Delta EtherCAT User Manual

EtherCAT Programming Guide API List of EtherCAT Dynamic-Link Library
March, 2017 4-3
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EtherCAT Master Initialization
_ECAT_Master_Open
Check the number of motion cards and EtherCAT
kernels, as well as creating memory block.
_ECAT_Master_Initial
Initialize EtherCAT communication and switch the
slave to OP mode
_ECAT_Master_Reset
Reset the EtherCAT master’s status and switch
the slave to initial mode.
_ECAT_Master_Close
Disable all functions of EtherCAT master and
kernels and release the memory
_ECAT_Master_Get_CardSeq
Acquire motion card No.
_ECAT_Master_Get_SlaveNum
Acquire slave quantity on the communication bus
of the specified EtherCAT master
_ECAT_Master_Get_Slave_Info
Acquire EtherCAT slave information
_ECAT_Master_Get_DC_Status
Acquire the motion card's DC status, time and
time offset
_ECAT_Master_Get_Connect_Status
Acquire EtherCAT master’s connection status
_ECAT_Master_Get_Api_BufferLength
Acquire the command amount of each slave that
has not been completed
_ECAT_Master_Get_Cycle_SpendTime
Acquire the time spent on Tx and Rx every cycle
and the maximum consuming time in the log
_ECAT_Master_Check_Initial_Done
Check whether the DLL initialization has been
completed.
_ECAT_Master_Get_Initial_ErrorCode
Acquire the error code when error occurs
_ECAT_Master_Check_Working_Counter
Acquire the current connection status of EtherCAT
communication
_ECAT_Master_Get_Return_Code_Message
Acquire the corresponding message of each
return code
EtherCAT CoE Standard Communication
_ECAT_Slave_SDO_Send_Message
Issue SDO command (CANopen) to the slave
_ECAT_Slave_SDO_Read_Message
Acquire the current SDO data (CANopen) of the
slave
_ECAT_Slave_SDO_Quick_Send_Message
Issue SDO command (CANopen) to the slave
without waiting for the response
_ECAT_Slave_SDO_Quick_Read_Message
Issue SDO read command (CANopen) to the
slave without waiting for the response
_ECAT_Slave_SDO_Read_Response
Read the returned data from the slave.
_ECAT_Slave_SDO_Wait_All_Done
Wait multiple slaves to complete all the SDO
commands.
_ECAT_Slave_SDO_Get_ErrorCode
Acquire the error code of
ERR_ECAT_SDO_Return that returned during the
execution of SDO Send_Message or
Read_Message. Please refer to CANopen
protocol or the definition of each device for error
code.
_ECAT_Slave_SDO_Check_Done
Check if the specified slave has completed all the
SDO commands
_ECAT_Slave_PDO_Get_OD_Data
Read the data of an OD index in the PDO
mapping
_ECAT_Slave_PDO_Set_OD_Data
Send the data of an OD index in the PDO
mapping

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English