566 % Configuring Pdo assignment and mapping |
566 % Configuring Pdo assignment and mapping |
567 % Domains (memory) |
567 % Domains (memory) |
568 % Pdo entry registration |
568 % Pdo entry registration |
569 % Sdo configuration |
569 % Sdo configuration |
570 % Sdo access |
570 % Sdo access |
|
571 % VoE handlers |
571 % Cyclic operation |
572 % Cyclic operation |
572 |
573 |
573 The application interface provides functions and data structures for |
574 The application interface provides functions and data structures for |
574 applications to access and use an EtherCAT master. The complete documentation |
575 applications to access and use an EtherCAT master. The complete documentation |
575 of the interface is included as Doxygen~\cite{doxygen} comments in the header |
576 of the interface is included as Doxygen~\cite{doxygen} comments in the header |
1866 \item[END] The Sdo download was successful. |
1867 \item[END] The Sdo download was successful. |
1867 |
1868 |
1868 \item[ERROR] The Sdo download was aborted due to an error. |
1869 \item[ERROR] The Sdo download was aborted due to an error. |
1869 |
1870 |
1870 \end{description} |
1871 \end{description} |
|
1872 |
|
1873 %------------------------------------------------------------------------------ |
|
1874 |
|
1875 \section{Vendor-specific-over-EtherCAT (VoE)} |
|
1876 \label{sec:voe} |
|
1877 \index{VoE} |
|
1878 |
|
1879 The VoE protocol opens the possibility to implement a vendor-specific mailbox |
|
1880 communication protocol. VoE mailbox messages are prepended by a VoE header |
|
1881 containing a 32-bit vendor ID and a 16-bit vendor-type. There are no more |
|
1882 constraints regarding this protocol. |
|
1883 |
|
1884 The EtherCAT master allows to create multiple VoE handlers per slave |
|
1885 configuration via the application interface (see chap.~\ref{sec:ecrt}). These |
|
1886 handlers contain the state machine necessary for the communication via VoE. |
|
1887 One read or write operation may be issued at a time. After the operation is |
|
1888 initiated, the handler must be executed cyclically until it is finished. After |
|
1889 that, the results of the operation can be retrieved. |
|
1890 |
|
1891 A VoE handler has an own datagram structure, that is marked for exchange after |
|
1892 each execution step. So the application can decide, how many handlers to |
|
1893 execute before sending the corresponding EtherCAT frame(s). |
|
1894 |
|
1895 For more information about using VoE handlers, see the application interface |
|
1896 documentation (chap.~\ref{sec:ecrt}) or the example applications provided in |
|
1897 the \textit{examples/} subdirectory. |
1871 |
1898 |
1872 %------------------------------------------------------------------------------ |
1899 %------------------------------------------------------------------------------ |
1873 |
1900 |
1874 \chapter{User Space} |
1901 \chapter{User Space} |
1875 \label{sec:user} |
1902 \label{sec:user} |