Class EcSlaveInfo

Class Documentation

class EcSlaveInfo

This class describes the Slave information.

Public Members

int id

Slave ID.

short position

Slave position in EtherCAT.

short address

Slave address in EtherCAT.

unsigned int vendorId

Slave vendor ID.

unsigned int productCode

Slave product code.

unsigned int revisionNo

Slave revision number.

unsigned int serialNo

Slave serial number.

unsigned int alias

Slave alias.

unsigned int numOfAxes

Number of axes this slave has.

EcSlaveAxisInfo axisInfo[constants::maxSlaveAxes]

Each axis information.

EcStateMachine::T state

Current slave state.

unsigned short alStatusCode

Current slave AL status code.

unsigned char offline

1 if this slave is offline and 0 otherwise.

unsigned char inaccessible

1 if this slave is inaccessible and 0 otherwise.

unsigned char newSlave

1 if this slave is a new slave and 0 otherwise.

unsigned char reverseSlave

1 if this slave is a reverse connected slave and 0 otherwise.

unsigned char dcSupport

1 if this slave supports DC and 0 otherwise.

unsigned char dcWidth

DC width that this slave supports, 0: none, 1: 32bit, 2: 64bit.

unsigned char portState[4]

Each port state, bit0: Physical link, bit1: Loop, bit2: Communication, bit3: Broken.

int neighbor[4]

Slave ID of the device connected to each port of this slave. -2: master, -1: not slave connected, otherwise: slave ID.

unsigned int propagaDelay

Propagation delay from the master DC slave to this slave.

unsigned long long systemTime

System time of this slave.

unsigned long long systemTimeOffset

System time offset of this slave.

unsigned long long startTime

Start time of this slave.

unsigned short inputAddr

Input IO address of this slave.

unsigned short inputSize

Input IO size of this slave.

unsigned short outputAddr

Output IO address of this slave.

unsigned short outputSize

Output IO size of this slave.

unsigned int rxLogicAddr

Rx PDO logic address of this slave.

unsigned int rxPhyAddr

Rx PDO physical address of this slave.

unsigned int rxSize

Rx PDO size of this slave.

unsigned int txLogicAddr

Tx PDO logic address of this slave.

unsigned int txPhyAddr

Tx PDO physical address of this slave.

unsigned int txSize

Tx PDO size of this slave.