# SubDevice control and status functions

## esGetNumConfiguredSlaves

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetNumConfiguredSlaves([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID)

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

* **Parameters:**
  **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
* **Returns:**
  Number of slaves 

## esGetNumConnectedSlaves

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetNumConnectedSlaves([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID)

Get number of currently connected slaves. 

* **Parameters:**
  **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
* **Returns:**
  Number of connected slaves 

## esGetSlaveId

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveId([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wStationAddress)

Determines the slave ID using the slave station address. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **wStationAddress** – [in] 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 

### Example

```cpp
            /* get slave id of slave with station address 1001 */
            EC_T_DWORD dwSlaveId = esGetSlaveId(dwSimulatorId, 1001);
            if (INVALID_SLAVE_ID == dwSlaveId)
            {
                dwRetVal = EC_E_NOTFOUND;
                goto Exit;
            }
```

## esGetSlaveIdAtPosition

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveIdAtPosition([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAutoIncAddress)

Determines the slave ID using the slave auto increment address. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **wAutoIncAddress** – [in] Auto increment address of the slave 
* **Returns:**
  Slave ID or INVALID_SLAVE_ID if no slave matching wAutoIncAddress can be found 

### Example

```cpp
            /* get slave id of third slave (auto inc address 0, -1, -2, ...) */
            EC_T_DWORD dwSlaveId = esGetSlaveIdAtPosition(dwSimulatorId, (EC_T_WORD)-2);
            if (INVALID_SLAVE_ID == dwSlaveId)
            {
                dwRetVal = EC_E_NOTFOUND;
                goto Exit;
            }
```

## esGetSlaveState

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveState([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwCurrDevState, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReqDevState)

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:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave ID 
  * **pwCurrDevState** – [out] Current slave state 
  * **pwReqDevState** – [out] Requested slave state 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range or the output pointers are EC_NULL
  * [EC_E_SLAVE_NOT_PRESENT](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga45555d5de25571188a82d2d76c02dd81) if the slave is not present
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching dwSlaveId can be found 

## esSetSlaveState

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esSetSlaveState([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wDeviceState, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

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:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave ID 
  * **wDeviceState** – [in] Requested device state. See Slave device state’s
  * **dwTimeout** – [in] 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized or denies the requested state, see comments below
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range or BOOTSTRAP was requested for a slave that does not support it
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching dwSlaveId can be found
  * [EC_E_TIMEOUT](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2d09527654c655e159d26d36143674cb) if dwTimeout elapsed during the API call
  * [EC_E_BUSY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga7c1a3a6dafef1469c97b8e6c4f3868a5) if the EtherCAT stack cannot execute the request at this time, the function has to be called at a later time
  * [EC_E_NOTREADY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga4033f6f3b33aa2550d6e46e808a92f37) 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1gae2870f20d370920995e27b2a78171a5e) if Master Redundancy is configured and master is inactive 

## esIsSlavePresent

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esIsSlavePresent([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) \*pbPresence)

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

This function may be called from within the JobTask.

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave ID 
  * **pbPresence** – [out] EC_TRUE if the slave is currently connected to the bus, EC_FALSE if not 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching dwSlaveId can be found 

## esGetSlaveProp

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) esGetSlaveProp([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, EC_T_SLAVE_PROP \*pSlaveProp)

Determines the properties of the slave device. 

deprecated Use esGetCfgSlaveInfo instead

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave ID 
  * **pSlaveProp** – [out] Slave properties 
* **Returns:**
  EC_TRUE if the slave exists, EC_FALSE if no slave matching dwSlaveId can be found 

## esGetSlavePortState

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlavePortState([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwPortState)

Returns the state of the slave ports. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave ID 
  * **pwPortState** – 

    [out] Slave port state.

    Format: wwww xxxx yyyy zzzz (each nibble : port 3210)

    wwww : Signal detected 1=yes, 0=no (ESC Register 0x110 Bit 9, 11, 13, 15)

    xxxx : Loop closed 1=yes, 0=no (ESC Register 0x110 Bit 8, 10, 12, 14)

    yyyy : Link established 1=yes, 0=no (ESC Register 0x110 Bit 4, 5, 6, 7)

    zzzz : Slave connected 1=yes, 0=no (zzzz = logical result of w,x,y)
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range or the output pointer is EC_NULL
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching dwSlaveId can be found 

## esGetProcessVarInfoNumOf, esGetProcessVarInfoEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetProcessVarInfoNumOf([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_VAR_DIRECTION](#_CPPv418EC_T_VAR_DIRECTION) eVarDirection, [EC_T_VAR_SOURCE](#_CPPv415EC_T_VAR_SOURCE) eVarSource, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) \*pdwProcessVarInfoNumOf)

Get process variables information. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **eVarDirection** – [in] INPUTs, OUTPUTs, … . See [EC_T_VAR_DIRECTION](#d0-dd4-group-e-c-t-v-a-r-d-i-r-e-c-t-i-o-n) . 
  * **eVarSource** – [in] Slave, Master, … . See [EC_T_VAR_SOURCE](#db-db7-group-e-c-t-v-a-r-s-o-u-r-c-e) . 
  * **bFixedAddress** – [in] Use station address if EC_TRUE. Otherwise use AutoInc address. 
  * **wSlaveAddress** – [in] Slave address according to bFixedAddress 
  * **pdwProcessVarInfoNumOf** – [out] Process variables count 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetProcessVarInfoEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_VAR_DIRECTION](#_CPPv418EC_T_VAR_DIRECTION) eVarDirection, [EC_T_VAR_SOURCE](#_CPPv415EC_T_VAR_SOURCE) eVarSource, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*aoVarInfoEx, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwMaxVarInfoCnt, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) \*pdwVarInfoCnt)

Get process variables information. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **eVarDirection** – [in] INPUTs, OUTPUTs, … . See [EC_T_VAR_DIRECTION](#d0-dd4-group-e-c-t-v-a-r-d-i-r-e-c-t-i-o-n) . 
  * **eVarSource** – [in] Slave, Master, … . See [EC_T_VAR_SOURCE](#db-db7-group-e-c-t-v-a-r-s-o-u-r-c-e) . 
  * **bFixedAddress** – [in] Use station address if EC_TRUE. Otherwise use AutoInc address. 
  * **wSlaveAddress** – [in] Slave address according to bFixedAddress 
  * **aoVarInfoEx** – [out] The read process variable extended information entries 
  * **dwMaxVarInfoCnt** – [in] Maximum number of variables that can be stored at aoVarInfoEx 
  * **pdwVarInfoCnt** – [out] Number process variable entries that have been stored in aoVarInfoEx 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

The following example demonstrates how to get all process data variables:

### **esGetProcessVarInfoEx() Example**

```cpp
EC_T_DWORD dwProcessVarInfoNumOf = 0;
EC_T_DWORD dwRes = EC_E_NOERROR;

dwRes = esGetProcessVarInfoNumOf(dwSimulatorId, eVarDirection_All, eVarSource_All, EC_FALSE, 0, &dwProcessVarInfoNumOf);
/* ... */
EC_T_PROCESS_VAR_INFO_EX* aoVarInfoEx = (EC_T_PROCESS_VAR_INFO_EX*)OsMalloc(dwProcessVarInfoNumOf * sizeof(EC_T_PROCESS_VAR_INFO_EX));
dwRes = esGetProcessVarInfoEx(dwSimulatorId, eVarDirection_All, eVarSource_All, EC_FALSE, 0, aoVarInfoEx, dwProcessVarInfoNumOf, EC_NULL);
/* ... */
OsSafeFree(aoVarInfoEx);
```

**EC_T_VAR_DIRECTION**

<!-- -*- mode: rst -*- -->

<a id="d0-dd4-group-e-c-t-v-a-r-d-i-r-e-c-t-i-o-n"></a>

### enum EC_T_VAR_DIRECTION

*Values:*

### enumerator eVarDirection_Undefined

Undefined Direction 

### enumerator eVarDirection_INPUT

INPUTs 

### enumerator eVarDirection_OUTPUT

OUTPUTs 

### enumerator eVarDirection_All

INPUTs and OUTPUTs 

### enumerator eVarDirection_BCppDummy

**EC_T_VAR_SOURCE**

<!-- -*- mode: rst -*- -->

<a id="db-db7-group-e-c-t-v-a-r-s-o-u-r-c-e"></a>

### enum EC_T_VAR_SOURCE

*Values:*

### enumerator eVarSource_Undefined

Undefined Source 

### enumerator eVarSource_All

Slaves and Master/Monitor/Simulator 

### enumerator eVarSource_AllSlaves

All Slaves 

### enumerator eVarSource_Slave

Slave 

### enumerator eVarSource_Master

Master 

### enumerator eVarSource_Monitor

Monitor 

### enumerator eVarSource_Simulator

Simulator 

### enumerator eVarSource_BCppDummy

## esGetSlaveInpVarInfoNumOf

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveInpVarInfoNumOf([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwSlaveInpVarInfoNumOf)

Gets the number of input variables of a specific slave. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **pwSlaveInpVarInfoNumOf** – [out] Number of found process variable entries 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range or the output pointer is EC_NULL
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found 

## esGetSlaveOutpVarInfoNumOf

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveOutpVarInfoNumOf([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwSlaveOutpVarInfoNumOf)

Gets the number of output variables of a specific slave. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **pwSlaveOutpVarInfoNumOf** – [out] Number of found process variables 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

## esGetSlaveInpVarInfo

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveInpVarInfo([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wNumOfVarsToRead, [EC_T_PROCESS_VAR_INFO](#_CPPv421EC_T_PROCESS_VAR_INFO) \*pSlaveProcVarInfoEntries, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReadEntries)

Gets the process variable information entries of a specific slave. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wNumOfVarsToRead** – [in] Number process variable entries that have been stored in pSlaveProcVarInfoEntries 
  * **pSlaveProcVarInfoEntries** – [out] The read process variable information entries 
  * **pwReadEntries** – [out] The number of read process variable information entries 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

### struct EC_T_PROCESS_VAR_INFO

### Public Members

### [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) szName[MAX_PROCESS_VAR_NAME_LEN]

[out] Name of the found process variable 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wDataType

[out] Data type of the found process variable (according to ETG.1000, section 5). See also EcType.h, DEFTYPE_BOOLEAN. 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wFixedAddr

[out] Station address of the slave that is owner of this variable 

### [EC_T_INT](api.html.md#_CPPv48EC_T_INT) nBitSize

[out] Size in bits of the found process variable 

### [EC_T_INT](api.html.md#_CPPv48EC_T_INT) nBitOffs

[out] Bit offset in the process data image 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsInputData

[out] Determines whether the found process variable is an input variable or an output variable 

### MAX_PROCESS_VAR_NAME_LEN

Maximum length of a process variable name: 71 characters 

## esGetSlaveInpVarInfoEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveInpVarInfoEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wNumOfVarsToRead, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pSlaveProcVarInfoEntriesEx, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReadEntries)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wNumOfVarsToRead** – [in] Number process variable entries that have been stored in pSlaveProcVarInfoEntries 
  * **pSlaveProcVarInfoEntriesEx** – [out] The read process variable extended information entries 
  * **pwReadEntries** – [out] The number of read process variable information entries 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range or the output pointer is EC_NULL
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found 

### struct EC_T_PROCESS_VAR_INFO_EX

### Public Members

### [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) szName[MAX_PROCESS_VAR_NAME_LEN_EX]

[out] Name of the found process variable 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wDataType

[out] Data type of the found process variable (according to ETG.1000, section 5). See also EcType.h, DEFTYPE_BOOLEAN. 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wFixedAddr

[out] Station address of the slave that is owner of this variable 

### [EC_T_INT](api.html.md#_CPPv48EC_T_INT) nBitSize

[out] Size in bits of the found process variable 

### [EC_T_INT](api.html.md#_CPPv48EC_T_INT) nBitOffs

[out] Bit offset in the process data image 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsInputData

[out] Determines whether the found process variable is an input variable or an output variable 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wIndex

[out] Object index 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSubIndex

[out] Object sub index 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wPdoIndex

[out] Index of PDO (process data object) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wWkcStateDiagOffs

[out] Bit offset in the diagnostic image (API GetDiagnosisImagePtr) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wMasterSyncUnit

[out] Master Sync Unit ID (ENI: Slave/ProcessData/RxPdo[1..4]@Su, Slave/ProcessData/TxPdo[1..4]@Su, comment at Cyclic/Frame/Cmd) 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTaskId

[out] ID of task where process variable is located 

### EC_T_CYC_COPY_INFO CopyInfo

[out] Copy Info if applied to the variable 

### MAX_PROCESS_VAR_NAME_LEN_EX

Maximum length of an extended process variable name: 127 characters 

## esGetSlaveOutpVarInfo

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveOutpVarInfo([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wNumOfVarsToRead, [EC_T_PROCESS_VAR_INFO](#_CPPv421EC_T_PROCESS_VAR_INFO) \*pSlaveProcVarInfoEntries, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReadEntries)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wNumOfVarsToRead** – [in] Number of found process variable entries 
  * **pSlaveProcVarInfoEntries** – [out] The read process variable information entries 
  * **pwReadEntries** – [out] The number of read process variable information entries 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO`](#_CPPv421EC_T_PROCESS_VAR_INFO)

## esGetSlaveOutpVarInfoEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveOutpVarInfoEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wNumOfVarsToRead, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pSlaveProcVarInfoEntriesEx, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReadEntries)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wNumOfVarsToRead** – [in] Number of process variable information entries 
  * **pSlaveProcVarInfoEntriesEx** – [out] The read process extended variable entries 
  * **pwReadEntries** – [out] The number of read process variable information entries 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO_EX`](#_CPPv424EC_T_PROCESS_VAR_INFO_EX)

## esGetSlaveInpVarByObjectEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveInpVarByObjectEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wIndex, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSubIndex, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wIndex** – [in] Object index 
  * **wSubIndex** – [in] Object sub index 
  * **pProcessVarInfoEntry** – [out] Process variable extended information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO_EX`](#_CPPv424EC_T_PROCESS_VAR_INFO_EX)

## esGetSlaveOutpVarByObjectEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveOutpVarByObjectEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wIndex, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSubIndex, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wIndex** – [in] Object index 
  * **wSubIndex** – [in] Object sub index 
  * **pProcessVarInfoEntry** – [out] Process variable extended information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO_EX`](#_CPPv424EC_T_PROCESS_VAR_INFO_EX)

## esFindInpVarByName

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esFindInpVarByName([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, const [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) \*szVariableName, [EC_T_PROCESS_VAR_INFO](#_CPPv421EC_T_PROCESS_VAR_INFO) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **szVariableName** – [in] Variable name 
  * **pProcessVarInfoEntry** – [out] Process variable information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO`](#_CPPv421EC_T_PROCESS_VAR_INFO)

## esFindInpVarByNameEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esFindInpVarByNameEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, const [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) \*szVariableName, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **szVariableName** – [in] Variable name 
  * **pProcessVarInfoEntry** – [out] Process variable extended information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO`](#_CPPv421EC_T_PROCESS_VAR_INFO)

## esFindOutpVarByName

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esFindOutpVarByName([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, const [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) \*szVariableName, [EC_T_PROCESS_VAR_INFO](#_CPPv421EC_T_PROCESS_VAR_INFO) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **szVariableName** – [in] Variable name 
  * **pProcessVarInfoEntry** – [out] Process variable information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO`](#_CPPv421EC_T_PROCESS_VAR_INFO)

## esFindOutpVarByNameEx

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esFindOutpVarByNameEx([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, const [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) \*szVariableName, [EC_T_PROCESS_VAR_INFO_EX](#_CPPv424EC_T_PROCESS_VAR_INFO_EX) \*pProcessVarInfoEntry)

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **szVariableName** – [in] Variable name 
  * **pProcessVarInfoEntry** – [out] Process variable extended information entry 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### SEE ALSO
[`EC_T_PROCESS_VAR_INFO_EX`](#_CPPv424EC_T_PROCESS_VAR_INFO_EX)

## esWriteSlaveRegister

#### WARNING
Changing contents of ESC registers may lead to unpredictable behavior of the SubDevices and/or the MainDevice.

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esWriteSlaveRegister([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wRegisterOffset, [EC_T_BYTE](api.html.md#_CPPv49EC_T_BYTE) \*pbyData, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wLen, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

Writes data into the ESC memory of a specified slave. 

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

#### WARNING
Changing contents of ESC registers may lead to unpredictable behavior of the slaves and/or the master.

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wRegisterOffset** – [in] Register offset. E.g. use 0x0120 to write to the AL Control register. 
  * **pbyData** – [in] Buffer containing transfered data 
  * **wLen** – [in] Number of bytes to send 
  * **dwTimeout** – [in] Timeout [ms] 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga45555d5de25571188a82d2d76c02dd81) if slave not present
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found
  * [EC_E_TIMEOUT](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2d09527654c655e159d26d36143674cb) if dwTimeout elapsed during the API call
  * [EC_E_BUSY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga7c1a3a6dafef1469c97b8e6c4f3868a5) if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state
  * [EC_E_NOTREADY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga4033f6f3b33aa2550d6e46e808a92f37) if the working counter was not set when sending the command (slave may not be connected or did not respond)
  * [EC_E_INVALIDSIZE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1gacd9f0baea7a294f85c3f5bde1543d1d0) 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. 

## esReadSlaveRegister

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esReadSlaveRegister([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wRegisterOffset, [EC_T_BYTE](api.html.md#_CPPv49EC_T_BYTE) \*pbyData, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wLen, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

Reads data from the ESC memory of a specified slave. 

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wRegisterOffset** – [in] Register offset. I.e. use 0x0130 to read the AL Status register. 
  * **pbyData** – [out] Buffer receiving transfered data 
  * **wLen** – [in] Number of bytes to receive 
  * **dwTimeout** – [in] Timeout [ms] 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga45555d5de25571188a82d2d76c02dd81) if the slave is not present
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found
  * [EC_E_TIMEOUT](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2d09527654c655e159d26d36143674cb) if dwTimeout elapsed during the API call
  * [EC_E_BUSY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga7c1a3a6dafef1469c97b8e6c4f3868a5) if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state
  * [EC_E_NOTREADY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga4033f6f3b33aa2550d6e46e808a92f37) if the working counter was not set when sending the command (slave may not be connected or did not respond)
  * [EC_E_INVALIDSIZE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1gacd9f0baea7a294f85c3f5bde1543d1d0) 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. 

## esReadSlaveEEPRom

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esReadSlaveEEPRom([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wEEPRomStartOffset, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwReadData, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwReadLen, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) \*pdwNumOutData, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

Read EEPROM data from a slave. 

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wEEPRomStartOffset** – [in] Word address to start EEPROM read from 
  * **pwReadData** – [in] Pointer to EC_T_WORD array to carry the read data 
  * **dwReadLen** – [in] Size of the EC_T_WORD array provided at pwReadData (in EC_T_WORDs) 
  * **pdwNumOutData** – [out] Pointer to EC_T_DWORD carrying actually read data (in EC_T_WORDs) after completion 
  * **dwTimeout** – [in] Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT. 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

## esWriteSlaveEEPRom

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esWriteSlaveEEPRom([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wEEPRomStartOffset, const [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwWriteData, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwWriteLen, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

Write EEPROM data to slave. 

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wEEPRomStartOffset** – [in] Word address to start EEPROM Write from 
  * **pwWriteData** – [in] Pointer to WORD array carrying the data to write 
  * **dwWriteLen** – [in] Size of Write Data WORD array (in WORDS) 
  * **dwTimeout** – [in] Timeout [ms]. The function will block at most for this time. The timeout value must not be set to EC_NOWAIT. 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

#### NOTE
The EEPROM’s CRC at word 7 is re-calculated automatically if the written data is completely within the ESC Configuration Area in the EEPROM’s SII.

## esGetSimSlaveInfo

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSimSlaveInfo([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceId, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wCfgFixedAddress, [EC_T_SIM_SLAVE_INFO](#_CPPv419EC_T_SIM_SLAVE_INFO) \*pSimSlaveInfo)

Get extended configuration and status information for slave from simulator. 

\_

* **Parameters:**
  * **dwInstanceId** – [in] Simulator Instance ID 
  * **wCfgFixedAddress** – [in] Slave’s station address 
  * **pSimSlaveInfo** – [out] Extended configuration and status information for slave from simulator 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

Content of [`EC_T_SIM_SLAVE_INFO`](#_CPPv419EC_T_SIM_SLAVE_INFO), [`EC_T_SIM_SLAVE_CFG_INFO`](#_CPPv423EC_T_SIM_SLAVE_CFG_INFO), [`EC_T_SIM_SLAVE_STATUS_INFO`](#_CPPv426EC_T_SIM_SLAVE_STATUS_INFO) is subject to be extended.

### struct EC_T_SIM_SLAVE_INFO

### Public Members

### [EC_T_SIM_SLAVE_CFG_INFO](#_CPPv423EC_T_SIM_SLAVE_CFG_INFO) oCfg

[out] Config Info (ENI/EXI) 

### [EC_T_SIM_SLAVE_STATUS_INFO](#_CPPv426EC_T_SIM_SLAVE_STATUS_INFO) oStatus

[out] Status Info 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) adwReserved[32]

[out] Reserved 

### struct EC_T_SIM_SLAVE_CFG_INFO

### Public Members

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wFixedAddress

[out] Slave’s station address (ENI/EXI: /EtherCATConfig/Config/Slave/Info/PhysAddr) 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bPowerOff

[out] Slave powered off on startup (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave@PowerOff) 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bSimulated

[out] Slave is simulated (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave/Simulated) 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIgnoreCoeDownloadError

[out] Slave ignores CoE download errors (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave/Mailbox/CoE@IgnoreDownloadError) 

### EC_T_SIMULATOR_DEVICE_CONNECTION_DESC aPortConnection[4]

[out] Explicit port connection (optional) (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave/PortConnection) 

### [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) szApplicationName[EC_SIM_SLAVE_CFG_APP_NAME_SIZE]

[out] Configured slave application name (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave/Application/Name) 

### [EC_T_CHAR](api.html.md#_CPPv49EC_T_CHAR) szApplicationParms[EC_SIM_SLAVE_CFG_APP_PARMS_SIZE]

[out] Configured slave application parameters (EXI: /EtherCATConfig/ExtendedConfig/Slaves/Slave/Application/Parameter) 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) adwReserved[16]

[out] Reserved 

### struct EC_T_SIM_SLAVE_STATUS_INFO

### Public Members

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsPowerOn

[out] Slave is powered on. See esPowerSlave(). 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsPresent

[out] Slave is present in topology segment and connected to the network. See esConnectPorts(), Hot Connect. 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAlStatusReq

[out] AL Status (0x0130) requested from Simulator application. See esSetSimSlaveState(). 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAlStatusCodeReq

[out] AL Status (0x0134) requested from Simulator application. See esSetSimSlaveState(). 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) adwRes1[4]

[out] Reserved 

### EC_T_SIMULATOR_DEVICE_CONNECTION_DESC aPortConnection[4]

[out] See esConnectPorts()

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) adwRes2[16]

[out] Reserved 

## esGetBusSlaveInfo

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetBusSlaveInfo([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_BUS_SLAVE_INFO](#_CPPv419EC_T_BUS_SLAVE_INFO) \*pSlaveInfo)

Return information about a slave connected to the EtherCAT bus. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **pSlaveInfo** – [out] Information from the slave 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) if dwInstanceID is out of range
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found 

Content of [`EC_T_BUS_SLAVE_INFO`](#_CPPv419EC_T_BUS_SLAVE_INFO) is subject to be extended.

### struct EC_T_BUS_SLAVE_INFO

### Public Members

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId

[out] The slave’s ID to bind bus slave and config slave information 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) adwPortSlaveIds[ESC_PORT_COUNT]

[out] The slave’s ID of the slaves connected to ports. See Port slave ID’s. 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wPortState

[out] Port link state. Format: wwww xxxx yyyy zzzz (each nibble : port 3210)

wwww : Signal detected 1=yes, 0=no

xxxx : Loop closed 1=yes, 0=no

yyyy : Link established 1=yes, 0=no


 zzzz : Slave connected 1=yes, 0=no (zzzz = logical result of w,x,y) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAutoIncAddress

[out] The slave’s auto increment address 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bDcSupport

[out] Slave supports DC (Bus Topology Scan) 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bDc64Support

[out] Slave supports 64 Bit DC (Bus Topology Scan) 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwVendorId

[out] Vendor Identification stored in the EEPROM at offset 0x0008 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwProductCode

[out] Product Code stored in the EEPROM at offset 0x000A 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwRevisionNumber

[out] Revision number stored in the EEPROM at offset 0x000C 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSerialNumber

[out] Serial number stored in the EEPROM at offset 0x000E 

### [EC_T_BYTE](api.html.md#_CPPv49EC_T_BYTE) byESCType

[out] Type of ESC (Value of slave ESC register 0x0000) 

### [EC_T_BYTE](api.html.md#_CPPv49EC_T_BYTE) byESCRevision

[out] Revision number of ESC (Value of slave ESC register 0x0001) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wESCBuild

[out] Build number of ESC (Value of slave ESC register 0x0002) 

### [EC_T_BYTE](api.html.md#_CPPv49EC_T_BYTE) byPortDescriptor

[out] Port descriptor (Value of slave ESC register 0x0007) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wFeaturesSupported

[out] Features supported (Value of slave ESC register 0x0008) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wStationAddress

[out] The slave’s station address (Value of slave ESC register 0x0010) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAliasAddress

[out] The slave’s alias address (Value of slave ESC register 0x0012) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAlStatus

[out] AL status (Value of slave ESC register 0x0130) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAlStatusCode

[out] AL status code. (Value of slave ESC register 0x0134 during last error acknowledge). This value is reset after a slave state change. 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSystemTimeDifference

[out] System time difference. (Value of slave ESC register 0x092C) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wMbxSupportedProtocols

[out] Supported Mailbox Protocols stored in the EEPROM at offset 0x001C 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wDlStatus

[out] DL status (Value of slave ESC register 0x0110) 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wPrevPort

[out] Connected port of the previous slave 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wIdentifyData

[out] Last read identification value see [EC_T_CFG_SLAVE_INFO.wIdentifyAdo](api_general.html.md#d5/dca/struct_e_c___t___c_f_g___s_l_a_v_e___i_n_f_o_1a5972bcd59947447718549523d67d828d)

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bLineCrossed

[out] Line crossed was detected at this slave 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveDelay

[out] Delay behind slave [ns]. 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwPropagDelay

[out] Propagation delay [ns]. ESC register 0x0928. 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsRefClock

[out] Slave is reference clock 

### [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bIsDeviceEmulation

[out] Slave without Firmware. ESC register 0x0141, enabled by EEPROM offset 0x0000.8. 

### [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wLineCrossedFlags

[out] Combination of Line crossed flags

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwCyclicWkcErrorCnt

[out] Counter for Cyclic WC Error 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveAbsentCnt

[out] Counter for Absent/Not Present Slaves 

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwUnexpectedStateCnt

[out] Counter for Abnormal State Change 

### Get bus SubDevice info with station address example

```cpp
        EC_T_BUS_SLAVE_INFO oBusSlaveInfo;

        /* get bus slave info of slave with station address 1001 */
        dwRes = esGetBusSlaveInfo(dwSimulatorId, EC_TRUE, 1001, &oBusSlaveInfo);
        if (dwRes != EC_E_NOERROR)
        {
            dwRetVal = dwRes;
            goto Exit;
        }
```

### Get bus SubDevice info with auto-inc address example

```cpp
        EC_T_BUS_SLAVE_INFO oBusSlaveInfo;

        /* get bus slave info of third slave (auto inc address 0, -1, -2, ...) */
        dwRes = esGetBusSlaveInfo(dwSimulatorId, EC_FALSE, (EC_T_WORD)-2, &oBusSlaveInfo);
        if (dwRes != EC_E_NOERROR)
        {
            dwRetVal = dwRes;
            goto Exit;
        }
```

## esReadSlaveIdentification

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esReadSlaveIdentification([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_BOOL](api.html.md#_CPPv49EC_T_BOOL) bFixedAddressing, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wSlaveAddress, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) wAdo, [EC_T_WORD](api.html.md#_CPPv49EC_T_WORD) \*pwValue, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwTimeout)

Read identification value from a slave. 

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

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **bFixedAddressing** – [in] EC_TRUE: use station address, EC_FALSE: use AutoInc address 
  * **wSlaveAddress** – [in] Slave address according bFixedAddressing 
  * **wAdo** – [in] ADO used for identification command 
  * **pwValue** – [out] Pointer to Word value containing the Identification value 
  * **dwTimeout** – [in] Timeout [ms] 
* **Returns:**
  * [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) if successful
  * [EC_E_INVALIDSTATE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2a6310e052fca1b94797e8e26f031739) if EtherCAT stack isn’t initialized
  * [EC_E_INVALIDPARM](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga1e10d9022db11a708658c71b0dead2fe) 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga45555d5de25571188a82d2d76c02dd81) if slave not present
  * [EC_E_NOTFOUND](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga3113f3b6f82bb50e6ab3cde40268730a) if no slave matching bFixedAddressing / wSlaveAddress can be found
  * [EC_E_TIMEOUT](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga2d09527654c655e159d26d36143674cb) if dwTimeout elapsed during the API call
  * [EC_E_BUSY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga7c1a3a6dafef1469c97b8e6c4f3868a5) if another transfer request is already pending or the master or the corresponding slave is currently changing its operational state
  * [EC_E_NOTREADY](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga4033f6f3b33aa2550d6e46e808a92f37) 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](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga76fa8b6a484e5f447a89bc16a8a4c95d) if the slave does not support requesting ID mechanism
  * [EC_E_MASTER_RED_STATE_INACTIVE](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1gae2870f20d370920995e27b2a78171a5e) if Master Redundancy is configured and master is inactive 

## esGetSlaveStatistics

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esGetSlaveStatistics([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId, EC_T_SLVSTATISTICS_DESC \*pSlaveStatisticsDesc)

Get Slave’s statistics counter. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave id 
  * **pSlaveStatisticsDesc** – [out] Pointer to structure EC_T_SLVSTATISTICS_DESC
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code 

## esClearSlaveStatistics

### [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) esClearSlaveStatistics([EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwInstanceID, [EC_T_DWORD](api.html.md#_CPPv410EC_T_DWORD) dwSlaveId)

Clears all error registers of a slave. 

* **Parameters:**
  * **dwInstanceID** – [in] Instance ID (Multiple EtherCAT Network Support) 
  * **dwSlaveId** – [in] Slave Id, INVALID_SLAVE_ID clears all slaves 
* **Returns:**
  [EC_E_NOERROR](error-codes_generic.html.md#d3/d2f/group___e_c___e_r_r_o_r___c_o_d_e_s___g_e_n_e_r_i_c_1ga8c8419c32e88e73d940a4501fe427116) or error code