ICOP Technology Inc.
QEC-M-043T
User’s Manual
Ver.1.0A June, 2022
29
4.3 Function Description
Usage restrictions:
⚫
Zone1 => Before master.begin()
⚫
Zone2 => After master.begin() [Before master.start()]
⚫
Zone3 => After master.start()
API
Functions Description
Limitation
Cyclic
Callback
Suitability
Zone1
Zone2
Zone3
EthercatMaster Function
Initialize Functions
begin
EtherCAT Master Initialize. All slaves will enter PRE-OP state if success.
-
-
-
end
EtherCAT Master shutdown.
V
isRedundancy
Check EtherCAT uses redundancy or not.
V
V
V
libraryVersion
The version of EtherCAT Master library.
V
V
V
V
firmwareVersion
The version of EtherCAT firmware. Call this after begin().
V
V
V
Get Slave Information Functions
getSlaveCount
Get the Count of the EtherCAT Slave on the EtherCAT bus.
V
V
V
getVendorID
Get the Vendor ID of the EtherCAT Slave on the EtherCAT bus.
V
V
V
getProductCode
Get the Product Code of the EtherCAT Slave on the EtherCAT bus.
V
V
V
getRevisionNumber
Get the Revision Number of the EtherCAT Slave on the EtherCAT
bus.
V
V
V
getSerialNumber
Get the Serial Number of the EtherCAT Slave on the EtherCAT bus.
V
V
V
getAliasAddress
Get the Alias Address of the EtherCAT Slave on the EtherCAT bus.
V
V
V
getSlaveNo
Get the Number of the EtherCAT Slave according to the Alias
Address, Vendor ID, Product Code, Revision Number, and Serial
Number.
V
V
V
Control Functions
start
Start EtherCAT communication: Automatic Freerun mode.
V
stop
Stop EtherCAT Master.
V
getSystemTime
Get system time of current cycle.
V
V
getWorkingCounter
Get working counter of current cycle.
V
V
getExpectedWorkingCounter
Get expected working counter.
V
V
EthercatDevice_XXX Class General Function
