Library Class

This class provides various operations for E-CAT component.

Namespace: IntervalZero.MaxRT.Ecat.Api.NetApi
Assembly: IntervalZero.MaxRT.Ecat (in IntervalZero.MaxRT.Ecat.dll) Version: 1.0.0.0 (File version: 1.0.1)

Syntax

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public class Library

The Library class exposes the following members:

Constructors

	Name	Description
	Library	Default constructor.

Methods

Axis Control

	Name	Description
	ForceAxisActualCurrent	Writes the actual current of a simulated axis.
	ForceAxisActualPosition	Writes the actual position of a simulated axis.
	ForceAxisActualTorque	Writes the actual torque of a simulated axis.
	ForceAxisActualVelocity	Writes the actual velocity of a simulated axis.
	ForceAxisCustomInput1	Writes the first custom input variable of a simulated axis.
	ForceAxisCustomInput2	Writes the second custom input variable of a simulated axis.
	ForceAxisDigitalInputs	Writes the digital inputs of a simulated axis.
	ForceAxisFollowingError	Writes the following error of a simulated axis.
	ForceAxisInputBit	Writes a bit value into an input buffer of a simulated axis.
	ForceAxisInputByte	Writes a byte value into an input buffer of a simulated axis.
	ForceAxisInputDWord	Writes a double word into an input buffer of a simulated axis.
	ForceAxisInputWord	Writes a word into an input buffer of a simulated axis.
	ForceAxisMopDisplay	Writes the modes of operation display of a simulated axis.
	ForceAxisSecondEncoder	Writes the secondary encoder's position of a simulated axis.
	ForceAxisStatusWord	Writes the status word of a simulated axis.
	ForceAxisTouchProbeStatus	Writes the touch probe status of a simulated axis.
	GetAxisStatus	Gets the status of an axis.
	OpenAxisByIndex	Opens an axis by its index.
	OpenAxisByLocation	Opens an axis by its location.
	ReadAxisActualCurrent	Reads the actual current of an axis.
	ReadAxisActualPosition	Reads the actual position of an axis.
	ReadAxisActualTorque	Reads the actual torque of an axis.
	ReadAxisActualVelocity	Reads the actual velocity of an axis.
	ReadAxisControlWord	Reads the control word of an axis.
	ReadAxisCustomInput1	Reads the first custom input variable of an axis.
	ReadAxisCustomInput2	Reads the second custom input variable of an axis.
	ReadAxisCustomOutput1	Reads the first custom output variable of an axis.
	ReadAxisCustomOutput2	Reads the second custom output variable of an axis.
	ReadAxisDigitalInputs	Reads the digital inputs of an axis.
	ReadAxisDigitalOutputs	Reads the digital outputs of an axis.
	ReadAxisFollowingError	Reads the following error of an axis.
	ReadAxisInputBit	Reads a bit value from the input buffer of an axis.
	ReadAxisInputByte	Reads a byte value from the input buffer of an axis.
	ReadAxisInputDWord	Reads a double word from the input buffer of an axis.
	ReadAxisInputWord	Reads a word from the input buffer of an axis.
	ReadAxisMaxCurrent	Reads the maximum current of an axis.
	ReadAxisMaxTorque	Reads the maximum torque of an axis.
	ReadAxisMop	Reads the modes of operation of an axis.
	ReadAxisMopDisplay	Reads the modes of operation display of an axis.
	ReadAxisOutputBit	Reads a bit value from the output buffer of an axis.
	ReadAxisOutputByte	Reads a byte value from the output buffer of an axis.
	ReadAxisOutputDWord	Reads a double word from the output buffer of an axis.
	ReadAxisOutputWord	Reads a word from the output buffer of an axis.
	ReadAxisProfileAcceleration	Reads the profile acceleration of an axis.
	ReadAxisProfileDeceleration	Reads the profile deceleration of an axis.
	ReadAxisProfileVelocity	Reads the profile velocity of an axis.
	ReadAxisSecondEncoder	Reads the secondary encoder's position of an axis.
	ReadAxisStatusWord	Reads the status word of an axis.
	ReadAxisTargetPosition	Reads the target position of an axis.
	ReadAxisTargetTorque	Reads the target torque of an axis.
	ReadAxisTargetVelocity	Reads the target velocity of an axis.
	ReadAxisTouchProbeControl	Reads the touch probe control of an axis.
	ReadAxisTouchProbeStatus	Reads the touch probe status of an axis.
	ReadAxisTorqueOffset	Reads the torque offset of an axis.
	SetAxisCustomName	Sets a custom name for an axis. The custom name is not unique.
	WriteAxisControlWord	Writes the control word of an axis.
	WriteAxisCustomOutput1	Writes the first custom output variable of an axis.
	WriteAxisCustomOutput2	Writes the second custom output variable of an axis.
	WriteAxisDigitalOutputs	Writes the digital outputs of an axis.
	WriteAxisMaxCurrent	Writes the maximum current of an axis.
	WriteAxisMaxTorque	Writes the maximum torque of an axis.
	WriteAxisMop	Writes the modes of operation of an axis.
	WriteAxisOutputBit	Writes a bit value into an output buffer of an axis.
	WriteAxisOutputByte	Writes a byte value into an output buffer of an axis.
	WriteAxisOutputDWord	Writes a double word into an output buffer of an axis.
	WriteAxisOutputWord	Writes a word into an output buffer of an axis.
	WriteAxisProfileAcceleration	Writes the profile acceleration of an axis.
	WriteAxisProfileDeceleration	Writes the profile deceleration of an axis.
	WriteAxisProfileVelocity	Writes the profile velocity of an axis.
	WriteAxisTargetPosition	Writes the target position of an axis.
	WriteAxisTargetTorque	Writes the target torque of an axis.
	WriteAxisTargetVelocity	Writes the target velocity of an axis.
	WriteAxisTorqueOffset	Writes the torque offset of an axis.
	WriteAxisTouchProbeControl	Writes the touch probe control of an axis.

Command

	Name	Description
	AbortCommand (CommandStatus)	Aborts a CommandStatus type command.
	AbortCommand (CommandStatus<byte[]>)	Aborts a CommandStatus<byte[]> type command.
	AbortCommand (CommandStatus<uint>)	Aborts a CommandStatus<uint> type command.
	AbortCommand (CommandStatus<ushort>)	Aborts a CommandStatus<ushort> type command.
	AbortCommand (CommandStatus<ushort[]>)	Aborts a CommandStatus<ushort[]> type command.
	AbortCommand (CommandStatus<SdoEntryDescription>)	Aborts a CommandStatus<SdoEntryDescription> type command.
	AbortCommand (CommandStatus<SdoObjectDescription>)	Aborts a CommandStatus<SdoObjectDescription> type command.
	GetCommandsStatus	Gets the status of multiple commands.
	GetCommandStatus (CommandStatus)	Gets the status of a CommandStatus type command.
	GetCommandStatus (CommandStatus<byte[]>)	Gets the status of a CommandStatus<byte[]> type command.
	GetCommandStatus (CommandStatus<uint>)	Gets the status of a CommandStatus<uint> type command.
	GetCommandStatus (CommandStatus<ushort>)	Gets the status of a CommandStatus<ushort> type command.
	GetCommandStatus (CommandStatus<ushort[]>)	Gets the status of a CommandStatus<ushort[]> type command.
	GetCommandStatus (CommandStatus<SdoEntryDescription>)	Gets the status of a CommandStatus<SdoEntryDescription> type command.
	GetCommandStatus (CommandStatus<SdoObjectDescription>)	Gets the status of a CommandStatus<SdoObjectDescription> type command.
	WaitForCommand (double, bool, CommandStatus)	Waits for a CommandStatus type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<byte[]>)	Waits for a CommandStatus<byte[]> type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<uint>)	Waits for a CommandStatus<uint> type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<ushort>)	Waits for a CommandStatus<ushort> type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<ushort[]>)	Waits for a CommandStatus<ushort[]> type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<SdoEntryDescription>)	Waits for a CommandStatus<SdoEntryDescription> type command for a specified time duration.
	WaitForCommand (double, bool, CommandStatus<SdoObjectDescription>)	Waits for a CommandStatus<SdoObjectDescription> type command for a specified time duration.

Diagnostics

	Name	Description
	ResetDiagnostics	Resets MainDevice and SubDevice diagnostics information.

Mailbox

	Name	Description
	AoeReadCommand	Reads data from a SubDevice through Automation Device Specification over EtherCAT (AoE).
	AoeReadSdoObject	Reads data from a SubDevice through the Automation Device Specification over EtherCAT (AoE) SDO method.
	AoeReadWriteCommand	Simultaneously reads data from and writes data to a SubDevice through Automation Device Specification over EtherCAT (AoE).
	AoeWriteCommand	Writes data to a SubDevice through Automation Device Specification over EtherCAT (AoE).
	AoeWriteControlCommand	Sends a command to a SubDevice through Automation Device Specification over EtherCAT (AoE).
	AoeWriteSdoObject	Writes data to a SubDevice using the Automation Device Specification over EtherCAT (AoE) SDO method.
	CoeReadSdoEntryDescription	Reads the description of an entry in an object dictionary through the CANopen over EtherCAT (CoE) SDO method.
	CoeReadSdoObject	Reads an object value through the CANopen over EtherCAT (CoE) SDO method.
	CoeReadSdoObjectDescription	Reads the description of an object through the CANopen over EtherCAT (CoE) SDO method.
	CoeReadSdoODList	Reads the list of object indexes in a dictionary table through the CANopen over EtherCAT (CoE) SDO method.
	CoeWriteSdoObject	Writes data to a SubDevice using the CANopen over EtherCAT (CoE) SDO method.
	FoeReadFileToFile	Reads a file from a SubDevice and saves it to a file on the local machine.
	FoeWriteFileFromFile	Writes a file from the local machine to a SubDevice.
	ReadAxisSdoObject	Reads an object value from an axis through the CANopen over EtherCAT (CoE) SDO method.
	ReadModuleSdoObject	Reads an object value from a module through the CANopen over EtherCAT (CoE) SDO method.
	SoeReadSsc	Reads data from a SubDevice through Servo Drive Profile over EtherCAT (SoE).
	SoeWriteSsc	Writes data to a SubDevice through Servo Drive Profile over EtherCAT (SoE).
	VoeWrite	Writes data to a VoE-enabled device through Vendor-Specific Protocol over EtherCAT (VoE).
	WriteAxisSdoObject	Writes an object value to an axis through the CANopen over EtherCAT (CoE) SDO method.
	WriteModuleSdoObject	Writes an object value to a module through the CANopen over EtherCAT (CoE) SDO method.

MainDevice

	Name	Description
	CloseHandle	Closes an open E-CAT handle. When a MainDevice handle is closed, all handles derived from it become invalid.
	CreateMainDevice	Creates a MainDevice instance.
	DestroyMainDevice	Destroys a MainDevice, causing all handles derived from the corresponding MainDevice to become invalid.
	GetDCSystemTime	Gets the timestamp of the selected Sync0’s signal of the distributed clock (DC).
	GetFeatureStatus	Gets the configuration of an E-CAT startup feature.
	GetStatus (Status)	Gets the status of a MainDevice.
	GetStatus (Diagnostics)	Gets the diagnostics information of a MainDevice.
	GetStatus (Status, Diagnostics)	Gets the status and diagConfigurenostics information of a MainDevice.
	IsMainDeviceRunning	Returns a MainDevice's running status.
	OpenMainDevice	Opens a MainDevice.
	PulseHeartbeat	Sends a signal to notify E-CAT Fieldbus that the user application is running properly.
	RequestState	Requests a MainDevice to switch to a specified EtherCAT state.
	Restart	Restarts a MainDevice.
	SetFeatureStatus	Sets the configuration of an E-CAT startup feature.
	SetHeartbeat	Configures the heartbeat settings of a MainDevice.
	Start	Starts a MainDevice and requests it to switch to the Op state.
	StartFromConfiguration	Starts a MainDevice using a configuration file created by the E-CAT Configuration Tool. Calling this method also requests the MainDevice to switch to the Op state.
	Stop	Stops a MainDevice and requests it to switch to the Offline state.

Module Control

	Name	Description
	ForceModuleInputBit	Writes a bit value into an input buffer of a simulated module.
	ForceModuleInputByte	Writes a byte value into an input buffer of a simulated module.
	ForceModuleInputDWord	Writes a double word into an input buffer of a simulated module.
	ForceModuleInputWord	Writes a word into an input buffer of a simulated module.
	GetModuleStatus	Gets the status of a module.
	OpenModuleByIndex	Opens a module by its index.
	OpenModuleByLocation	Opens a module by its location.
	ReadModuleInputBit	Reads a bit value from the input buffer of a module.
	ReadModuleInputByte	Reads a byte value from the input buffer of a module.
	ReadModuleInputDWord	Reads a double word from the input buffer of a module.
	ReadModuleInputWord	Reads a word from the input buffer of a module.
	ReadModuleOutputBit	Reads a bit value from the output buffer of a module.
	ReadModuleOutputByte	Reads a byte value from the output buffer of a module.
	ReadModuleOutputDWord	Reads a double word from the output buffer of a module.
	ReadModuleOutputWord	Reads a word from the output buffer of a module.
	SetModuleCustomName	Sets a custom name for a module.
	WriteModuleOutputBit	Writes a bit value into an output buffer of a module.
	WriteModuleOutputByte	Writes a byte value into an output buffer of a module.
	WriteModuleOutputDWord	Writes a double word into an output buffer of a module.
	WriteModuleOutputWord	Writes a word into an output buffer of a module.

Shared Memory

Reads and writes the shared memory provided by E-CAT Fieldbus.

Shared memory is a pool of memory accessible by multiple E-CAT applications, allowing them to exchange data directly. This functionality supports communication between programs written in different languages, such as C applications and PLC applications. Each MainDevice instance has a dedicated section of this shared memory.

	Name	Description
	ReadMemoryBit	Reads a bit value from the E-CAT Fieldbus shared memory.
	ReadMemoryByte	Reads a byte value from the E-CAT Fieldbus shared memory.
	ReadMemoryDWord	Reads a double word from the E-CAT Fieldbus shared memory.
	ReadMemoryLWord	Reads a quad word from the E-CAT Fieldbus shared memory.
	ReadMemoryWord	Reads a word from the E-CAT Fieldbus shared memory.
	WriteMemoryBit	Writes a bit value into the E-CAT Fieldbus shared memory.
	WriteMemoryByte	Writes a byte value into the E-CAT Fieldbus shared memory.
	WriteMemoryDWord	Writes a double word into the E-CAT Fieldbus shared memory.
	WriteMemoryLWord	Writes a quad word into the E-CAT Fieldbus shared memory.
	WriteMemoryWord	Writes a word into the E-CAT Fieldbus shared memory.

Simulated Hardware

	Name	Description
	ConfigureAxis	Configures an axis. If the corresponding index contains a real axis module, the configuration set will be overridden.
	ConfigureIo	Configures an I/O module. If the corresponding index contains a real I/O module, the configuration set will be overridden.
	GetConfiguredAxisCount	Gets the number of configured axes.
	GetConfiguredIoCount	Gets the number of configured I/O modules.
	SetConfiguredAxisCount	Sets the number of configured axes. If the actual number of detected real axes is less than the number configured, simulated axes will be generated during Library.Start to match the configured number.
	SetConfiguredIoCount	Sets the number of configured I/O modules. If the actual number of detected real I/O modules is less than the number configured, simulated I/O modules will be generated during Library.Start to match the configured number.

SubDevice

	Name	Description
	GetSubDeviceStatus	Gets the status of a SubDevice.
	OpenSubDeviceByExplicitId	Opens a SubDevice by its explicit identification.
	OpenSubDeviceByIndex	Opens a SubDevice by its index.
	OpenSubDeviceByStationAddress	Opens a SubDevice by its station address.
	OverrideSubDevicePdoConfiguration	Changes the input and output PDO lengths of a SubDevice. This can be used to programmatically configure a SubDevice.
	ReadAllSubDeviceEEprom	Reads all data from a SubDevice's EEPROM.
	ReadSubDeviceAlias	Reads the alias address from a SubDevice.
	ReadSubDeviceEEprom	Reads a uint value from a SubDevice's EEPROM.
	ReadSubDeviceRegister	Reads data from a SubDevice's register.
	ReloadSubDeviceEEprom	Reloads a SubDevice's EEPROM.
	RequestSubDeviceState	Requests a SubDevice to go into a specified EtherCAT state.
	ResetSubDeviceEsc	Resets the EtherCAT SubDevice Controller (ESC) of a SubDevice.
	RestartSubDevice	Restarts a SubDevice.
	WriteAllSubDeviceEEprom	Writes all data into a SubDevice’s EEPROM.
	WriteSubDeviceAlias	Writes an alias address into a SubDevice.
	WriteSubDeviceEEprom	Writes a uint value into a SubDevice’s EEPROM.
	WriteSubDeviceRegister	Writes data into a SubDevice's register.