
- SetLinkDownGenerationAtSlavePort(wCfgFixedAddress: int, byPort: int, dwLikelihoodPpm: int, dwFixedLinkDownTimeMs: int, dwFixedLinkUpTimeMs: int) ECError
Generate link lost events randomly or at fixed intervals
- Parameters
wCfgFixedAddress (int) – Slave’s station address. 0: all slaves.
byPort (int) – ESC port. 0, 1, 2, 3: port A, port B, port C, port D.
dwLikelihoodPpm (int) – Random simulation: link down likelihood (ppm) within OnTimer
dwFixedLinkDownTimeMs (int) – On link down simulation: fixed link down duration [ms] (at least)
dwFixedLinkUpTimeMs (int) – After link down was simulated: fixed link up duration [ms] (at least)
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
Returns:
- 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
- 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
- SetSimSlaveState(wCfgFixedAddress: int, wDeviceState: int, wDeviceStatusCode: int) ECError
Simulate AL Status Error for slave without device emulation or acknowledge delayed EtherCAT state change
- Parameters
wCfgFixedAddress (int) – Slave’s station address
wDeviceState (int) – Device state (DEVICE_STATE…)
wDeviceStatusCode (int) – Device status code (DEVICE_STATUSCODE…)
- Returns
EC_E_NOERROR or error code
- Return type
- 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
- 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
- SlaveVendorText(dwVendorId: int) str
Gets the text of slave vendor
- Parameters
dwVendorId (int) – Vendor ID
- Returns
Text of slave vendor
- Return type
str
- 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
- 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
- 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) –
- UnregisterClient() ECError
Unregister a client from the EtherCAT master
- Returns
EC_E_NOERROR on success, otherwise an error code.
- Return type
- VoeSend(wCfgFixedAddress: int, wDstFixedAddress: int, pvData: List[int], dwDataLen: int) ECError
Fill “Mailbox In” (SM1) with VoE data to be polled by Master. The slave must have VoE enabled, see ESI: /EtherCATInfo/Descriptions/Devices/Device/Mailbox/VoE, ENI/EXI: /EtherCATConfig/Config/Slave/Mailbox/Protocol/VoE
- Parameters
wCfgFixedAddress (int) – Slave’s station address
wDstFixedAddress (int) – Destination address
pvData (List[int]) – Data
dwDataLen (int) – Data length
- Returns
_ #EC_E_NOERROR or error code
- Return type
- 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
- 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
- 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
- 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
- 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
3.3. Types
- class EcWrapperPythonTypes.DN_EC_T_ADS_ADAPTER_START_PARMS
-
- targetNetID: EcWrapperPythonTypes.DN_EC_T_AOE_NETID
targetNetID
- 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
- 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’.
- bIsDeviceEmulation: bool
[out] Slave without Firmware. ESC register 0x0141, enabled by EEPROM offset 0x0000.8.
- dwPropagDelay: int
[out] Propagation delay [ns]. ESC register 0x0928.This value is only valid if a DC configuration is used.
- dwSlaveDelay: int
[out] Delay behind slave [ns]. This value is only valid if a DC configuration is used.
- class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_EOE_INFO
ecatGetCfgSlaveEoeInfo, ENI: Mailbox/EoE/InitCmds/InitCmd/Data
- 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
- class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_INFO
ecatGetCfgSlaveInfo
- 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)
- dwMbxSupportedProtocols: int
[out] Mailbox protocols supported by the slave (from ENI file). Combination of /ref EC_MBX_PROTOCOLS ‘Supported mailbox protocols’ flags.
- class EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_SM_INFO
- aoSmInfos: List[EcWrapperPythonTypes.DN_EC_T_CFG_SLAVE_SM_ENTRY]
[out] Sync managers info
- class EcWrapperPythonTypes.DN_EC_T_CNF_TYPE(value)
-
- 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’.
- class EcWrapperPythonTypes.DN_EC_T_COMMUNICATION_TIMEOUT_NTFY_DESC
- class EcWrapperPythonTypes.DN_EC_T_CYC_CONFIG_DESC
descriptor for EC_IOCTL_GET_CYCLIC_CONFIG_INFO call
- 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.
- 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.
- 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).
- 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()
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- class EcWrapperPythonTypes.DN_EC_T_DCM_SYNC_NTFY_DESC
Distributed clocks master sync (DCM)
- class EcWrapperPythonTypes.DN_EC_T_DCX_SYNC_NTFY_DESC
Distributed clocks master external sync (DCX)
- class EcWrapperPythonTypes.DN_EC_T_DC_CONFIGURE
-
- 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}
- 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.
- 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
- 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
- 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_ETHERNET_TAP_TYPE(value)
- class EcWrapperPythonTypes.DN_EC_T_FRAMELOSS_AFTER_SLAVE_NTFY_DESC
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- class EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_DESC
- EErrorType: EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_TYPE
Frame response error type
- 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
- class EcWrapperPythonTypes.DN_EC_T_FRAME_RSPERR_TYPE(value)
EtherCAT frame response error descriptor
- class EcWrapperPythonTypes.DN_EC_T_FSOE_CONNECTION_STATE(value)
FSOE state (see ETG.5001.4 v0.1.1, table 9)
- 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
- 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
- class EcWrapperPythonTypes.DN_EC_T_INITCMD_ERR_TYPE(value)
EtherCAT init command response error descriptor
- 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
- 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}
- 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
- 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_RAS_SERVER
RAS server of EcMonitor initalization parameters
- class EcWrapperPythonTypes.DN_EC_T_INIT_PARMS_SIMULATOR_RAS_SERVER
RAS server of EcSimulator initalization parameters
- 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
- class EcWrapperPythonTypes.DN_EC_T_LINE_CROSSED_DESC
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_EOM
-
- eCommType: EcWrapperPythonTypes.DN_EC_T_EOM_COMMUNICATION_TYPE
Communication type
- oHwLinkParms: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_NIC
oHwLinkParms
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_I8254X
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_INTELGBE
-
- bNoPhyCtrlOnConnect: bool
No PHY control (e.g. PHY reset, PHY PM settings, Gbits Ctrl) on link connection detected
- Type
EC_TRUE
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_MULTIPLIER
-
- eMultiplierType: EcWrapperPythonTypes.DN_EC_T_MULTIPLIER_TYPE
Type of the Multiplier Ethernet port
- oHwLinkParms: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_NIC
oHwLinkParms
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_SIMULATOR
- PerfMeasInternalParms: EcWrapperPythonTypes.DN_EC_T_PERF_MEAS_INTERNAL_PARMS
Internal performance measurement parameters
- aoLinkParms: List[EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_NIC]
aoLinkParms
- bDisableProcessDataImage: bool
Don’t allocate Process Data Image at simulator (legacy support, CiA402 simulation)
- bJobsExecutedByApp: bool
implicitly by emllSimulator
- Type
EC_FALSE
- Type
esExecJob explicitly called by application, EC_TRUE
- oDeviceConnection: EcWrapperPythonTypes.DN_EC_T_SIMULATOR_DEVICE_CONNECTION_DESC
See EC_SIMULATOR_DEVICE_CONNECTION_TYPE…
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_SOCKRAW
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_VLAN
- eVlanMode: EcWrapperPythonTypes.DN_EC_T_VLAN_MODE
Vlan switch operation mode
- oHwLinkParms: EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_NIC
oHwLinkParms
- class EcWrapperPythonTypes.DN_EC_T_LINK_PARMS_WINPCAP
- 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
- 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
- class EcWrapperPythonTypes.DN_EC_T_MASTER_RED_PARMS
Master Redundancy initialization parameters, see ecatInitMaster
- bUpdateSlavePdIn: bool
[in] Set to EC_TRUE to update Slave INPUT Process Data Image at INACTIVE Master (from CMF)
- class EcWrapperPythonTypes.DN_EC_T_MBOX_FOE_ABORT_DESC
EtherCAT FoE error
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- class EcWrapperPythonTypes.DN_EC_T_MBOX_SDO_ABORT_DESC
EtherCAT Sdo abort
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- 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_MBX_PARMS
- Coe: EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_COE
[in] CoE parameters
- Foe: EcWrapperPythonTypes.DN_EC_T_MBX_PARMS_FOE
[in] FoE parameters
- 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.
- 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
- 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
- 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
- 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.
- class EcWrapperPythonTypes.DN_EC_T_MSU_INFO
-
- 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
- class EcWrapperPythonTypes.DN_EC_T_NOTIFYPARMS
- class EcWrapperPythonTypes.DN_EC_T_OBJ8XXX
Object 0x8000 - 0x8FFF Slave Objects (configured slaves) ‘Modular Device Profiles’
- class EcWrapperPythonTypes.DN_EC_T_OBJ9XXX
Modular Device Profiles: EtherCAT Master - internal slave object element (connected slaves)
- class EcWrapperPythonTypes.DN_EC_T_OBJAXXX
Modular Device Profiles: EtherCAT Master - internal slave object element (slave diagnosis)
- class EcWrapperPythonTypes.DN_EC_T_OBJF000
Modular Device Profiles: EtherCAT Master - modular device profile
- class EcWrapperPythonTypes.DN_EC_T_OBJF02X
Modular Device Profiles: EtherCAT Master - configured address list
- class EcWrapperPythonTypes.DN_EC_T_OBJF04X
Modular Device Profiles: EtherCAT Master - detected address list
- class EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_INFO
-
- eStatus: EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_STATUS
[out] Status of packet capture processing
- class EcWrapperPythonTypes.DN_EC_T_PACKETCAPTURE_PARMS
-
- dwMaxFileSize: int
[in] Creates a new file every time the number of bytes written exceeds this limit. Disabled with a value set to 0.
- 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_INFO
-
- eUserJob: EcWrapperPythonTypes.DN_EC_T_USER_JOB
UserJob associated with the benchmark
- 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.
- class EcWrapperPythonTypes.DN_EC_T_PORT_OPERATION_NTFY_DESC
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- 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
- 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
- wDataType: int
[out] Data type of the found process variable (according to ETG.1000, section 5). See also EcType.h, DEFTYPE_BOOLEAN.
- class EcWrapperPythonTypes.DN_EC_T_PTS_SRV_START_PARMS
Start parameter for the Pass-Through-Server
- oIpAddr: EcWrapperPythonTypes.DN_EC_T_IPADDR
oIpAddr
- class EcWrapperPythonTypes.DN_EC_T_REDUNDANCY_DIAGNOSIS_INFO
See also Object 0x2003 Redundancy Diagnosis Object
- 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
- class EcWrapperPythonTypes.DN_EC_T_S2SMBX_ERROR_DESC
S2S Mailbox Error
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties of requesting slave
- class EcWrapperPythonTypes.DN_EC_T_SB_MISMATCH_DESC
- class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_DESC
-
- 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
- class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_REQ_DESC
- eInfoEntry: EcWrapperPythonTypes.DN_EC_T_eINFOENTRY
[in] Info Entry to read
- class EcWrapperPythonTypes.DN_EC_T_SB_SLAVEINFO_RES_DESC
-
- eInfoEntry: EcWrapperPythonTypes.DN_EC_T_eINFOENTRY
[out] Info entry read
- class EcWrapperPythonTypes.DN_EC_T_SB_STATUS_NTFY_DESC
- class EcWrapperPythonTypes.DN_EC_T_SELFTESTSCAN_PARMS
-
- 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.
- qwFrameRoundtripTimeAvg: int
[out] Roundtrip time average [us]. Time taken from sending to receiving the frame (master application level).
- 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)
- dwLogLevel: EcWrapperPythonTypes.DN_EC_LOG_LEVEL
dwLogLevel
- 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
- 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()
- bIsPresent: bool
[out] Slave is present in topology segment and connected to the network. See esConnectPorts(), Hot Connect.
- class EcWrapperPythonTypes.DN_EC_T_SLAVEREGISTER_TRANSFER_NTFY_DESC
- 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
- class EcWrapperPythonTypes.DN_EC_T_SLAVES_PRESENCE_NTFY_DESC
- SlavePresence: List[EcWrapperPythonTypes.DN_EC_T_SLAVE_PRESENCE_NTFY_DESC]
Slave presence descriptions
- class EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC
- SlaveStates: List[EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC_ENTRY]
Slave state changed descriptor
- class EcWrapperPythonTypes.DN_EC_T_SLAVES_STATECHANGED_NTFY_DESC_ENTRY
Slaves state change descriptor
- 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
- 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
- class EcWrapperPythonTypes.DN_EC_T_SLAVE_ERROR_INFO_DESC
EtherCAT Slave error status info descriptor
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- class EcWrapperPythonTypes.DN_EC_T_SLAVE_IDENTIFICATION_NTFY_DESC
- SlaveProp: EcWrapperPythonTypes.DN_EC_T_SLAVE_PROP
Slave properties
- 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
- 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_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_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_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
- class EcWrapperPythonTypes.DN_EC_T_USER_JOB(value)
EtherCAT user controlled execution job
- 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
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_SYMBOLNOTACTIVE = 2551251296
Symbol not active -> release handle and try again
- Type
0x98110160
- Type
AoE
- 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_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_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_EEPROMREADERROR = 2551251057
Command error while EEPROM upload (read slave EEPROM)
- Type
0x98110071
- Type
SLV
- EC_EEPROMWRITEERROR = 2551251058
Command error while EEPROM download (write slave EEPROM)
- Type
0x98110072
- Type
SLV
- 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_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_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_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_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_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_LINK_DISCONNECTED = 2551250989
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_NOTFOUND = 2551250956
Not found (e.g. Network Information File ENI not found or API called with invalid slave ID)
- Type
0x9811000C
- Type
APP
- 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_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_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_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_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_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_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_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_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_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_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_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_OVERSIZE = 2551251069
Name oversize in transmission
- Type
0x9811007D
- 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_INTERRUPT = 2551251200
Command not interruptible
- Type
0x98110100
- 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_OVERSIZE = 2551251078
Unit oversize in transmission
- Type
0x98110086
- 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_SYSDRIVERMISSING = 2551251218
Cannot open system driver (e.g. system driver was not loaded)
- Type
0x98110112
- Type
SYS
- 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_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_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_INVALIDACCESSCONFIG = 2551251335
Access configuration is invalid (e.g. SPoC access configuration invalid)
- Type
0x98110187
- 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