Function to read the information of the device connected in EtherCAT line.
Instruction takes a long time. It must be called continuously until it is finished.
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i32 ecat_probe (i32 nEth, stru_ecat_probe stru [, string devName=""])
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EtherCAT channel number
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Structure of type stru_ecat_probe that contains the information
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String where the device name is saved. (optional, default "")
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Returns:
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1
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Operation completed
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0
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Running operation
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-1
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Illegal EtherCAT Line Index
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-2
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Ethernet channel is not EtherCAT
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-3
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Illegal topic
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-4
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No device in the selected location
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-5
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EtherCAT line not configured correctly
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-6
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EtherCAT cable disconnected
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-7
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Internal sw error. (contact Robox)
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Task
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RC3E 33.7.1-beta0
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Example of use:
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$LIT N_MAX_ECAT_DEV 100
stru_ecat_probe ecatDev[1+N_MAX_ECAT_DEV]
string devName[1+N_MAX_ECAT_DEV][64]
int nDev
int esitoEP
string appoName[64]
...
...
FUNCTION void hndEcatProbe(int nEth)
int howMany = 0
nDev = 1
do
ecatDev[ndev].phase = 0
ecatDev[ndev].n_Pos = nDev
esitoEp = 0
while(esitoEp = 0)
esitoEp = ecat_probe(nEth, ecatDev[nDev], apponame)
end_while
if(esitoEp = 1)
howMany = ecatDev[ndev].how_many
devName[nDev] = apponame
nDev = nDev+1
endif
end_do_while((esitoEp =1) and (nDev <= N_MAX_ECAT_DEV))
if(nDev = 1)
nDev = 0
else
if(nDev > howMany)
nDev = howMany
endif
endif
END_FUN
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