ICOP Technology Inc.
QEC-M-070T User Manual
Ver.2 August, 2023
37
Control Functions:
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start() - Start EtherCAT Master. All slaves will enter OP state if successful. There are three modes: Auto
Freerun / Manually Freerun / Sync.
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stop() - Stop EtherCAT Master.
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getSystemTime() - Get system time of current cycle. (The unit is nanosecond)
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getWorkingCounter() - Get working counter of current cycle.
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getExpectedWorkingCounter() - Get expected working counter. (Fixed value)
EthercatDevice_XXX Class General Functions
Access to slave information Functions:
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getVendorID - Get EtherCAT Slave Count Number on EtherCAT bus.
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getProductCode - Get the EtherCAT Slave Product Code on EtherCAT bus.
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getRevisionNumber - Get the EtherCAT Slave revision Number on EtherCAT bus.
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getSerialNumber - Get the EtherCAT Slave Serial Number on EtherCAT bus.
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getAliasAddress - Get the EtherCAT Slave Alias Address on EtherCAT bus.
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getSlaveNo - Get EtherCAT Slave Number on EtherCAT bus.
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readSII - Read EEPROM Info.
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readSII8 - Read EEPROM Info. (uint8_t)
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readSII16 - Read EEPROM Info. (uint16_t)
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readSII32 - Read EEPROM Info. (uint32_t)
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writeSII - Write EEPROM.
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writeSII8 - Write EEPROM. (unit8_t)
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writeSII16 - Write EEPROM. (uint16_t)
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writeSII32 - Write EEPROM. (unit32_t)
Process Data Objects (PDO) Functions:
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pdoBitWrite() - Write Bit of Process Data Output.
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pdoBitRead() - Read Bit of Process Data Input.
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pdoGetOutputBuffer() - Get Slave Process Data Output Pointer.