Download RSI-ECAT-Master User`s manual

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// Access process to a slave from here
// Search slave
stSlave.dwSize
stSlave.dwVenderID
stSlave.dwProductCode
stSlave.dwInstance
=
=
=
=
sizeof(stSlave);
131;
50;
0;
In searching for a slave,
①VenderID, ②ProductCode ③instance number are required.
Here, require to detect the slave with the slave of “VenderID
= 131 and ProductCode = 50 and instance no = 0 (First
Detected)”. When searching two or more same slaves, slave
information returns in the order in which the instance
number is found by carrying out an increment.
woStatus = EhFindSlave(hAPI, &stSlave);
if( 0 != woStatus ) {
printf("EhFindSlave() failed. Status = %04xH\n", woStatus);
return ;
Possible to block until cyclic process
}
occurs by setting the
time(*) as WAIT_FOREVER.
(the time(*) means one of waiting for API which returns response
every cyclic process of EtherCAT Master)
// Process of operation
while(1) {
// Waiting for cyclic process
woStatus = EhWaitForCyclic(hAPI, WAIT_FOREVER);
if( 0 != woStatus ) {
break; // End because cyclic process is interrupted
}
// Conversion request ON / OFF per each loop
if( 0 != EhReadbackByte(hAPI, stSlave.dwViosOutBaseOffset, &woStatus) ) {
EhWriteByte(hAPI, stSlave.dwViosOutBaseOffset, 0x00);
} else {
EhWriteByte(hAPI, stSlave.dwViosOutBaseOffset, 0xFF);
}
}
The input and output to PI are performed by API which performs VIOS access.
0 and 0xFF are reversed and outputted based on the last output value.
printf("program end.");
}
In order to build this sample code, the following project settings are needed..
①
Add $(RSIECAT)\include as an additional path of the header file.
②
Add $(RSIECAT)\lib as the path of the additional library.
③
Add EhApi.lib as additional library.
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