ETCSlaveStack.AddSyncManager (METH) ¶ METHOD AddSyncManager Adds a sync manager to the slave Example: pSlave ^. AddSyncManager ( 16#1100 , 0 , 16#20 , TRUE , 0 ); InOut: Scope Name Type Comment Input wStartAddress WORD Startaddress of sync manager wLength WORD length of sync manager in Bytes usiMode USINT Mode, Direction etc. xEnable BOOL true: enable sync manager usiType USINT 0: ETHERCAT_INPUTs; 1: ETHERCAT_OUTPUTS; 2: ETHERCAT_MAILBOXIN; 3: ETHERCAT_MAILBOXOUT

ETCSlaveStack.AlignFMMU (METH) ¶ METHOD AlignFMMU Aligns the FMMU to next byte border This is required to add fill bytes after some single bit modules. Otherwise the FMMU will be continued and the input and output offset will not be zero Example: pSlave ^. VAR_INPUT ();

ETCSlaveStack.ChangeFMMU (METH) ¶ METHOD ChangeFMMU Changes a FMMU from the slave Example: pSlave ^. ChangeFMMU ( 1 , 0 , wOutLength , 0 , 7 , 16#1100 , 0 , 2 , 1 ); // Outputs InOut: Scope Name Type Comment Input uiNbrFMMU UINT The number to change (1..16) dwGlobalStartAddress DWORD only used in manual mode, depnding of the master global settings wLength WORD Length of FMMU in Bytes usiStartBit USINT Startbit of FMMU usiEndBit USINT Endbit of FMMU wPhysStartAddress WORD Physical start adress usiPhysStartBit USINT Physical start bit usiAccess USINT read bit 0 write bit 1 dwFlags DWORD bit 0 channel enable

ETCSlaveStack.ChangeSyncManager (METH) ¶ METHOD ChangeSyncManager Changes a sync manager from the slave Example: pSlave ^. ChangeSyncManager ( 3 , 16#1100 , wOutLength , 16#74 , TRUE , 1 ); InOut: Scope Name Type Comment Input uiNbrSyncManager UINT The number to read (1..16) wStartAddress WORD Startaddress of sync manager wLength WORD length of sync manager in Bytes usiMode USINT Mode, Direction etc. xEnable BOOL true: enable sync manager usiType USINT 0: ETHERCAT_INPUTs; 1: ETHERCAT_OUTPUTS; 2: ETHERCAT_MAILBOXIN; 3: ETHERCAT_MAILBOXOUT

ETCMasterStack.ResetDCStatitics (METH) ¶ METHOD ResetDCStatitics Resets all counter values for DC statistics to zero

ETCMasterStack.SkipSuccessfulMessagesForStartupParameters (PROP) ¶ PROPERTY SkipSuccessfulMessagesForStartupParameters : BOOL If set to true then the logger messages for successful CoE or SoE transmits are not shown. Normally for each successful transmission of a startup parameter is shown in the logger as SDO write ok: With this option the amount of logger messages could be reduced Errors or non successful transmissions are still shown in the logger

ETCSlaveStack (FB) ¶ FUNCTION_BLOCK ETCSlaveStack InOut: Scope Name Type Comment Input xSetOperational BOOL Rising edge: An attempt is made to switch to the ETC_SLAVE_OPERATIONAL mode. Output wState ETC_SLAVE_STATE Current state of the slave: 0: ETC_SLAVE_BOOT 1: ETC_SLAVE_Init 2: ETC_SLAVE_PREOPERATIONAL 4: ETC_SLAVE_SAVEOPERATIONAL 8: ETC_SLAVE_OPERATIONAL Configuration was successfully completed. If errors occur during the configuration, the slave can fall back into an earlier state. Properties: ALStatus AutoIncAddr ConfigProductID ConfigRevisionID ConfigVendorID IsConfigAsOptional LastEmergency LastInstance LinkTimeoutPortA LinkTimeoutPortB LinkTimeoutPortC LinkTimeoutPortD MailboxPending NextInstance PendingMessage PhysSlaveAddr ProductID RevisionID SerialID SlaveAddr VendorID InputBitOffset InputBitSize InputData NbrFMMU NbrSyncManager OutputBitOffset OutputBitSize OutputData Sync0ShiftTimeInputBased Methods: ClearEmergency SetOpMode AddCoEInit AddFMMU AddSoEInit AddSyncManager AlignFMMU ChangeFMMU ChangeSyncManager ClearCoEInit ClearSoEInit GetFMMU GetSyncManager HasCoEInit SetAssignToPDI SetConfigData SetDCSettings SetEoeSettings SetLatchSettings SetOptional SetStartupChecks SetSyncUnit SetTimeouts SetUseLrdLwr SetWatchdog Structure: ALStatus (Property) AutoIncAddr (Property) ClearEmergency (Method) ConfigProductID (Property) ConfigRevisionID (Property) ConfigVendorID (Property) DynamicConfig AddCoEInit (Method) AddFMMU (Method) AddSoEInit (Method) AddSyncManager (Method) AlignFMMU (Method) ChangeFMMU (Method) ChangeSyncManager (Method) ClearCoEInit (Method) ClearSoEInit (Method) GetFMMU (Method) GetSyncManager (Method) HasCoEInit (Method) InputBitOffset (Property) InputBitSize (Property) InputData (Property) NbrFMMU (Property) NbrSyncManager (Property) OutputBitOffset (Property) OutputBitSize (Property) OutputData (Property) SetAssignToPDI (Method) SetConfigData (Method) SetDCSettings (Method) SetEoeSettings (Method) SetLatchSettings (Method) SetOptional (Method) SetStartupChecks (Method) SetSyncUnit (Method) SetTimeouts (Method) SetUseLrdLwr (Method) SetWatchdog (Method) Sync0ShiftTimeInputBased (Property) IsConfigAsOptional (Property) LastEmergency (Property) LastInstance (Property) LinkTimeoutPortA (Property) LinkTimeoutPortB (Property) LinkTimeoutPortC (Property) LinkTimeoutPortD (Property) MailboxPending (Property) NextInstance (Property) PendingMessage (Property) PhysSlaveAddr (Property) ProductID (Property) RevisionID (Property) SerialID (Property) SetOpMode (Method) SlaveAddr (Property) VendorID (Property)

ETCSlaveStack.ALStatus (PROP) ¶ PROPERTY ALStatus : WORD Returns the last received AL status register (0x134 + 0x135) from the slave The status register give more information about wrong configuration or other start errors

ETCSlaveStack.AutoIncAddr (PROP) ¶ PROPERTY AutoIncAddr : WORD returns the current auto increment address for the slave

ETCSlaveStack.ClearEmergency (METH) ¶ METHOD ClearEmergency : BOOL Clears the last CoE emergency message InOut: Scope Name Type Return ClearEmergency BOOL