Difference between revisions of "EtherCAT:EC USER SAFEOP CONFIG"
| Line 23: | Line 23: | ||
|EXAMPLE= | |EXAMPLE= | ||
| + | <syntaxhighlight lang="vb"> | ||
for i = 1 to NUM_OF_SLAVES | for i = 1 to NUM_OF_SLAVES | ||
| − | + | retVal = EC_USER_SAFEOP_CONFIG(i) | |
next | next | ||
| + | </syntaxhighlight> | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 15:37, 4 January 2015
EtherCAT slaves configuration is done carefully because some configurations must be carried out while the slaves are still in PREOP mode and some configurations are done when the slaves are in SAFEOP mode.
This function and its counterpart EC_USER_PREOP_CONFIG and EC_USER_OP_CONFIG are implemented in the library EC_USER.LIB. The purpose of these functions is to allow the user add his own code in order to conduct specific configuration to EtherCAT slaves.
EC USER SAFEOP CONFIG(slave address) is invoked after EC_STARTMASTER has already finished its work and all the slaves are already in OP mode, therefore it starts with changing the slave's mode to SAFEOP, carries out what configuration is necessary, and raises the slave back to OP mode.
Input
Slave address
Output
None
Return Value
0 on success, -1 if failed. The user can change that.
Declaration
public function EC_USER_SAFEOP_CONFIG(byval slave_addr as long) as long
Syntax
retVal = EC_USER_SAFEOP_CONFIG(<Slave address>)
Examples
for i = 1 to NUM_OF_SLAVES
retVal = EC_USER_SAFEOP_CONFIG(i)
next