SDK Code Changes from KINGSTAR 4.x to wRTOS 1.x
This topic outlines the APIs included in KINGSTAR 4.x SDKs that were added, changed, or removed in wRTOS 1.x SDKs.
In this
New APIs
New E-CAT APIs
This section lists the new E-CAT APIs that were not present in KINGSTAR 4.x SDK but are included in wRTOS 1.x SDKs.
Axis Control APIs
- Added RtecatForceAxisActualCurrent, which writes the actual current of a simulated axis.
- Added RtecatForceAxisActualPosition, which writes the actual position of a simulated axis.
- Added RtecatForceAxisActualTorque, which writes the actual torque of a simulated axis.
- Added RtecatForceAxisActualVelocity, which writes the actual velocity of a simulated axis.
- Added RtecatForceAxisCustomInput1, which writes the first custom input variable of a simulated axis.
- Added RtecatForceAxisCustomInput2, which writes the second custom input variable of a simulated axis.
- Added RtecatForceAxisFollowingError, which writes the following error of a simulated axis.
- Added RtecatForceAxisMopDisplay, which writes the modes of operation display of a simulated axis.
- Added RtecatForceAxisSecondEncoder, which writes the secondary encoder's position of a simulated axis.
- Added RtecatForceAxisStatusWord, which writes the status word of a simulated axis.
- Added RtecatForceAxisTouchProbeStatus, which writes the touch probe status of a simulated axis.
- Added RtecatGetAxisStatus, which gets the status of an axis.
- Added RtecatOpenAxisByIndex, which opens the axis object by its index.
- Added RtecatOpenAxisByLocation, which opens the axis object by its location.
- Added RtecatReadAxisControlWord, which reads the control word of an axis.
- Added RtecatReadAxisCustomOutput1, which reads the first custom output variable of an axis.
- Added RtecatReadAxisCustomOutput2, which reads the second custom output variable of an axis.
- Added RtecatReadAxisMaxCurrent, which reads the maximum current of an axis.
- Added RtecatReadAxisMaxTorque, which reads the maximum torque of an axis.
- Added RtecatReadAxisMop, which reads the modes of operation of an axis.
- Added RtecatReadAxisProfileAcceleration, which reads the profile acceleration of an axis.
- Added RtecatReadAxisProfileDeceleration, which reads the profile deceleration of an axis.
- Added RtecatReadAxisProfileVelocity, which reads the profile velocity of an axis.
- Added RtecatReadAxisTargetPosition, which reads the target position of an axis.
- Added RtecatReadAxisTargetTorque, which reads the target torque of an axis.
- Added RtecatReadAxisTargetVelocity, which reads the target velocity of an axis.
- Added RtecatReadAxisTorqueOffset, which reads the torque offset of an axis.
- Added RtecatReadAxisTouchProbeControl, which reads the touch probe control of an axis.
- Added RtecatSetAxisCustomName, which sets a custom name for an axis.
Diagnostics APIs
- Added RtecatResetDiagnostics, which resets MainDevice and SubDevice diagnostics information.
MainDevice APIs
- Added RtecatCloseHandle, which closes an E-CAT object handle.
- Added RtecatOpenMainDevice, which opens a MainDevice object.
Module Control APIs
- Added RtecatGetModuleStatus, which gets the status of a module.
- Added RtecatOpenModuleByIndex, which opens a module object by its index.
- Added RtecatOpenModuleByLocation, which opens a module object by its location.
- Added RtecatSetModuleCustomName, which sets a custom name for a module.
SubDevice APIs
- Added RtecatGetSubDeviceStatus, which gets the status of a SubDevice.
- Added RtecatOpenSubDeviceByExplicitId, which opens a SubDevice object by its explicit identification.
- Added RtecatOpenSubDeviceByIndex, which opens a SubDevice object by its index.
- Added RtecatOpenSubDeviceByStationAddress, which opens a SubDevice object by its station address.
E-CAT Data Types
- Added , which is a handle to a MainDevice, SubDevice, axis, module or command object.
- Added RTECAT_AXIS_STATUS, which describes the status of an axis.
- Added RTECAT_MODULE_STATUS, which describes the status of a module.
- Added RTECAT_COMMAND_STATE, which identifies the state of a command.
New Managed E-CAT APIs
This section lists the new managed E-CAT APIs that were not present in KINGSTAR 4.x SDK but are included in wRTOS 1.x SDKs.
Axis Control APIs
- Added method GetAxisStatus, which gets the status of an axis.
- Added method OpenAxisByIndex, which opens an axis object by its index.
- Added method OpenAxisByLocation, which opens an axis object by its location.
- Added method SetAxisCustomName, which sets a custom name for an axis.
- Added method ReadAxisControlWord, which gets the status of an axis.
- Added method ReadAxisTargetPosition, which reads the target position of an axis.
- Added method ReadAxisTargetTorque, which reads the target torque of an axis.
- Added method ReadAxisTargetVelocity, which reads the target velocity of an axis.
- Added method ReadAxisTorqueOffset, which reads the target torque offset of an axis.
- Added method ReadAxisMaxTorque, which reads the maximum torque of an axis.
- Added method ReadAxisMaxCurrent, which reads the maximum current of an axis.
- Added method ReadAxisTouchProbeControl, which reads the touch probe control of an axis.
- Added method ReadAxisMop, which reads the modes of operation of an axis.
- Added method ReadAxisProfileVelocity, which reads the profile velocity of an axis.
- Added method ReadAxisProfileAcceleration, which reads the profile acceleration of an axis.
- Added method ReadAxisProfileDeceleration, which reads the profile deceleration of an axis.
- Added method ReadAxisCustomOutput1, which reads the first custom output variable of an axis.
- Added method ReadAxisCustomOutput2, which reads the second custom output variable of an axis.
- Added method ForceAxisStatusWord, which writes the status word of a simulated axis.
- Added method ForceAxisActualCurrent, which writes the actual current of a simulated axis.
- Added method ForceAxisActualPosition, which writes the actual position of a simulated axis.
- Added method ForceAxisActualTorque, which writes the actual torque of a simulated axis.
- Added method ForceAxisActualVelocity, which writes the actual velocity of a simulated axis.
- Added method ForceAxisCustomInput1, which writes the first custom input variable of a simulated axis.
- Added method ForceAxisCustomInput2, which writes the second custom input variable of a simulated axis.
- Added method ForceAxisFollowingError, which writes the following error of a simulated axis.
- Added method ForceAxisMopDisplay, which writes the modes of operation display of a simulated axis.
- Added method ForceAxisSecondEncoder, which writes the secondary encoder's position of a simulated axis.
- Added method ForceAxisTouchProbeStatus, which writes the touch probe status of a simulated axis.
Diagnostics APIs
- Added method ResetDiagnostics, which resets MainDevice and SubDevice diagnostics information.
MainDevice APIs
- Added class Library, which provides various operations for E-CAT.
- Added constructor Library, which is the default constructor.
- Added method CloseHandle, which closes an open E-CAT object handle.
- Added method GetStatus (Status), which gets the status of a MainDevice.
- Added method GetStatus (Diagnostics), which gets the diagnostics information of a MainDevice.
- Added method OpenMainDevice, which opens a MainDevice object.
Module Control APIs
- Added method GetModuleStatus, which gets the status of a module.
- Added method OpenModuleByIndex, which opens a module object by its index.
- Added method OpenModuleByLocation, which opens a module object by its location.
- Added method SetModuleCustomName, which sets a custom name for a module.
SubDevice APIs
- Added method OpenSubDeviceByExplicitId, which opens a SubDevice object by its explicit identification.
- Added method OpenSubDeviceByIndex, which opens a SubDevice object by its index.
- Added method OpenSubDeviceByStationAddress, which opens a SubDevice object by its station address.
- Added method GetSubDeviceStatus, which gets the status of a SubDevice.
Other E-CAT APIs
- Added class EcatHandle, which is a handle to a MainDevice, SubDevice, axis, module or command.
- Added class AxisStatus, which describes an axis status.
- Added class ModuleStatus, which describes an axis status.
Breaking API Changes
This section lists the APIs included in KINGSTAR 4.x SDK that underwent breaking changes in wRTOS 1.x SDKs.
Breaking Changes to Header and Library Files
- The following header and library files were renamed:
- ksapi.h has been renamed RtecatApi.h
- KsApi_Rtss.lib has been renamed RtecatApi.lib (RTSS)
- KsApi.lib has been renamed RtecatApi_W64.lib (Windows)
Breaking Changes to Namespaces
- The following namespaces were renamed:
- IntervalZero.KINGSTAR.Local.Api has been renamed IntervalZero.MaxRT.Ecat.Api.NetApi
- IntervalZero.KINGSTAR.Base has been renamed IntervalZero.MaxRT.Ecat.Api
Breaking Changes to E-CAT APIs
Axis Control APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ForceAxisInputBit KsError ForceAxisInputBit(
int Index,
int BitOffset,
BOOL Value
);
|
RtecatForceAxisInputBit RTECAT_ERROR RtecatForceAxisInputBit( RTECAT_HANDLE Axis, ULONG BitOffset, BOOL Value );
|
|
ForceAxisInputByte KsError ForceAxisInputByte(
int Index,
int ByteOffset,
BYTE Value
);
|
RtecatForceAxisInputByte RTECAT_ERROR RtecatForceAxisInputByte( RTECAT_HANDLE Axis, ULONG ByteOffset, BYTE Value );
|
|
ForceAxisInputDWord KsError ForceAxisInputDWord(
int Index,
int ByteOffset,
DWORD Value
);
|
RtecatForceAxisInputDWord RTECAT_ERROR RtecatForceAxisInputDWord( RTECAT_HANDLE Axis, ULONG ByteOffset, DWORD Value );
|
|
ForceAxisInputs KsError ForceAxisInputs(
int Index,
DWORD Value
);
|
RtecatForceAxisDigitalInputs RTECAT_ERROR RtecatForceAxisDigitalInputs( RTECAT_HANDLE Axis, DWORD Value );
|
|
ForceAxisInputWord KsError ForceAxisInputWord(
int Index,
int ByteOffset,
WORD Value
);
|
RtecatForceAxisInputWord RTECAT_ERROR RtecatForceAxisInputWord( RTECAT_HANDLE Axis, ULONG ByteOffset, WORD Value );
|
|
GetAxisBuffers KsError GetAxisBuffers(
int Index,
void** InputBuffer,
void** OutputBuffer
);
|
RtecatGetAxisBuffers RTECAT_ERROR RtecatGetAxisBuffers( RTECAT_HANDLE Axis, void** pInputBuffer, void** pOutputBuffer );
|
|
ReadAxisActualCurrent KsError ReadAxisActualCurrent(
int Index,
short* Value
);
|
RtecatReadAxisActualCurrent RTECAT_ERROR RtecatReadAxisActualCurrent( RTECAT_HANDLE Axis, short* pValue );
|
|
ReadAxisActualPosition KsError ReadAxisActualPosition(
int Index,
int* Value
);
|
RtecatReadAxisActualPosition RTECAT_ERROR RtecatReadAxisActualPosition( RTECAT_HANDLE Axis, int* pValue );
|
|
ReadAxisActualTorque KsError ReadAxisActualTorque(
int Index,
short* Value
);
|
RtecatReadAxisActualTorque RTECAT_ERROR RtecatReadAxisActualTorque( RTECAT_HANDLE Axis, short* pValue );
|
|
ReadAxisActualVelocity KsError ReadAxisActualVelocity(
int Index,
int* Value
);
|
RtecatReadAxisActualVelocity RTECAT_ERROR RtecatReadAxisActualVelocity( RTECAT_HANDLE Axis, int* pValue );
|
|
ReadAxisCustomInput1 KsError ReadAxisCustomInput1(
int Index,
DWORD* Value
);
|
RtecatReadAxisCustomInput1 RTECAT_ERROR RtecatReadAxisCustomInput1( RTECAT_HANDLE Axis, DWORD* pValue );
|
|
ReadAxisCustomInput2 KsError ReadAxisCustomInput2(
int Index,
DWORD* Value
);
|
RtecatReadAxisCustomInput2 RTECAT_ERROR RtecatReadAxisCustomInput2( RTECAT_HANDLE Axis, DWORD* pValue );
|
|
ReadAxisFollowingError KsError ReadAxisFollowingError(
int Index,
int* Value
);
|
RtecatReadAxisFollowingError RTECAT_ERROR RtecatReadAxisFollowingError( RTECAT_HANDLE Axis, int* pValue );
|
|
ReadAxisInputBit KsError ReadAxisInputBit(
int Index,
int BitOffset,
BOOL* Value
);
|
RtecatReadAxisInputBit RTECAT_ERROR RtecatReadAxisInputBit( RTECAT_HANDLE Axis, ULONG BitOffset, BOOL* pValue );
|
|
ReadAxisInputByte KsError ReadAxisInputByte(
int Index,
int ByteOffset,
BYTE* Value
);
|
RtecatReadAxisInputByte RTECAT_ERROR RtecatReadAxisInputByte( RTECAT_HANDLE Axis, ULONG ByteOffset, BYTE* pValue );
|
|
ReadAxisInputDWord KsError ReadAxisInputDWord(
int Index,
int ByteOffset,
DWORD* Value
);
|
RtecatReadAxisInputDWord RTECAT_ERROR RtecatReadAxisInputDWord( RTECAT_HANDLE Axis, ULONG ByteOffset, DWORD* pValue );
|
|
ReadAxisInputs KsError ReadAxisInputs(
int Index,
DWORD* Value
);
|
RtecatReadAxisDigitalInputs RTECAT_ERROR RtecatReadAxisDigitalInputs( RTECAT_HANDLE Axis, DWORD* pValue );
|
|
ReadAxisInputWord KsError ReadAxisInputWord(
int Index,
int ByteOffset,
WORD* Value
);
|
RtecatReadAxisInputWord RTECAT_ERROR RtecatReadAxisInputWord( RTECAT_HANDLE Axis, ULONG ByteOffset, WORD* pValue );
|
|
ReadAxisMopDisplay KsError ReadAxisMopDisplay(
int Index,
BYTE* Value
);
|
RtecatReadAxisMopDisplay RTECAT_ERROR RtecatReadAxisMopDisplay( RTECAT_HANDLE Axis, BYTE* pValue );
|
|
ReadAxisOutputBit KsError ReadAxisOutputBit(
int Index,
int BitOffset,
BOOL* Value
);
|
RtecatReadAxisOutputBit RTECAT_ERROR RtecatReadAxisOutputBit( RTECAT_HANDLE Axis, ULONG BitOffset, BOOL* pValue );
|
|
ReadAxisOutputByte KsError ReadAxisOutputByte(
int Index,
int ByteOffset,
BYTE* Value
);
|
RtecatReadAxisOutputByte RTECAT_ERROR RtecatReadAxisOutputByte( RTECAT_HANDLE Axis, ULONG ByteOffset, BYTE* pValue );
|
|
ReadAxisOutputDWord KsError ReadAxisOutputDWord(
int Index,
int ByteOffset,
DWORD* Value
);
|
RtecatReadAxisOutputDWord RTECAT_ERROR RtecatReadAxisOutputDWord( RTECAT_HANDLE Axis, ULONG ByteOffset, DWORD* pValue );
|
|
ReadAxisOutputs KsError ReadAxisOutputs(
int Index,
DWORD* Value
);
|
RtecatReadAxisDigitalOutputs RTECAT_ERROR RtecatReadAxisDigitalOutputs( RTECAT_HANDLE Axis, DWORD* pValue );
|
|
ReadAxisOutputWord KsError ReadAxisOutputWord(
int Index,
int ByteOffset,
WORD* Value
);
|
RtecatReadAxisOutputWord RTECAT_ERROR RtecatReadAxisOutputWord( RTECAT_HANDLE Axis, ULONG ByteOffset, WORD* pValue );
|
|
ReadAxisSecondEncoder KsError ReadAxisSecondEncoder(
int Index,
int* Value
);
|
RtecatReadAxisSecondEncoder RTECAT_ERROR RtecatReadAxisSecondEncoder( RTECAT_HANDLE Axis, int* pValue );
|
|
ReadAxisStatusWord KsError ReadAxisStatusWord(
int Index,
WORD* Value
);
|
RtecatReadAxisStatusWord RTECAT_ERROR RtecatReadAxisStatusWord( RTECAT_HANDLE Axis, WORD* pValue );
|
|
ReadAxisTouchProbeStatus KsError ReadAxisTouchProbeStatus(
int Index,
WORD* Value
);
|
RtecatReadAxisTouchProbeStatus RTECAT_ERROR RtecatReadAxisTouchProbeStatus( RTECAT_HANDLE Axis, WORD* pValue );
|
|
WriteAxisControlWord KsError WriteAxisControlWord(
int Index,
WORD Value
);
|
RtecatWriteAxisControlWord RTECAT_ERROR RtecatWriteAxisControlWord( RTECAT_HANDLE Axis, WORD Value );
|
|
WriteAxisCustomOutput1 KsError WriteAxisCustomOutput1(
int Index,
DWORD Value
);
|
RtecatWriteAxisCustomOutput1 RTECAT_ERROR RtecatWriteAxisCustomOutput1( RTECAT_HANDLE Axis, DWORD Value );
|
|
WriteAxisCustomOutput2 KsError WriteAxisCustomOutput2(
int Index,
DWORD Value
);
|
RtecatWriteAxisCustomOutput2 RTECAT_ERROR RtecatWriteAxisCustomOutput2( RTECAT_HANDLE Axis, DWORD Value );
|
|
WriteAxisMaxCurrent KsError WriteAxisMaxCurrent(
int Index,
short Value
);
|
RtecatWriteAxisMaxCurrent RTECAT_ERROR RtecatWriteAxisMaxCurrent( RTECAT_HANDLE Axis, short Value );
|
|
WriteAxisMaxTorque KsError WriteAxisMaxTorque(
int Index,
short Value
);
|
RtecatWriteAxisMaxTorque RTECAT_ERROR RtecatWriteAxisMaxTorque( RTECAT_HANDLE Axis, short Value );
|
|
WriteAxisMop KsError WriteAxisMop(
int Index,
BYTE Value
);
|
RtecatWriteAxisMop RTECAT_ERROR RtecatWriteAxisMop( RTECAT_HANDLE Axis, BYTE Value );
|
|
WriteAxisOutputBit KsError WriteAxisOutputBit(
int Index,
int BitOffset,
BOOL Value
);
|
RtecatWriteAxisOutputBit RTECAT_ERROR RtecatWriteAxisOutputBit( RTECAT_HANDLE Axis, ULONG BitOffset, BOOL Value );
|
|
WriteAxisOutputByte KsError WriteAxisOutputByte(
int Index,
int ByteOffset,
BYTE Value
);
|
RtecatWriteAxisOutputByte RTECAT_ERROR RtecatWriteAxisOutputByte( RTECAT_HANDLE Axis, ULONG ByteOffset, BYTE Value );
|
|
WriteAxisOutputDWord KsError WriteAxisOutputDWord(
int Index,
int ByteOffset,
DWORD Value
);
|
RtecatWriteAxisOutputDWord RTECAT_ERROR RtecatWriteAxisOutputDWord( RTECAT_HANDLE Axis, ULONG ByteOffset, DWORD Value );
|
|
WriteAxisOutputs KsError WriteAxisOutputs(
int Index,
DWORD Value
);
|
RtecatWriteAxisDigitalOutputs RTECAT_ERROR RtecatWriteAxisDigitalOutputs( RTECAT_HANDLE Axis, DWORD Value );
|
|
WriteAxisOutputWord KsError WriteAxisOutputWord(
int Index,
int ByteOffset,
WORD Value
);
|
RtecatWriteAxisOutputWord RTECAT_ERROR RtecatWriteAxisOutputWord( RTECAT_HANDLE Axis, ULONG ByteOffset, WORD Value );
|
|
WriteAxisProfileAcceleration KsError WriteAxisProfileAcceleration(
int Index,
int Value
);
|
RtecatWriteAxisProfileAcceleration RTECAT_ERROR RtecatWriteAxisProfileAcceleration( RTECAT_HANDLE Axis, int Value );
|
|
WriteAxisProfileDeceleration KsError WriteAxisProfileDeceleration(
int Index,
int Value
);
|
RtecatWriteAxisProfileDeceleration RTECAT_ERROR RtecatWriteAxisProfileDeceleration( RTECAT_HANDLE Axis, int Value );
|
|
WriteAxisProfileVelocity KsError WriteAxisProfileVelocity(
int Index,
int Value
);
|
RtecatWriteAxisProfileVelocity RTECAT_ERROR RtecatWriteAxisProfileVelocity( RTECAT_HANDLE Axis, int Value );
|
|
WriteAxisTargetPosition KsError WriteAxisTargetPosition(
int Index,
int Value
);
|
RtecatWriteAxisTargetPosition RTECAT_ERROR RtecatWriteAxisTargetPosition( RTECAT_HANDLE Axis, int Value );
|
|
WriteAxisTargetTorque KsError WriteAxisTargetTorque(
int Index,
short Value
);
|
RtecatWriteAxisTargetTorque RTECAT_ERROR RtecatWriteAxisTargetTorque( RTECAT_HANDLE Axis, short Value );
|
|
WriteAxisTargetVelocity KsError WriteAxisTargetVelocity(
int Index,
int Value
);
|
RtecatWriteAxisTargetVelocity RTECAT_ERROR RtecatWriteAxisTargetVelocity( RTECAT_HANDLE Axis, int Value );
|
|
WriteAxisTorqueOffset KsError WriteAxisTorqueOffset(
int Index,
short Value
);
|
RtecatWriteAxisTorqueOffset RTECAT_ERROR RtecatWriteAxisTorqueOffset( RTECAT_HANDLE Axis, short Value );
|
|
WriteAxisTouchProbeControl KsError WriteAxisTouchProbeControl(
int Index,
WORD Value
);
|
RtecatWriteAxisTouchProbeControl RTECAT_ERROR RtecatWriteAxisTouchProbeControl( RTECAT_HANDLE Axis, WORD Value );
|
Command APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
AbortCommand KsCommandStatus AbortCommand(
KsCommandStatus Status
);
|
RtecatAbortCommand RTECAT_COMMAND_STATUS RtecatAbortCommand( RTECAT_COMMAND_STATUS Status );
|
|
GetCommandsStatus KsError GetCommandsStatus(
int Length,
KsCommandStatus* Statuses
);
|
RtecatGetCommandsStatus RTECAT_ERROR RtecatGetCommandsStatus( ULONG Length, RTECAT_COMMAND_STATUS* pStatuses );
|
|
GetCommandStatus KsCommandStatus GetCommandStatus(
KsCommandStatus Status
);
|
RtecatGetCommandStatus RTECAT_COMMAND_STATUS RtecatGetCommandStatus( RTECAT_COMMAND_STATUS Status );
|
|
WaitForCommand KsCommandStatus WaitForCommand(
double Timeout,
BOOL AbortOnTimeout,
KsCommandStatus Status
);
|
RtecatWaitForCommand RTECAT_COMMAND_STATUS RtecatWaitForCommand( double Timeout, BOOL AbortOnTimeout, RTECAT_COMMAND_STATUS Status );
|
|
|
|
Mailbox APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
AoeReadCommand KsCommandStatus AoeReadCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
BYTE* Value,
int Length
);
|
RtecatAoeReadCommand RTECAT_COMMAND_STATUS RtecatAoeReadCommand( RTECAT_HANDLE SubDevice, WORD Port, ULONG IndexGroup, ULONG IndexOffset, BYTE* pValue, ULONG Length );
|
|
AoeReadSdoObject KsCommandStatus AoeReadSdoObject(
int SlaveId,
int Port,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatAoeReadSdoObject RTECAT_COMMAND_STATUS RtecatAoeReadSdoObject( RTECAT_HANDLE SubDevice, WORD Port, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, BYTE* pValue, ULONG Length );
|
|
AoeReadWriteCommand KsCommandStatus AoeReadWriteCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
BYTE* ReadValue,
int ReadLength,
BYTE* WriteValue,
int WriteLength
);
|
RtecatAoeReadWriteCommand RTECAT_COMMAND_STATUS RtecatAoeReadWriteCommand( RTECAT_HANDLE SubDevice, WORD Port, ULONG IndexGroup, ULONG IndexOffset, BYTE* pReadValue, ULONG ReadLength, const BYTE* pWriteValue, ULONG WriteLength );
|
|
AoeWriteCommand KsCommandStatus AoeWriteCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
BYTE* Value,
int Length
);
|
RtecatAoeWriteCommand RTECAT_COMMAND_STATUS RtecatAoeWriteCommand( RTECAT_HANDLE SubDevice, WORD Port, ULONG IndexGroup, ULONG IndexOffset, const BYTE* pValue, ULONG Length );
|
|
AoeWriteControlCommand KsCommandStatus AoeWriteControlCommand(
int SlaveId,
int Port,
WORD AoeState,
WORD DeviceState,
BYTE* Value,
int Length
);
|
RtecatAoeWriteControlCommand RTECAT_COMMAND_STATUS RtecatAoeWriteControlCommand( RTECAT_HANDLE SubDevice, WORD Port, WORD AoeState, WORD DeviceState, const BYTE* pValue, ULONG Length );
|
|
AoeWriteSdoObject KsCommandStatus AoeWriteSdoObject(
int SlaveId,
int Port,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatAoeWriteSdoObject RTECAT_COMMAND_STATUS RtecatAoeWriteSdoObject( RTECAT_HANDLE SubDevice, WORD Port, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, const BYTE* pValue, ULONG Length );
|
|
CoeReadSdoEntryDescription KsCommandStatus CoeReadSdoEntryDescription(
int SlaveId,
SdoEntryDescription* Data
);
|
RtecatCoeReadSdoEntryDescription RTECAT_COMMAND_STATUS RtecatCoeReadSdoEntryDescription( RTECAT_HANDLE SubDevice, RTECAT_SDO_ENTRY_DESCRIPTION* pData );
|
|
CoeReadSdoObject KsCommandStatus CoeReadSdoObject(
int SlaveId,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatCoeReadSdoObject RTECAT_COMMAND_STATUS RtecatCoeReadSdoObject( RTECAT_HANDLE SubDevice, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, BYTE* pValue, ULONG Length );
|
|
CoeReadSdoObjectDescription KsCommandStatus CoeReadSdoObjectDescription(
int SlaveId,
SdoObjectDescription* Data
);
|
RtecatCoeReadSdoObjectDescription RTECAT_COMMAND_STATUS RtecatCoeReadSdoObjectDescription( RTECAT_HANDLE SubDevice, RTECAT_SDO_OBJECT_DESCRIPTION* pData );
|
|
CoeReadSdoODList KsCommandStatus CoeReadSdoODList(
int SlaveId,
int ListType,
BYTE* Data,
int Length,
int* LengthRead
);
|
RtecatCoeReadSdoODList RTECAT_COMMAND_STATUS RtecatCoeReadSdoODList( RTECAT_HANDLE SubDevice, WORD ListType, WORD* pData, ULONG Length );
|
|
CoeWriteSdoObject KsCommandStatus CoeWriteSdoObject(
int SlaveId,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatCoeWriteSdoObject RTECAT_COMMAND_STATUS RtecatCoeWriteSdoObject( RTECAT_HANDLE SubDevice, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, const BYTE* pValue, ULONG Length );
|
|
FoeReadFileToBuffer KsCommandStatus FoeReadFileToBuffer(
int SlaveId,
BOOL BootState,
int NameLength,
char* Name,
DWORD Password,
int BufferLength,
BYTE* Buffer,
int* ReadLength
);
|
RtecatFoeReadFileToBuffer RTECAT_COMMAND_STATUS RtecatFoeReadFileToBuffer( RTECAT_HANDLE SubDevice, BOOL BootState, const char* pName, DWORD Password, ULONG BufferLength, BYTE* pBuffer );
|
|
FoeReadFileToFile KsCommandStatus FoeReadFileToFile(
int SlaveId,
BOOL BootState,
int NameLength,
char* Name,
DWORD Password,
char* File
);
|
RtecatFoeReadFileToFile RTECAT_COMMAND_STATUS RtecatFoeReadFileToFile( RTECAT_HANDLE SubDevice, BOOL BootState, const char* pName, DWORD Password, const wchar_t* pFile );
|
|
FoeWriteFileFromBuffer KsCommandStatus FoeWriteFileFromBuffer(
int SlaveId,
BOOL BootState,
int NameLength,
char* Name,
DWORD Password,
int BufferLength,
BYTE* Buffer
);
|
RtecatFoeWriteFileFromBuffer RTECAT_COMMAND_STATUS RtecatFoeWriteFileFromBuffer( RTECAT_HANDLE SubDevice, BOOL BootState, const char* pName, DWORD Password, ULONG BufferLength, const BYTE* pBuffer );
|
|
FoeWriteFileFromFile KsCommandStatus FoeWriteFileFromFile(
int SlaveId,
BOOL BootState,
int NameLength,
char* Name,
DWORD Password,
char* Filer
);
|
RtecatFoeWriteFileFromFile RTECAT_COMMAND_STATUS RtecatFoeWriteFileFromFile( RTECAT_HANDLE SubDevice, BOOL BootState, const char* pName, DWORD Password, const wchar_t* pFile );
|
|
ReadAxisSdoObject KsCommandStatus ReadAxisSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatReadAxisSdoObject RTECAT_COMMAND_STATUS RtecatReadAxisSdoObject( RTECAT_HANDLE Axis, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, BYTE* pValue, ULONG Length, BOOL Priority );
|
|
ReadIOSdoObject KsCommandStatus ReadIOSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatReadModuleSdoObject RTECAT_COMMAND_STATUS RtecatReadModuleSdoObject( RTECAT_HANDLE Module, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, BYTE* pValue, ULONG Length, BOOL Priority );
|
|
RegisterMailboxCallback KsError RegisterMailboxCallback(
MailboxCallback callback,
PVOID context
);
|
RtecatRegisterMailboxCallback RTECAT_ERROR RtecatRegisterMailboxCallback( RTECAT_HANDLE MainDevice, MAILBOX_CALLBACK UserCallback, VOID* pContext );
|
|
SoeReadSsc KsCommandStatus SoeReadSsc(
int SlaveId,
BYTE DriveNo,
BYTE ElementFlags,
USHORT Idn,
UCHAR* Value,
ULONG Length
);
|
RtecatSoeReadSsc RTECAT_COMMAND_STATUS RtecatSoeReadSsc( RTECAT_HANDLE SubDevice, BYTE DriveNo, BYTE ElementFlags, USHORT Idn, UCHAR* pValue, ULONG Length );
|
|
SoeWriteSsc KsCommandStatus SoeWriteSsc(
int SlaveId,
BYTE DriveNo,
BYTE ElementFlags,
USHORT Idn,
UCHAR* Value,
ULONG Length
);
|
RtecatSoeWriteSsc RTECAT_COMMAND_STATUS RtecatSoeWriteSsc( RTECAT_HANDLE SubDevice, BYTE DriveNo, BYTE ElementFlags, USHORT Idn, const UCHAR* pValue, ULONG Length );
|
|
VoeWrite KsCommandStatus VoeWrite(
int SlaveId,
ULONG VendorId,
USHORT VendorType,
UCHAR* Data,
ULONG Length
);
|
RtecatVoeWrite RTECAT_COMMAND_STATUS RtecatVoeWrite( RTECAT_HANDLE SubDevice, DWORD VendorId, USHORT VendorType, const UCHAR* pData, ULONG Length );
|
|
WriteAxisSdoObject KsCommandStatus WriteAxisSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatWriteAxisSdoObject RTECAT_COMMAND_STATUS RtecatWriteAxisSdoObject( RTECAT_HANDLE Axis, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, const BYTE* pValue, ULONG Length, BOOL Priority );
|
|
WriteIOSdoObject KsCommandStatus WriteIOSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
BOOL CompleteAccess,
BYTE* Value,
int Length
);
|
RtecatWriteModuleSdoObject RTECAT_COMMAND_STATUS RtecatWriteModuleSdoObject( RTECAT_HANDLE Module, WORD ObIndex, BYTE ObSubIndex, BOOL CompleteAccess, const BYTE* pValue, ULONG Length, BOOL Priority );
|
|
|
|
MainDevice APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
Create KsError Create(
int Instance,
int IdealProcessor
);
|
RtecatCreateMainDevice RTECAT_ERROR RtecatCreateMainDevice( RTECAT_HANDLE* pMainDevice, ULONG Instance );
|
|
Destroy KsError Destroy( ); |
RtecatDestroyMainDevice RTECAT_ERROR RtecatDestroyMainDevice( RTECAT_HANDLE MainDevice );
|
|
GetDCSystemTime KsError GetDCSystemTime(
DcCycle Cycle,
DWORD64* Time
);
|
RtecatGetDCSystemTime RTECAT_ERROR RtecatGetDCSystemTime( RTECAT_HANDLE MainDevice, RTECAT_DC_CYCLE Cycle, DWORD64* pTime );
|
|
GetFeatureStatus KsError GetFeatureStatus(
KsFeature Feature,
double* Status
);
|
RtecatGetFeatureStatus RTECAT_ERROR RtecatGetFeatureStatus( RTECAT_HANDLE MainDevice, RTECAT_FEATURE Feature, double* pStatus );
|
|
GetStatus KsError GetStatus(
SubsystemStatus* Status,
SubsystemDiagnostics* Diagnostics
);
|
RtecatGetStatus RTECAT_ERROR RtecatGetStatus( RTECAT_HANDLE MainDevice, RTECAT_MAINDEVICE_STATUS* pStatus, RTECAT_MAINDEVICE_DIAGNOSTICS* pDiagnostics );
|
|
PulseHeartbeat KsError PulseHeartbeat( ); |
RtecatPulseHeartbeat RTECAT_ERROR RtecatPulseHeartbeat( RTECAT_HANDLE MainDevice );
|
|
RegisterCallback KsError RegisterCallback(
AppCallback callback,
PVOID context
);
|
RtecatRegisterCallbackOnReceive RTECAT_ERROR RtecatRegisterCallbackOnReceive( RTECAT_HANDLE MainDevice, APP_CALLBACK UserCallback, VOID* pContext, ULONG IdealProcessor, ULONG Priority );
|
|
RegisterCallbackOnTransmit KsError RegisterCallbackOnTransmit(
AppCallback callback,
PVOID context,
int IdealProcessor,
int Priority
);
|
RtecatRegisterCallbackOnTransmit RTECAT_ERROR RtecatRegisterCallbackOnTransmit( RTECAT_HANDLE MainDevice, APP_CALLBACK UserCallback, VOID* pContext, ULONG IdealProcessor, ULONG Priority );
|
|
RequestState KsCommandStatus RequestState(
EthercatState State
);
|
RtecatRequestState RTECAT_COMMAND_STATUS RtecatRequestState( RTECAT_HANDLE MainDevice, RTECAT_ETHERCAT_STATE State );
|
|
Restart KsCommandStatus Restart( ); |
RtecatRestart RTECAT_COMMAND_STATUS RtecatRestart( RTECAT_HANDLE MainDevice );
|
|
SetFeatureStatus KsError SetFeatureStatus(
KsFeature Feature,
double Status
);
|
RtecatSetFeatureStatus RTECAT_ERROR RtecatSetFeatureStatus( RTECAT_HANDLE MainDevice, RTECAT_FEATURE Feature, double Status );
|
|
SetHeartbeat KsError SetHeartbeat(
BOOL Enable,
double Timeout
);
|
RtecatSetHeartbeat RTECAT_ERROR RtecatSetHeartbeat( RTECAT_HANDLE MainDevice, BOOL Enable, double Timeout );
|
|
Start KsCommandStatus Start( ); |
RtecatStart RTECAT_COMMAND_STATUS RtecatStart( RTECAT_HANDLE MainDevice );
|
|
StartFromConfiguration KsCommandStatus StartFromConfiguration(
char* Configuration
);
|
RtecatStartFromConfiguration RTECAT_COMMAND_STATUS RtecatStartFromConfiguration( RTECAT_HANDLE MainDevice, const wchar_t* pConfiguration );
|
|
Stop KsCommandStatus Stop( ); |
RtecatStop RTECAT_COMMAND_STATUS RtecatStop( RTECAT_HANDLE MainDevice );
|
|
|
|
Module Control APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ForceInputBit KsError ForceInputBit(
int Index,
int BitOffset,
BOOL Value
);
|
RtecatForceModuleInputBit RTECAT_ERROR RtecatForceModuleInputBit( RTECAT_HANDLE Module, ULONG BitOffset, BOOL Value );
|
|
ForceInputByte KsError ForceInputByte(
int Index,
int ByteOffset,
BYTE Value
);
|
RtecatForceModuleInputByte RTECAT_ERROR RtecatForceModuleInputByte( RTECAT_HANDLE Module, ULONG ByteOffset, BYTE Value );
|
|
ForceInputDWord KsError ForceInputDWord(
int Index,
int ByteOffset,
DWORD Value
);
|
RtecatForceModuleInputDWord RTECAT_ERROR RtecatForceModuleInputDWord( RTECAT_HANDLE Module, ULONG ByteOffset, DWORD Value );
|
|
ForceInputWord KsError ForceInputWord(
int Index,
int ByteOffset,
WORD Value
);
|
RtecatForceModuleInputWord RTECAT_ERROR RtecatForceModuleInputWord( RTECAT_HANDLE Module, ULONG ByteOffset, WORD Value );
|
|
GetIOBuffers KsError GetIOBuffers(
int Index,
void** InputBuffer,
void** OutputBuffer
);
|
RtecatGetModuleBuffers RTECAT_ERROR RtecatGetModuleBuffers( RTECAT_HANDLE Module, void** pInputBuffer, void** pOutputBuffer );
|
|
ReadInputBit KsError ReadInputBit(
int Index,
int BitOffset,
BOOL* Value
);
|
RtecatReadModuleInputBit RTECAT_ERROR RtecatReadModuleInputBit( RTECAT_HANDLE Module, ULONG BitOffset, BOOL* pValue );
|
|
ReadInputByte KsError ReadInputByte(
int Index,
int ByteOffset,
BYTE* Value
);
|
RtecatReadModuleInputByte RTECAT_ERROR RtecatReadModuleInputByte( RTECAT_HANDLE Module, ULONG ByteOffset, BYTE* pValue );
|
|
ReadInputDWord KsError ReadInputDWord(
int Index,
int ByteOffset,
DWORD* Value
);
|
RtecatReadModuleInputDWord RTECAT_ERROR RtecatReadModuleInputDWord( RTECAT_HANDLE Module, ULONG ByteOffset, DWORD* pValue );
|
|
ReadInputWord KsError ReadInputWord(
int Index,
int ByteOffset,
WORD* Value
);
|
RtecatReadModuleInputWord RTECAT_ERROR RtecatReadModuleInputWord( RTECAT_HANDLE Module, ULONG ByteOffset, WORD* pValue );
|
|
ReadOutputBit KsError ReadOutputBit(
int Index,
int BitOffset,
BOOL* Value
);
|
RtecatReadModuleOutputBit RTECAT_ERROR RtecatReadModuleOutputBit( RTECAT_HANDLE Module, ULONG BitOffset, BOOL* pValue );
|
|
ReadOutputByte KsError ReadOutputByte(
int Index,
int ByteOffset,
BYTE* Value
);
|
RtecatReadModuleOutputByte RTECAT_ERROR RtecatReadModuleOutputByte( RTECAT_HANDLE Module, ULONG ByteOffset, BYTE* pValue );
|
|
ReadOutputDWord KsError ReadOutputDWord(
int Index,
int ByteOffset,
DWORD* Value
);
|
RtecatReadModuleOutputDWord RTECAT_ERROR RtecatReadModuleOutputDWord( RTECAT_HANDLE Module, ULONG ByteOffset, DWORD* pValue );
|
|
ReadOutputWord KsError ReadOutputWord(
int Index,
int ByteOffset,
WORD* Value
);
|
RtecatReadModuleOutputWord RTECAT_ERROR RtecatReadModuleOutputWord( RTECAT_HANDLE Module, ULONG ByteOffset, WORD* pValue );
|
|
WriteOutputBit KsError WriteOutputBit(
int Index,
int BitOffset,
BOOL Value
);
|
RtecatWriteModuleOutputBit RTECAT_ERROR RtecatWriteModuleOutputBit( RTECAT_HANDLE Module, ULONG BitOffset, BOOL Value );
|
|
WriteOutputByte KsError WriteOutputByte(
int Index,
int ByteOffset,
BYTE Value
);
|
RtecatWriteModuleOutputByte RTECAT_ERROR RtecatWriteModuleOutputByte( RTECAT_HANDLE Module, ULONG ByteOffset, BYTE Value );
|
|
WriteOutputDWord KsError WriteOutputDWord(
int Index,
int ByteOffset,
DWORD Value
);
|
RtecatWriteModuleOutputDWord RTECAT_ERROR RtecatWriteModuleOutputDWord( RTECAT_HANDLE Module, ULONG ByteOffset, DWORD Value );
|
|
WriteOutputWord KsError WriteOutputWord(
int Index,
int ByteOffset,
WORD Value
);
|
RtecatWriteModuleOutputWord RTECAT_ERROR RtecatWriteModuleOutputWord( RTECAT_HANDLE Module, ULONG ByteOffset, WORD Value );
|
|
|
|
Shared Memory APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
GetMemoryPointer KsError GetMemoryPointer(
void** ppMemory
);
|
RtecatGetMemoryPointer RTECAT_ERROR RtecatGetMemoryPointer( void** pMemory );
|
|
ReadMemoryBit KsError ReadMemoryBit(
int Offset,
int BitOffset,
BOOL* Value
);
|
RtecatReadMemoryBit RTECAT_ERROR RtecatReadMemoryBit( ULONG Offset, ULONG BitOffset, BOOL* pValue );
|
|
ReadMemoryByte KsError ReadMemoryByte(
int Offset,
BYTE* Value
);
|
RtecatReadMemoryByte RTECAT_ERROR RtecatReadMemoryByte( ULONG Offset, BYTE* pValue );
|
|
ReadMemoryDWord KsError ReadMemoryDWord(
int Offset,
DWORD* Value
);
|
RtecatReadMemoryDWord RTECAT_ERROR RtecatReadMemoryDWord( ULONG Offset, DWORD* pValue );
|
|
ReadMemoryLWord KsError ReadMemoryLWord(
int Offset,
nsigned long long* Value
);
|
RtecatReadMemoryLWord RTECAT_ERROR RtecatReadMemoryLWord( ULONG Offset, unsigned long long* pValue );
|
|
ReadMemoryWord KsError ReadMemoryWord(
int Offset,
WORD* Value
);
|
RtecatReadMemoryWord RTECAT_ERROR RtecatReadMemoryWord( ULONG Offset, WORD* pValue );
|
|
WriteMemoryBit KsError WriteMemoryBit(
int Offset,
int BitOffset,
BOOL Value
);
|
RtecatWriteMemoryBit RTECAT_ERROR RtecatWriteMemoryBit( ULONG Offset, ULONG BitOffset, BOOL Value );
|
|
WriteMemoryByte KsError WriteMemoryByte(
int Offset,
BYTE Value
);
|
RtecatWriteMemoryByte RTECAT_ERROR RtecatWriteMemoryByte( ULONG Offset, BYTE Value );
|
|
WriteMemoryDWord KsError WriteMemoryDWord(
int Offset,
DWORD Value
);
|
RtecatWriteMemoryDWord RTECAT_ERROR RtecatWriteMemoryDWord( ULONG Offset, DWORD Value );
|
|
WriteMemoryLWord KsError WriteMemoryLWord(
int Offset,
unsigned long long Value
);
|
RtecatWriteMemoryLWord RTECAT_ERROR RtecatWriteMemoryLWord( ULONG Offset, unsigned long long Value );
|
|
WriteMemoryWord KsError WriteMemoryWord(
int Offset,
WORD Value
);
|
RtecatWriteMemoryWord RTECAT_ERROR RtecatWriteMemoryWord( ULONG Offset, WORD Value );
|
|
|
|
Simulated Hardware APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ConfigureAxis KsError ConfigureAxis(
int Index,
SlaveStatus Details,
int Resolution
);
|
RtecatConfigureAxis RTECAT_ERROR RtecatConfigureAxis( RTECAT_HANDLE MainDevice, ULONG Index, RTECAT_SUBDEVICE_STATUS Details, ULONG Resolution );
|
|
ConfigureIo KsError ConfigureIo(
int Index,
SlaveStatus Details
);
|
RtecatConfigureIo RTECAT_ERROR RtecatConfigureIo( RTECAT_HANDLE MainDevice, ULONG Index, RTECAT_SUBDEVICE_STATUS Details );
|
|
GetConfiguredAxesCount KsError GetConfiguredAxesCount(
int* Count
);
|
RtecatGetConfiguredAxisCount RTECAT_ERROR RtecatGetConfiguredAxisCount( RTECAT_HANDLE MainDevice, ULONG* pCount );
|
|
GetConfiguredIoCount KsError GetConfiguredIoCount(
int* Count
);
|
RtecatGetConfiguredIoCount RTECAT_ERROR RtecatGetConfiguredIoCount( RTECAT_HANDLE MainDevice, ULONG* pCount );
|
|
SetConfiguredAxesCount KsError SetConfiguredAxesCount(
int Count
);
|
RtecatSetConfiguredAxisCount RTECAT_ERROR RtecatSetConfiguredAxisCount( RTECAT_HANDLE MainDevice, ULONG Count );
|
|
SetConfiguredIoCount KsError SetConfiguredIoCount(
int Count
);
|
RtecatSetConfiguredIoCount RTECAT_ERROR RtecatSetConfiguredIoCount( RTECAT_HANDLE MainDevice, ULONG Count );
|
|
|
|
SubDevice APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
OverrideSlavePdoConfiguration KsError OverrideSlavePdoConfiguration(
int SlaveId,
int InputLength,
int OutputLength
);
|
RtecatOverrideSubDevicePdoConfiguration RTECAT_ERROR RtecatOverrideSubDevicePdoConfiguration( RTECAT_HANDLE SubDevice, ULONG InputLength, ULONG OutputLength );
|
|
ReadAllSlaveEEprom KsCommandStatus ReadAllSlaveEEprom(
int SlaveId,
char* File
);
|
RtecatReadAllSubDeviceEEprom RTECAT_COMMAND_STATUS RtecatReadAllSubDeviceEEprom( RTECAT_HANDLE SubDevice, const wchar_t* pFile );
|
|
ReadSlaveAlias KsCommandStatus ReadSlaveAlias(
int SlaveId,
WORD* Alias
);
|
RtecatReadSubDeviceAlias RTECAT_COMMAND_STATUS RtecatReadSubDeviceAlias( RTECAT_HANDLE SubDevice, WORD* pAlias );
|
|
ReadSlaveEEprom KsCommandStatus ReadSlaveEEprom(
int SlaveId,
int Offset,
DWORD* Data
);
|
RtecatReadSubDeviceEEprom RTECAT_COMMAND_STATUS RtecatReadSubDeviceEEprom( RTECAT_HANDLE SubDevice, ULONG Offset, DWORD* pData );
|
|
ReadSlaveRegister KsCommandStatus ReadSlaveRegister(
int SlaveId,
int Offset,
int Length,
BYTE* Data
);
|
RtecatReadSubDeviceRegister RTECAT_COMMAND_STATUS RtecatReadSubDeviceRegister( RTECAT_HANDLE SubDevice, USHORT Offset, USHORT Length, BYTE* pData );
|
|
ReloadSlaveEEprom KsCommandStatus ReloadSlaveEEprom(
int SlaveId
);
|
RtecatReloadSubDeviceEEprom RTECAT_COMMAND_STATUS RtecatReloadSubDeviceEEprom( RTECAT_HANDLE SubDevice );
|
|
RequestSlaveState KsCommandStatus RequestSlaveState(
int SlaveId,
EthercatState State
);
|
RtecatRequestSubDeviceState RTECAT_COMMAND_STATUS RtecatRequestSubDeviceState( RTECAT_HANDLE SubDevice, RTECAT_ETHERCAT_STATE State );
|
|
ResetSlaveEsc KsCommandStatus ResetSlaveEsc(
int SlaveId
);
|
RtecatResetSubDeviceEsc RTECAT_COMMAND_STATUS RtecatResetSubDeviceEsc( RTECAT_HANDLE SubDevice );
|
|
RestartSlave KsCommandStatus RestartSlave(
int SlaveId
);
|
RtecatRestartSubDevice RTECAT_COMMAND_STATUS RtecatRestartSubDevice( RTECAT_HANDLE SubDevice );
|
|
WriteAllSlaveEEprom KsCommandStatus WriteAllSlaveEEprom(
int SlaveId,
char* File
);
|
RtecatWriteAllSubDeviceEEprom RTECAT_COMMAND_STATUS RtecatWriteAllSubDeviceEEprom( RTECAT_HANDLE SubDevice, const wchar_t* pFile );
|
|
WriteSlaveAlias KsCommandStatus WriteSlaveAlias(
int SlaveId,
WORD Alias
);
|
RtecatWriteSubDeviceAlias RTECAT_COMMAND_STATUS RtecatWriteSubDeviceAlias( RTECAT_HANDLE SubDevice, WORD Alias );
|
|
WriteSlaveEEprom KsCommandStatus WriteSlaveEEprom(
int SlaveId,
int Offset,
DWORD Data
);
|
RtecatWriteSubDeviceEEprom RTECAT_COMMAND_STATUS RtecatWriteSubDeviceEEprom( RTECAT_HANDLE SubDevice, ULONG Offset, DWORD Data );
|
|
WriteSlaveRegister KsCommandStatus WriteSlaveRegister(
int SlaveId,
int Offset,
int Length,
BYTE* Data
);
|
RtecatWriteSubDeviceRegister RTECAT_COMMAND_STATUS RtecatWriteSubDeviceRegister( RTECAT_HANDLE SubDevice, USHORT Offset, USHORT Length, const BYTE* pData );
|
|
|
|
E-CAT Data Types
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
CanOpenSetting typedef struct _CanOpenSetting(
INT RxPdoCount;
CanPdo RxPdos[4];
INT TxPdoCount;
CanPdo TxPdos[4];
INT SdoCommandCount;
SdoCommand SdoCommands[16];
) CanOpenSetting;
|
RTECAT_CAN_SETTING typedef struct _RTECAT_CAN_SETTING( ULONG RxPdoCount; RTECAT_CAN_PDO RxPdos[4]; ULONG TxPdoCount; RTECAT_CAN_PDO TxPdos[4]; ULONG SdoCommandCount; RTECAT_SDO_COMMAND SdoCommands[16]; ) RTECAT_CAN_SETTING;
|
|
CanPdo typedef struct _CanPdo(
BOOL Enable;
INT Length;
USHORT Index;
BYTE Trigger;
) CanPdo;
|
RTECAT_CAN_PDO typedef struct _RTECAT_CAN_PDO( BOOL Enable; ULONG Length; USHORT Index; BYTE Trigger; ) RTECAT_CAN_PDO;
|
|
EcatMdpSetting typedef struct _EcatMdpSetting(
INT InputLength;
INT OutputLength;
INT SdoCommandCount;
SdoCommand SdoCommands[16];
) EcatMdpSetting;
|
RTECAT_ECATMDP_SETTING typedef struct _RTECAT_ECATMDP_SETTING( ULONG InputLength; ULONG OutputLength; ULONG SdoCommandCount; RTECAT_SDO_COMMAND SdoCommands[16]; ) RTECAT_ECATMDP_SETTING;
|
|
KsCommandStatus typedef struct _KsCommandStatus(
HANDLE Handle;
PVOID Value;
INT ValueLength;
BOOL Done;
BOOL InSync;
BOOL InVelocity;
BOOL Busy;
BOOL Active;
BOOL CommandAborted;
BOOL Error;
KsError ErrorId;
) KsCommandStatus;
|
RTECAT_COMMAND_STATUS typedef struct _RTECAT_COMMAND_STATUS( RTECAT_HANDLE Handle; PVOID Buffer; ULONG BufferType; ULONG BufferLength; ULONG DataLength; RTECAT_COMMAND_STATE State; RTECAT_ERROR ErrorId; ULONG ReturnCode; ) RTECAT_COMMAND_STATUS;
|
|
MailboxCoeEmergency typedef struct _MailboxCoeEmergency(
USHORT ErrorCode;
BYTE ErrorRegister;
BYTE Data[5];
) MailboxCoeEmergency;
|
RTECAT_MAILBOX_COE_EMERGENCY typedef struct _RTECAT_MAILBOX_COE_EMERGENCY(
USHORT ErrorCode;
BYTE ErrorRegister;
BYTE Data[5];
) RTECAT_MAILBOX_COE_EMERGENCY;
|
|
MailboxData typedef struct _MailboxData(
MailboxCoeEmergency CoeEmergency;
MailboxSoeNotification SoeNotification;
MailboxSoeSlaveInfo SoeSlaveInfo;
MailboxVoe Voe;
) MailboxData;
|
RTECAT_MAILBOX_DATA typedef struct _RTECAT_MAILBOX_DATA( RTECAT_MAILBOX_COE_EMERGENCY CoeEmergency; RTECAT_MAILBOX_SOE_NOTIFICATION SoeNotification; RTECAT_MAILBOX_SOE_SUBDEVICEINFO SoeSubDeviceInfo; RTECAT_MAILBOX_VOE Voe; ) RTECAT_MAILBOX_DATA;
|
|
MailboxSoeNotification typedef struct _MailboxSoeNotification(
BYTE DriveNo;
USHORT Idn;
USHORT DataStatus;
) MailboxSoeNotification;
|
RTECAT_MAILBOX_SOE_NOTIFICATION typedef struct _RTECAT_MAILBOX_SOE_NOTIFICATION(
BYTE DriveNo;
USHORT Idn;
USHORT DataStatus;
) RTECAT_MAILBOX_SOE_NOTIFICATION;
|
|
MailboxSoeSlaveInfo typedef struct _MailboxSoeSlaveInfo(
BYTE DriveNo;
BYTE ElementFlags;
USHORT Idn;
INT DataLength;
UCHAR Data[2048];
) MailboxSoeSlaveInfo;
|
RTECAT_MAILBOX_SOE_SUBDEVICESINFO typedef struct _RTECAT_MAILBOX_SOE_SUBDEVICESINFO( BYTE DriveNo; BYTE ElementFlags; USHORT Idn; ULONG DataLength; UCHAR Data[2048]; ) RTECAT_MAILBOX_SOE_SUBDEVICESINFO;
|
|
MailboxVoe typedef struct _MailboxVoe(
UINT VendorId;
USHORT VendorType;
INT DataLength;
UCHAR Data[2048];
) MailboxVoe;
|
RTECAT_MAILBOX_VOE typedef struct _RTECAT_MAILBOX_VOE( DWORD VendorId; USHORT VendorType; ULONG DataLength; UCHAR Data[2048]; ) RTECAT_MAILBOX_VOE;
|
|
SdoCommand typedef struct _SdoCommand(
USHORT Index;
BYTE SubIndex;
INT Length;
BYTE Data[8];
) SdoCommand;
|
RTECAT_SDO_COMMAND typedef struct _RTECAT_SDO_COMMAND( WORD Index; BYTE SubIndex; ULONG Length; BYTE Data[8]; ) RTECAT_SDO_COMMAND;
|
|
SdoEntryDescription typedef struct _SdoEntryDescription(
WORD Index;
BYTE SubIndex;
BYTE ValueInfo;
WORD DataType;
WORD BitLength;
WORD ObjectAccess;
BYTE Data[64];
) SdoEntryDescription;
|
RTECAT_SDO_ENTRY_DESCRIPTION typedef struct _RTECAT_SDO_ENTRY_DESCRIPTION(
WORD Index;
BYTE SubIndex;
BYTE ValueInfo;
WORD DataType;
WORD BitLength;
WORD ObjectAccess;
BYTE Data[64];
) RTECAT_SDO_ENTRY_DESCRIPTION;
|
|
SdoObjectDescription typedef struct _SdoObjectDescription(
WORD Index;
WORD DataType;
BYTE MaxSubIndex;
BYTE ObjectCode;
CHAR Name[64];
) SdoObjectDescription;
|
RTECAT_SDO_OBJECT_DESCRIPTION typedef struct _RTECAT_SDO_OBJECT_DESCRIPTION(
WORD Index;
WORD DataType;
BYTE MaxSubIndex;
BYTE ObjectCode;
CHAR Name[64];
) RTECAT_SDO_OBJECT_DESCRIPTION;
|
|
SubsystemDiagnostics typedef struct _SubsystemDiagnostics(
UINT VendorId;
UINT ProductCode;
UINT RevisionNo;
UINT SerialNo;
UINT CyclicPacketLost;
UINT AcyclicPacketLost;
int SlaveCount;
SlaveDiagnostics Slaves[256];
) SubsystemDiagnostics;
|
RTECAT_MAINDEVICE_DIAGNOSTICS typedef struct _RTECAT_MAINDEVICE_DIAGNOSTICS( DWORD VendorId; DWORD ProductCode; DWORD RevisionNo; DWORD SerialNo; ULONG CyclicPacketLost; ULONG AcyclicPacketLost; ULONG SubDeviceCount; RTECAT_SUBDEVICE_DIAGNOSTICS SubDevices[256]; ) RTECAT_MAINDEVICE_DIAGNOSTICS;
|
|
SubsystemStatus typedef struct _SubsystemStatus(
EthercatState State;
EthercatState RequestedState;
int SlaveCount;
int IOCount;
int AxesCount;
EthercatState SlaveStates[256];
EthercatState IOStates[256];
AxisState AxesStates[256];
) SubsystemStatus;
|
RTECAT_MAINDEVICE_STATUS typedef struct _RTECAT_MAINDEVICE_STATUS( RTECAT_ETHERCAT_STATE State; RTECAT_ETHERCAT_STATE RequestedState; ULONG SubDeviceCount; ULONG ModuleCount; ULONG AxisCount; LONGLONG MainDeviceConfigurationStamp; RTECAT_ETHERCAT_STATE SubDeviceStates[256]; RTECAT_ETHERCAT_STATE ModuleStates[256]; RTECAT_ETHERCAT_STATE AxisStates[256]; LONGLONG SubDeviceConfigurationStamps[256]; LONGLONG ModuleConfigurationStamps[256]; LONGLONG AxisConfigurationStamps[256]; ) RTECAT_MAINDEVICE_STATUS;
|
|
SlaveDiagnostics typedef struct _SlaveDiagnostics{
USHORT FixedAddress;
CHAR Type[64];
CHAR Name[64];
UINT DeviceType;
UINT VendorId;
UINT ProductCode;
UINT RevisionNo;
UINT SerialNo;
USHORT MailboxIn;
USHORT MailboxOut;
BYTE LinkStatus;
BYTE LinkPreset;
BYTE Flags;
USHORT StationAddress;
USHORT DlStatus;
USHORT AlStatus;
USHORT AlControl;
USHORT AlStatusCode;
BYTE LinkConnStatus;
BYTE LinkConnControl;
USHORT PortAddress[4];
BYTE FrameCrc[4];
BYTE PhyCrc[4];
BYTE LostLink[4];
UINT CyclicWc;
UINT NotPresent;
UINT AbnormalState;
} SlaveDiagnostics;
|
RTECAT_SUBDEVICE_DIAGNOSTICS typedef struct _RTECAT_SUBDEVICE_DIAGNOSTICS{ USHORT FixedAddress; CHAR Type[64]; CHAR Name[64]; ULONG DeviceType; DWORD VendorId; DWORD ProductCode; DWORD RevisionNo; DWORD SerialNo; USHORT MailboxIn; USHORT MailboxOut; BYTE LinkStatus; BYTE LinkPreset; BYTE Flags; USHORT StationAddress; USHORT DlStatus; USHORT AlStatus; USHORT AlControl; USHORT AlStatusCode; BYTE LinkConnStatus; BYTE LinkConnControl; USHORT PortAddress[4]; BYTE FrameCrc[4]; BYTE PhyCrc[4]; BYTE LostLink[4]; ULONG CyclicWc; ULONG NotPresent; ULONG AbnormalState; } RTECAT_SUBDEVICE_DIAGNOSTICS;
|
|
SlaveStatus typedef struct _SlaveStatus{
CHAR Name[64];
DWORD VendorId;
DWORD ProductCode;
DWORD RevisionNumber;
DWORD SerialNumber;
int SlaveId;
int SlotId;
USHORT PhysAddress;
USHORT AliasAddress;
USHORT ExplicitId;
EthercatState State;
EthercatState RequestedState;
int InputLength;
int OutputLength;
int CycleTime;
WORD VariableIndexOffset;
} SlaveStatus;
|
RTECAT_SUBDEVICE_STATUS typedef struct _RTECAT_SUBDEVICE_STATUS{ CHAR Name[64]; DWORD VendorId; DWORD ProductCode; DWORD RevisionNumber; DWORD SerialNumber; ULONG Index; ULONG PositionId; USHORT PhysAddress; USHORT AliasAddress; USHORT ExplicitId; RTECAT_ETHERCAT_STATE State; RTECAT_ETHERCAT_STATE RequestedState; ULONG InputLength; ULONG OutputLength; ULONG CycleTime; } RTECAT_SUBDEVICE_STATUS;
|
|
AoeError typedef enum _AoeError{
errAoeNoError = 0,
errAoeInternalError = 1,
errAoeNoRTime = 2,
errAoeLockedMemoryError = 3,
errAoeMailBoxError = 4,
errAoeWrongHMsg = 5,
errAoeTargetPortNotFound = 6,
errAoeTargetMachineNotFound = 7,
errAoeUnknownCommandID = 8,
errAoeBadTaskID = 9,
errAoeNoIO = 10,
errAoeUnknwonAmsCommand = 11,
errAoeWin32Error = 12,
errAoePortNotConnected = 13,
errAoeInvalidAmsLength = 14,
|
RTECAT_AOE_ERROR typedef enum _RTECAT_AOE_ERROR{
ecatErrAoeNoError = 0,
ecatErrAoeInternalError = 1,
ecatErrAoeNoRTime = 2,
ecatErrAoeLockedMemoryError = 3,
ecatErrAoeMailBoxError = 4,
ecatErrAoeWrongHMsg = 5,
ecatErrAoeTargetPortNotFound = 6,
ecatErrAoeTargetMachineNotFound = 7,
ecatErrAoeUnknownCommandID = 8,
ecatErrAoeBadTaskID = 9,
ecatErrAoeNoIO = 10,
ecatErrAoeUnknwonAmsCommand = 11,
ecatErrAoeWin32Error = 12,
ecatErrAoePortNotConnected = 13,
ecatErrAoeInvalidAmsLength = 14,
|
|
AppCallback typedef int(*AppCallback)(PVOID Context); |
APP_CALLBACK typedef int(*APP_CALLBACK)(PVOID Context);
|
|
CoeError typedef enum _CoeError{
errCoeToggleBit = 0x05030000,
errCoeTimeout = 0x05040000,
errCoeCommandSpecifier = 0x05040001,
errCoeOutOfMemory = 0x05040005,
errCoeUnsupportedAccess = 0x06010000,
errCoeWriteOnly = 0x06010001,
errCoeReadOnly = 0x06010002,
errCoeSubindexReadOnly = 0x06010003,
errCoeNoCompleteAccess = 0x06010004,
errCoeObjectTooLong = 0x06010005,
errCoeObjectInPdo = 0x06010006,
errCoeObjectNotExist = 0x06020000,
errCoeNoPdoMapping = 0x06040041,
errCoePdoLengthExceeded = 0x06040042,
errCoeParameterIncompatible = 0x06040043,
errCoeInternalIncompatible = 0x06040047,
errCoeHardwareError = 0x06060000,
errCoeLengthIncorrect = 0x06070010,
errCoeLengthTooHigh = 0x06070012,
errCoeLengthTooLow = 0x06070013,
errCoeSubindexNotExist = 0x06090011,
errCoeValueOutOfRange = 0x06090030,
errCoeValueTooHigh = 0x06090031,
errCoeValueTooLow = 0x06090032,
errCoeConfiguredModuleListNotMatch = 0x06090033,
errCoeMaxBelowMin = 0x06090036,
errCoeGeneralError = 0x08000000,
errCoeCannotTransfer = 0x08000020,
errCoeCannotTransferLocal = 0x08000021,
errCoeWrongState = 0x08000022,
errCoeDictionaryNotAvailable = 0x08000023
} CoeError;
|
RTECAT_COE_ERROR typedef enum _RTECAT_COE_ERROR{ ecatErrCoeToggleBit = 0x05030000, ecatErrCoeTimeout = 0x05040000, ecatErrCoeCommandSpecifier = 0x05040001, ecatErrCoeOutOfMemory = 0x05040005, ecatErrCoeUnsupportedAccess = 0x06010000, ecatErrCoeWriteOnly = 0x06010001,
|
|
DcCycle typedef enum _DcCycle{
dcInput = 0,
dcCurrent,
dcOutput,
dcController
} DcCycle;
|
RTECAT_DC_CYCLE typedef enum _RTECAT_DC_CYCLE{ ecatDcInput = 0, ecatDcCurrent, ecatDcOutput } RTECAT_DC_CYCLE;
|
|
EscError typedef enum _EscError{
errEscNoError = 0x0000,
errEscUnspecified = 0x0001,
errEscNoMemory = 0x0002,
|
RTECAT_ESC_ERROR typedef enum _RTECAT_ESC_ERROR{ ecatErrEscNoError = 0x0000, ecatErrEscUnspecified = 0x0001, ecatErrEscNoMemory = 0x0002, ecatErrEscInvalidStateChange = 0x0011, ecatErrEscUnknownRequestedState = 0x0012,
|
|
EthercatState typedef enum _EthercatState{
ecatUnknown = -1,
ecatOffline = 0,
ecatInit = 1,
ecatPreOP = 2,
ecatBoot = 3,
ecatSafeOP = 4,
ecatOP = 8
} EthercatState;
|
RTECAT_ETHERCAT_STATE typedef enum _RTECAT_ETHERCAT_STATE{ ecatStateUnknown = -1, ecatStateOffline = 0, ecatStateInit = 1, ecatStatePreOP = 2, ecatStateBoot = 3, ecatStateSafeOP = 4, ecatStateOP = 8 } RTECAT_ETHERCAT_STATE;
|
|
FoeError typedef enum _FoeError{
errFoeNotDefined = 0x0000,
errFoeNotFound = 0x0001,
errFoeAccessDenied = 0x0002,
errFoeDiskFull = 0x0003,
errFoeIllegal = 0x0004,
errFoePacketNumberWrong = 0x0005,
errFoeAlreadyExists = 0x0006,
errFoeNoUser = 0x0007,
errFoeBootstrapOnly = 0x0008,
errFoeNotBootstrap = 0x0009,
errFoeNoRights = 0x000A,
errFoeProgramError = 0x000B,
errFoeChecksumWrong = 0x000C,
errFoeInvalidFirmware = 0x000D,
errFoeReserved = 0x000E,
errFoeNoFileToRead = 0x000F,
errFoeNoFileHeader = 0x0010,
errFoeFlashProblem = 0x0011,
errFoeFileIncompatible = 0x0012
} FoeError;
|
RTECAT_FOE_ERROR typedef enum _RTECAT_FOE_ERROR{ ecatErrFoeNotDefined = 0x0000, ecatErrFoeNotFound = 0x0001, ecatErrFoeAccessDenied = 0x0002, ecatErrFoeDiskFull = 0x0003, ecatErrFoeIllegal = 0x0004, ecatErrFoePacketNumberWrong = 0x0005, ecatErrFoeAlreadyExists = 0x0006, ecatErrFoeNoUser = 0x0007, ecatErrFoeBootstrapOnly = 0x0008, ecatErrFoeNotBootstrap = 0x0009, ecatErrFoeNoRights = 0x000A, ecatErrFoeProgramError = 0x000B, ecatErrFoeChecksumWrong = 0x000C, ecatErrFoeInvalidFirmware = 0x000D, ecatErrFoeReserved = 0x000E, ecatErrFoeNoFileToRead = 0x000F, ecatErrFoeNoFileHeader = 0x0010, ecatErrFoeFlashProblem = 0x0011, ecatErrFoeFileIncompatible = 0x0012 } RTECAT_FOE_ERROR;
|
|
KsAccessMode typedef enum _KsAccessMode{
accessPos = 0,
accessVel,
accessTor,
accessPosVel,
accessVelPos,
accessPosVelTor,
accessVelPosTor
} KsAccessMode;
|
RTECAT_ACCESS_MODE typedef enum _RTECAT_ACCESS_MODE{ ecatAccessPos = 0, ecatAccessVel, ecatAccessTor, ecatAccessPosVel, ecatAccessVelPos, ecatAccessPosVelTor, ecatAccessVelPosTor } RTECAT_ACCESS_MODE;
|
|
KsError typedef enum _KsError{
// Normal Status codes 0x0000
errNoError = 0,
errBusy = 1,
// API Errors 0x1000
errNullParameter = 0x1000,
errWrongParameter = 0x1001,
errSubsystemNotRunning = 0x1002,
errLinkBusy = 0x1003,
errNoLicense = 0x1004,
errWrongEnvironment = 0x1005,
errVariableUnavailable = 0x1006,
errVariableSizeIncoherent = 0x1007,
errUserCancelled = 0x1008,
errTimeout = 0x1009,
errFeatureUnavailable = 0x100A,
errFunctionInUse = 0x100B,
errSlaveRejected = 0x100C,
errNotDefined = 0x100D,
errWrongSubsystemState = 0x100E,
errWrongSlaveState = 0x100F,
errLocked = 0x1010,
// Startup Errors 0x2000
errNoNicSelected = 0x2000,
errNicNotFound = 0x2001,
errLinkDisconnected = 0x2002,
errNoSlave = 0x2003,
errUnknownSlave = 0x2004,
errNoMemory = 0x2005,
errNoFile = 0x2006,
errIncorrectFormat = 0x2007,
errWrongDeviceCount = 0x2008,
errInitFailed = 0x2009,
errPreOpFailed = 0x200A,
errSafeOpFailed = 0x200B,
errOpFailed = 0x200C,
errDcFailed = 0x200D,
errMdpFailed = 0x200E,
errFailed = 0x200F,
errFileVersionNotSupported = 0x2010,
errThreadCreation = 0x2011,
errCabling = 0x2012,
errPacketLost = 0x2013,
errInvalidCycleTime = 0x2014,
errSystemOverload = 0x2015,
errWatchdog = 0x2016,
errUnexpectedData = 0x2017,
errSlaveState = 0x2018,
errConfigurationMismatch = 0x2019,
// Motion Errors 0x3000
errWrongControlMode = 0x3000,
errCommandBufferFull = 0x3001,
errInvalidHandle = 0x3002,
errWrongAxisState = 0x3003,
errNoSensorDefined = 0x3004,
errFollowingError = 0x3005,
errMinimumLimit = 0x3006,
errMaximumLimit = 0x3007,
errCommandJump = 0x3008,
errWrongGroupState = 0x3009,
errUnstableTuning = 0x300A,
errStaleTuning = 0x300B,
// SDO Errors 0x4000
errSdoToggleBit = 0x4000,
errSdoTimeout = 0x4001,
errSdoCommandSpecifier = 0x4002,
errSdoOutOfMemory = 0x4003,
errSdoUnsupportedAccess = 0x4004,
errSdoWriteOnly = 0x4005,
errSdoReadOnly = 0x4006,
errSdoSubindexReadOnly = 0x4007,
errSdoNoCompleteAccess = 0x4008,
errSdoObjectTooLong = 0x4009,
errSdoObjectInPdo = 0x400A,
errSdoObjectNotExist = 0x400B,
errSdoNoPdoMapping = 0x400C,
errSdoPdoLengthExceeded = 0x400D,
errSdoParameterIncompatible = 0x400E,
errSdoInternalIncompatible = 0x400F,
errSdoHardwareError = 0x4010,
errSdoLengthIncorrect = 0x4011,
errSdoLengthTooHigh = 0x4012,
errSdoLengthTooLow = 0x4013,
errSdoSubindexNotExist = 0x4014,
errSdoValueOutOfRange = 0x4015,
errSdoValueTooHigh = 0x4016,
errSdoValueTooLow = 0x4017,
errSdoMaxBelowMin = 0x4018,
errSdoGeneralError = 0x4019,
errSdoCannotTransfer = 0x401A,
errSdoCannotTransferLocal = 0x401B,
errSdoWrongState = 0x401C,
errSdoDictionaryNotAvailable = 0x401D
} KsError;
|
RTECAT_ERROR typedef enum _RTECAT_ERROR{ // Normal Status codes 0x0000 ecatErrNoError = 0, ecatErrBusy = 1, // API Errors 0x1000 ecatErrNullParameter = 0x1000, ecatErrWrongParameter = 0x1001, ecatErrMainDeviceNotReady = 0x1002, ecatErrLinkBusy = 0x1003, ecatErrNoLicense = 0x1004, ecatErrWrongEnvironment = 0x1005, ecatErrVariableUnavailable = 0x1006, ecatErrVariableSizeIncoherent = 0x1007, ecatErrUserCancelled = 0x1008, ecatErrTimeout = 0x1009, ecatErrFeatureUnavailable = 0x100A, ecatErrFunctionInUse = 0x100B, ecatErrSubDeviceRejected = 0x100C, ecatErrNotDefined = 0x100D, ecatErrWrongMainDeviceStatus = 0x100E, ecatErrWrongSubDeviceState = 0x100F, ecatErrLocked = 0x1010, // Startup Errors 0x2000 ecatErrNoNicSelected = 0x2000, ecatErrNicNotFound = 0x2001, ecatErrLinkDisconnected = 0x2002, ecatErrNoSubDevice = 0x2003, ecatErrUnknownSubDevice = 0x2004, ecatErrNoMemory = 0x2005, ecatErrNoFile = 0x2006, ecatErrIncorrectFormat = 0x2007,
|
|
KsFeature typedef enum _KsFeature{
featureCycleTime = 0,
featureServerLog,
featureAutoRestart,
featureAutoRepair,
featureAutoConfig,
featureDc,
featureDcCheck,
featureDcMasterShift,
featureRedundancy,
featureHotConnect,
featureAccessMode,
featureAxisInput,
featureAxisOutput,
featureSecondEncoder,
featureTorqueOffset,
featureSyncControlMode,
featureActualVelocity,
featureActualTorque,
featureActualCurrent,
featureFollowingError,
featureTouchProbe,
featureMaxTorque,
featureMaxCurrent,
featureProfilePosition,
featureShutdownHandler,
featureBulkSynchronization,
featureSyncMultiMaster,
featureDcShift
} KsFeature;
|
RTECAT_FEATURE typedef enum _RTECAT_FEATURE{ ecatFeatureCycleTime = 0, ecatFeatureAutoRestart, ecatFeatureAutoRepair, ecatFeatureAutoConfig, ecatFeatureDc, ecatFeatureDcReferenceIndex, ecatFeatureDcCheck, ecatFeatureDcMainDeviceShift, ecatFeatureRedundancy, ecatFeatureHotConnect, ecatFeatureAccessMode, ecatFeatureAxisDigitalInput, ecatFeatureAxisDigitalOutput, ecatFeatureSecondEncoder, ecatFeatureTorqueOffset, ecatFeatureSyncControlMode, ecatFeatureActualVelocity, ecatFeatureActualTorque, ecatFeatureActualCurrent, ecatFeatureFollowingError, ecatFeatureTouchProbe, ecatFeatureMaxTorque, ecatFeatureMaxCurrent, ecatFeatureProfilePosition, ecatFeatureShutdownHandler, ecatFeatureBulkSynchronization, ecatFeatureSyncMultiMainDevice } RTECAT_FEATURE;
|
|
MailboxCallback typedef int(*MailboxCallback)(
PVOID Context,
INT SlaveId,
MailboxType Type,
MailboxData Data
);
|
MAILBOX_CALLBACK typedef int(*MAILBOX_CALLBACK)( PVOID Context, ULONG SubDeviceIndex, RTECAT_MAILBOX_TYPE Type, RTECAT_MAILBOX_DATA Data );
|
|
MailboxType typedef enum _MailboxType{
mbCoeEmergency = 0,
mbSoeNotification,
mbSoeSlaveInfo,
mbVoe
} MailboxType;
|
RTECAT_MAILBOX_TYPE typedef enum _RTECAT_MAILBOX_TYPE{ ecatMbCoeEmergency = 0, ecatMbSoeNotification, ecatMbSoeSubDeviceInfo, ecatMbVoe } RTECAT_MAILBOX_TYPE;
|
|
SoeError typedef enum _SoeError{
// General errors
errSoeNoError = 0x0000,
errSoeNotOpened = 0x0001,
errSoeInvalidAccessClosing = 0x0009,
// Element 1 (IDN) errors
errSoeNoIdn = 0x1001,
errSoeIdnInvalidAccess = 0x1009,
// Element 2 (Name) errors
errSoeNoName = 0x2001,
errSoeNameTooShort = 0x2002,
errSoeNameTooLong = 0x2003,
errSoeNameReadOnly = 0x2004,
errSoeNameWriteProtected = 0x2005,
// Element 3 (Attribute) errors
errSoeAttributeTooShort = 0x3002,
errSoeAttributeTooLong = 0x3003,
errSoeAttributeReadOnly = 0x3004,
errSoeAttributeWriteProtected = 0x3005,
// Element 4 (Unit) errors
errSoeNoUnits = 0x4001,
errSoeUnitTooShort = 0x4002,
errSoeUnitTooLong = 0x4003,
errSoeUnitReadOnly = 0x4004,
errSoeUnitWriteProtected = 0x4005,
// Element 5 (Minimum input) errors
errSoeNoMinInput = 0x5001,
errSoeMinInputTooShort = 0x5002,
errSoeMinInputTooLong = 0x5003,
errSoeMinInputReadOnly = 0x5004,
errSoeMinInputWriteProtected = 0x5005,
// Element 6 (Maximum input) errors
errSoeNoMaxInput = 0x6001,
errSoeMaxInputTooShort = 0x6002,
errSoeMaxInputTooLong = 0x6003,
errSoeMaxInputReadOnly = 0x6004,
errSoeMaxInputWriteProtected = 0x6005,
// Element 7 (Operation data) errors
errSoeDataTooShort = 0x7002,
errSoeDataTooLong = 0x7003,
errSoeDataReadOnly = 0x7004,
errSoeDataWriteProtected = 0x7005,
errSoeDataBellowMin = 0x7006,
errSoeDataOverMax = 0x7007,
errSoeDataInvalid = 0x7008,
errSoeDataPasswordProtected = 0x7009,
errSoeDataInPdo = 0x700A,
errSoeDataInvalidAddress = 0x700B,
errSoeDataWriteDisabled = 0x700C,
errSoeDataInvalidFloat = 0x700D,
errSoeDataParamProtected = 0x700E,
errSoeDataOpProtected = 0x700F,
errSoeCommandAlreadyActive = 0x7010,
|
RTECAT_SOE_ERROR typedef enum _RTECAT_SOE_ERROR{ // General errors ecatErrSoeNoError = 0x0000, ecatErrSoeNotOpened = 0x0001, ecatErrSoeInvalidAccessClosing = 0x0009, // Element 1 (IDN) errors ecatErrSoeNoIdn = 0x1001, ecatErrSoeIdnInvalidAccess = 0x1009, // Element 2 (Name) errors ecatErrSoeNoName = 0x2001, ecatErrSoeNameTooShort = 0x2002, ecatErrSoeNameTooLong = 0x2003, ecatErrSoeNameReadOnly = 0x2004, ecatErrSoeNameWriteProtected = 0x2005, // Element 3 (Attribute) errors ecatErrSoeAttributeTooShort = 0x3002, ecatErrSoeAttributeTooLong = 0x3003, ecatErrSoeAttributeReadOnly = 0x3004, ecatErrSoeAttributeWriteProtected = 0x3005, // Element 4 (Unit) errors ecatErrSoeNoUnits = 0x4001, ecatErrSoeUnitTooShort = 0x4002,
|
Breaking Changes to Managed E-CAT APIs
Managed Axis Control APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ForceAxisInputBit public KsError ForceAxisInputBit(
int Index,
int BitOffset,
bool Value
)
|
ForceAxisInputBit public EcatErrorCode ForceAxisInputBit( EcatHandle axis, uint bitOffset, bool value )
|
|
ForceAxisInputByte public KsError ForceAxisInputByte(
int Index,
int ByteOffset,
byte Value
)
|
ForceAxisInputByte public EcatErrorCode ForceAxisInputByte( EcatHandle axis, uint byteOffset, byte value )
|
|
ForceAxisInputDWord public KsError ForceAxisInputDWord(
int Index,
int ByteOffset,
uint Value
)
|
ForceAxisInputDWord public EcatErrorCode ForceAxisInputDWord( EcatHandle axis, uint byteOffset, uint value )
|
|
ForceAxisInputWord public KsError ForceAxisInputWord(
int Index,
int ByteOffset,
ushort Value
)
|
ForceAxisInputWord public EcatErrorCode ForceAxisInputWord( EcatHandle axis, uint byteOffset, ushort value )
|
|
ReadAxisInputBit public KsReturn<bool> ReadAxisInputBit(
int Index,
int BitOffset
)
|
ReadAxisInputBit public EcatErrorCode ReadAxisInputBit( EcatHandle axis, uint bitOffset, ref bool value )
|
|
ReadAxisInputByte public KsReturn<byte> ReadAxisInputByte(
int Index,
int ByteOffset
)
|
ReadAxisInputByte public EcatErrorCode ReadAxisInputByte( EcatHandle axis, uint byteOffset, ref byte value )
|
|
ReadAxisInputWord public KsReturn<ushort> ReadAxisInputWord(
int Index,
int ByteOffset
)
|
ReadAxisInputWord public EcatErrorCode ReadAxisInputWord( EcatHandle axis, uint byteOffset, ref ushort value )
|
|
ReadAxisInputDWord public KsReturn<uint> ReadAxisInputDWord(
int Index,
int ByteOffset
)
|
ReadAxisInputDWord public EcatErrorCode ReadAxisInputDWord( EcatHandle axis, uint byteOffset, ref uint value )
|
|
ReadAxisOutputBit public KsReturn<bool> ReadAxisOutputBit(
int Index,
int BitOffset
)
|
ReadAxisOutputBit public EcatErrorCode ReadAxisOutputBit( EcatHandle axis, uint bitOffset, ref bool value )
|
|
ReadAxisOutputByte public KsReturn<byte> ReadAxisOutputByte(
int Index,
int ByteOffset
)
|
ReadAxisOutputByte public EcatErrorCode ReadAxisOutputByte( EcatHandle axis, uint byteOffset, ref byte value )
|
|
ReadAxisOutputWord public KsReturn<ushort> ReadAxisOutputWord(
int Index,
int ByteOffset
)
|
ReadAxisOutputWord public EcatErrorCode ReadAxisOutputWord( EcatHandle axis, uint byteOffset, ref ushort value )
|
|
ReadAxisOutputDWord public KsReturn<uint> ReadAxisOutputDWord(
int Index,
int ByteOffset
)
|
ReadAxisOutputDWord public EcatErrorCode ReadAxisOutputDWord( EcatHandle axis, uint byteOffset, ref uint value )
|
|
WriteAxisOutputBit public KsError WriteAxisOutputBit(
int Index,
int BitOffset,
bool Value
)
|
WriteAxisOutputBit public EcatErrorCode WriteAxisOutputBit( EcatHandle axis, uint bitOffset, bool value )
|
|
WriteAxisOutputByte public KsError WriteAxisOutputByte(
int Index,
int ByteOffset,
byte Value
)
|
WriteAxisOutputByte public EcatErrorCode WriteAxisOutputByte( EcatHandle axis, uint byteOffset, byte value )
|
|
WriteAxisOutputDWord public KsError WriteAxisOutputDWord(
int Index,
int ByteOffset,
uint Value
)
|
WriteAxisOutputDWord public EcatErrorCode WriteAxisOutputDWord( EcatHandle axis, uint byteOffset, uint value )
|
|
WriteAxisOutputWord public KsError WriteAxisOutputWord(
int Index,
int ByteOffset,
ushort Value
)
|
WriteAxisOutputWord public EcatErrorCode WriteAxisOutputWord( EcatHandle axis, uint byteOffset, ushort value )
|
|
ReadAxisInputs public KsReturn<uint> ReadAxisInputs(
int Index
)
|
ReadAxisDigitalInputs public EcatErrorCode ReadAxisDigitalInputs( EcatHandle axis, ref uint value )
|
|
ReadAxisOutputs public KsReturn<uint> ReadAxisOutputs(
int Index
)
|
ReadAxisDigitalOutputs public EcatErrorCode ReadAxisDigitalOutputs( EcatHandle axis, ref uint value )
|
|
ReadAxisStatusWord public KsReturn<ushort> ReadAxisStatusWord(
int Index
)
|
ReadAxisStatusWord public EcatErrorCode ReadAxisStatusWord( EcatHandle axis, ref ushort value )
|
|
ReadAxisActualPosition public KsReturn<int> ReadAxisActualPosition(
int Index
)
|
ReadAxisActualPosition public EcatErrorCode ReadAxisActualPosition( EcatHandle axis, ref int value )
|
|
ReadAxisActualTorque public KsReturn<short> ReadAxisActualTorque(
int Index
)
|
ReadAxisActualTorque public EcatErrorCode ReadAxisActualTorque( EcatHandle axis, ref short value )
|
|
ReadAxisActualVelocity public KsReturn<int> ReadAxisActualVelocity(
int Index
)
|
ReadAxisActualVelocity public EcatErrorCode ReadAxisActualVelocity( EcatHandle axis, ref int value )
|
|
ReadAxisActualCurrent public KsReturn<short> ReadAxisActualCurrent(
int Index
)
|
ReadAxisActualCurrent public EcatErrorCode ReadAxisActualCurrent( EcatHandle axis, ref short value )
|
|
ReadAxisSecondEncoder public KsReturn<int> ReadAxisSecondEncoder(
int Index
)
|
ReadAxisSecondEncoder public EcatErrorCode ReadAxisSecondEncoder( EcatHandle axis, ref int value )
|
|
ReadAxisFollowingError public KsReturn<int> ReadAxisFollowingError(
int Index
)
|
ReadAxisFollowingError public EcatErrorCode ReadAxisFollowingError( EcatHandle axis, ref int value )
|
|
ReadAxisTouchProbeStatus public KsReturn<ushort> ReadAxisTouchProbeStatus(
int Index
)
|
ReadAxisTouchProbeStatus public EcatErrorCode ReadAxisTouchProbeStatus( EcatHandle axis, ref ushort value )
|
|
ReadAxisMopDisplay public KsReturn<byte> ReadAxisMopDisplay(
int Index
)
|
ReadAxisMopDisplay public EcatErrorCode ReadAxisMopDisplay( EcatHandle axis, ref byte value )
|
|
ReadAxisCustomInput1 public KsReturn<uint> ReadAxisCustomInput1(
int Index
)
|
ReadAxisCustomInput1 public EcatErrorCode ReadAxisCustomInput1( EcatHandle axis, ref uint value )
|
|
ReadAxisCustomInput2 public KsReturn<uint> ReadAxisCustomInput2(
int Index
)
|
ReadAxisCustomInput2 public EcatErrorCode ReadAxisCustomInput2( EcatHandle axis, ref uint value )
|
|
ForceAxisInputs public KsError ForceAxisInputs(
int Index,
uint Value
)
|
ForceAxisDigitalInputs public EcatErrorCode ForceAxisDigitalInputs( EcatHandle axis, uint value )
|
|
WriteAxisOutputs public KsError WriteAxisOutputs(
int Index,
uint Value
)
|
WriteAxisDigitalOutputs public EcatErrorCode WriteAxisDigitalOutputs( EcatHandle axis, uint value )
|
|
WriteAxisControlWord public KsError WriteAxisControlWord(
int Index,
ushort Value
)
|
WriteAxisControlWord public EcatErrorCode WriteAxisControlWord( EcatHandle axis, ushort value )
|
|
WriteAxisCustomOutput1 public KsError WriteAxisCustomOutput1(
int Index,
uint Value
)
|
WriteAxisCustomOutput1 public EcatErrorCode WriteAxisCustomOutput1( EcatHandle axis, uint value )
|
|
WriteAxisCustomOutput2 public KsError WriteAxisCustomOutput2(
int Index,
uint Value
)
|
WriteAxisCustomOutput2 public EcatErrorCode WriteAxisCustomOutput2( EcatHandle axis, uint value )
|
|
WriteAxisMaxCurrent public KsError WriteAxisMaxCurrent(
int Index,
short Value
)
|
WriteAxisMaxCurrent public EcatErrorCode WriteAxisMaxCurrent( EcatHandle axis, short value )
|
|
WriteAxisMaxTorque public KsError WriteAxisMaxTorque(
int Index,
short Value
)
|
WriteAxisMaxTorque public EcatErrorCode WriteAxisMaxTorque( EcatHandle axis, short value )
|
|
WriteAxisMop public KsError WriteAxisMop(
int Index,
byte Value
)
|
WriteAxisMop public EcatErrorCode WriteAxisMop( EcatHandle axis, byte value )
|
|
WriteAxisProfileAcceleration public KsError WriteAxisProfileAcceleration(
int Index,
int Value
)
|
WriteAxisProfileAcceleration public EcatErrorCode WriteAxisProfileAcceleration( EcatHandle axis, int value )
|
|
WriteAxisProfileDeceleration public KsError WriteAxisProfileDeceleration(
int Index,
int Value
)
|
WriteAxisProfileDeceleration public EcatErrorCode WriteAxisProfileDeceleration( EcatHandle axis, int value )
|
|
WriteAxisProfileVelocity public KsError WriteAxisProfileVelocity(
int Index,
int Value
)
|
WriteAxisProfileVelocity public EcatErrorCode WriteAxisProfileVelocity( EcatHandle axis, int value )
|
|
WriteAxisTargetPosition public KsError WriteAxisTargetPosition(
int Index,
int Value
)
|
WriteAxisTargetPosition public EcatErrorCode WriteAxisTargetPosition( EcatHandle axis, int value )
|
|
WriteAxisTargetTorque public KsError WriteAxisTargetTorque(
int Index,
short Value
)
|
WriteAxisTargetTorque public EcatErrorCode WriteAxisTargetTorque( EcatHandle axis, short value )
|
|
WriteAxisTargetVelocity public KsError WriteAxisTargetVelocity(
int Index,
int Value
)
|
WriteAxisTargetVelocity public EcatErrorCode WriteAxisTargetVelocity( EcatHandle axis, int value )
|
|
WriteAxisTorqueOffset public KsError WriteAxisTorqueOffset(
int Index,
short Value
)
|
WriteAxisTorqueOffset public EcatErrorCode WriteAxisTorqueOffset( EcatHandle axis, short value )
|
|
WriteAxisTouchProbeControl public KsError WriteAxisTouchProbeControl(
int Index,
ushort Value
)
|
WriteAxisTouchProbeControl public EcatErrorCode WriteAxisTouchProbeControl( EcatHandle axis, ushort value )
|
Managed Command APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
AbortCommand public KsCommandStatus AbortCommand(
KsCommandStatus Status
)
|
AbortCommand public CommandStatus AbortCommand( CommandStatus status )
|
|
AbortCommand public KsCommandStatus<byte[]> AbortCommand(
KsCommandStatus<byte[]> Status
)
|
AbortCommand public CommandStatus<byte[]> AbortCommand( CommandStatus<byte[]> status )
|
|
AbortCommand public KsCommandStatus<uint> AbortCommand(
KsCommandStatus<uint> Status
)
|
AbortCommand public CommandStatus<uint> AbortCommand( CommandStatus<uint> status )
|
|
AbortCommand public KsCommandStatus<ushort> AbortCommand(
KsCommandStatus<ushort> Status
)
|
AbortCommand public CommandStatus<ushort> AbortCommand( CommandStatus<ushort> status )
|
|
AbortCommand public KsCommandStatus<ushort[]> AbortCommand(
KsCommandStatus<ushort[]> Status
)
|
AbortCommand public CommandStatus<ushort[]> AbortCommand( CommandStatus<ushort[]> status )
|
|
AbortCommand public KsCommandStatus<SdoEntryDescription> AbortCommand(
KsCommandStatus<SdoEntryDescription> Status
)
|
AbortCommand public CommandStatus<SdoEntryDescription> AbortCommand( CommandStatus<SdoEntryDescription> status )
|
|
AbortCommand public KsCommandStatus<SdoObjectDescription> AbortCommand(
KsCommandStatus<SdoObjectDescription> Status
)
|
AbortCommand public CommandStatus<SdoObjectDescription> AbortCommand( CommandStatus<SdoObjectDescription> status )
|
|
GetCommandsStatus public KsReturn<KsCommandStatus<byte[]>[]> GetCommandsStatus(
KsCommandStatus<byte[]>[] Statuses
)
|
GetCommandsStatus public EcatErrorCode GetCommandsStatus( ref CommandStatus<byte[]>[] statuses )
|
|
GetCommandStatus public KsCommandStatus GetCommandStatus(
KsCommandStatus Status
)
|
GetCommandStatus public CommandStatus GetCommandStatus( CommandStatus status )
|
|
GetCommandStatus public KsCommandStatus<byte[]> GetCommandStatus(
KsCommandStatus<byte[]> Status
)
|
GetCommandStatus public CommandStatus<byte[]> GetCommandStatus( CommandStatus<byte[]> status )
|
|
GetCommandStatus public KsCommandStatus<uint> GetCommandStatus(
KsCommandStatus<uint> Status
)
|
GetCommandStatus public CommandStatus<uint> GetCommandStatus( CommandStatus<uint> status )
|
|
GetCommandStatus public KsCommandStatus<ushort> GetCommandStatus(
KsCommandStatus<ushort> Status
)
|
GetCommandStatus public CommandStatus<ushort> GetCommandStatus( CommandStatus<ushort> status )
|
|
GetCommandStatus public KsCommandStatus<ushort[]> GetCommandStatus(
KsCommandStatus<ushort[]> Status
)
|
GetCommandStatus public CommandStatus<ushort[]> GetCommandStatus( CommandStatus<ushort[]> status )
|
|
GetCommandStatus public KsCommandStatus<SdoEntryDescription> GetCommandStatus(
KsCommandStatus<SdoEntryDescription> Status
)
|
GetCommandStatus public CommandStatus<SdoEntryDescription> GetCommandStatus( CommandStatus<SdoEntryDescription> status )
|
|
GetCommandStatus public KsCommandStatus<SdoObjectDescription> GetCommandStatus(
KsCommandStatus<SdoObjectDescription> Status
)
|
GetCommandStatus public CommandStatus<SdoObjectDescription> GetCommandStatus( CommandStatus<SdoObjectDescription> status )
|
|
WaitForCommand public KsCommandStatus WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus Status
)
|
WaitForCommand public CommandStatus WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus status )
|
|
WaitForCommand public KsCommandStatus<byte[]> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<byte[]> Status
)
|
WaitForCommand public CommandStatus<byte[]> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<byte[]> status )
|
|
WaitForCommand public KsCommandStatus<uint> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<uint> Status
)
|
WaitForCommand public CommandStatus<uint> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<uint> status )
|
|
WaitForCommand public KsCommandStatus<ushort> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<ushort> Status
)
|
WaitForCommand public CommandStatus<ushort> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<ushort> status )
|
|
WaitForCommand public KsCommandStatus<ushort[]> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<ushort[]> Status
)
|
WaitForCommand public CommandStatus<ushort[]> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<ushort[]> status )
|
|
WaitForCommand public KsCommandStatus<SdoEntryDescription> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<SdoEntryDescription> Status
)
|
WaitForCommand public CommandStatus<SdoEntryDescription> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<SdoEntryDescription> status )
|
|
WaitForCommand public KsCommandStatus<SdoObjectDescription> WaitForCommand(
double Timeout,
bool AbortOnTimeout,
KsCommandStatus<SdoObjectDescription> Status
)
|
WaitForCommand public CommandStatus<SdoObjectDescription> WaitForCommand( double timeout, bool abortOnTimeout, CommandStatus<SdoObjectDescription> status )
|
Managed Mailbox APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
AoeReadCommand public KsCommandStatus<byte[]> AoeReadCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
int Length
)
|
AoeReadCommand public CommandStatus<byte[]> AoeReadCommand( EcatHandle subDevice, ushort port, uint indexGroup, uint indexOffset, uint length )
|
|
AoeReadSdoObject public KsCommandStatus<byte[]> AoeReadSdoObject(
int SlaveId,
int Port,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
int Length
)
|
AoeReadSdoObject public CommandStatus<byte[]> AoeReadSdoObject( EcatHandle subDevice, ushort port, ushort obIndex, byte obSubIndex, bool completeAccess, uint length )
|
|
AoeReadWriteCommand public KsCommandStatus<byte[]> AoeReadWriteCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
int ReadLength,
byte[] WriteValue
)
|
AoeReadWriteCommand public CommandStatus<byte[]> AoeReadWriteCommand( EcatHandle subDevice, ushort port, uint indexGroup, uint indexOffset, uint readLength, byte[] writeValue )
|
|
AoeWriteCommand public KsCommandStatus AoeWriteCommand(
int SlaveId,
int Port,
int IndexGroup,
int IndexOffset,
byte[] Value
)
|
AoeWriteCommand public CommandStatus AoeWriteCommand( EcatHandle subDevice, ushort port, uint indexGroup, uint indexOffset, byte[] value )
|
|
AoeWriteControlCommand public KsCommandStatus AoeWriteControlCommand(
int SlaveId,
int Port,
ushort AoeState,
ushort DeviceState,
byte[] Value
)
|
AoeWriteControlCommand public CommandStatus AoeWriteControlCommand( EcatHandle subDevice, ushort port, ushort aoeState, ushort deviceState, byte[] value )
|
|
AoeWriteSdoObject public KsCommandStatus AoeWriteSdoObject(
int SlaveId,
int Port,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
byte[] Value
)
|
AoeWriteSdoObject public CommandStatus AoeWriteSdoObject( EcatHandle subDevice, ushort port, ushort obIndex, byte obSubIndex, bool completeAccess, byte[] value )
|
|
CoeReadSdoEntryDescription public KsCommandStatus<SdoEntryDescription> CoeReadSdoEntryDescription(
int SlaveId,
int ObIndex,
int ObSubIndex
)
|
CoeReadSdoEntryDescription public CommandStatus<SdoEntryDescription> CoeReadSdoEntryDescription( EcatHandle subDevice, ushort obIndex, byte obSubIndex )
|
|
CoeReadSdoObject public KsCommandStatus<byte[]> CoeReadSdoObject(
int SlaveId,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
int Length
)
|
CoeReadSdoObject public CommandStatus<byte[]> CoeReadSdoObject( EcatHandle subDevice, ushort obIndex, byte obSubIndex, bool completeAccess, uint length )
|
|
CoeReadSdoObjectDescription public KsCommandStatus<SdoObjectDescription> CoeReadSdoObjectDescription(
int SlaveId,
int ObIndex
)
|
CoeReadSdoObjectDescription public CommandStatus<SdoObjectDescription> CoeReadSdoObjectDescription( EcatHandle subDevice, ushort obIndex )
|
|
CoeReadSdoODList public KsCommandStatus<ushort[]> CoeReadSdoODList(
int SlaveId,
int ListType
)
|
CoeReadSdoODList public CommandStatus<ushort[]> CoeReadSdoODList( EcatHandle subDevice, ushort listType, uint length )
|
|
CoeWriteSdoObject public KsCommandStatus CoeWriteSdoObject(
int SlaveId,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
byte[] Value
)
|
CoeWriteSdoObject public CommandStatus CoeWriteSdoObject( EcatHandle subDevice, ushort obIndex, byte obSubIndex, bool completeAccess, byte[] value )
|
|
FoeReadFileToFile public KsCommandStatus FoeReadFileToFile(
int SlaveId,
bool BootState,
string Name,
uint Password,
string File
)
|
FoeReadFileToFile public CommandStatus FoeReadFileToFile( EcatHandle subDevice, bool bootState, string name, uint password, string file )
|
|
FoeWriteFileFromFile public KsCommandStatus FoeWriteFileFromFile(
int SlaveId,
bool BootState,
string Name,
uint Password,
string File
)
|
FoeWriteFileFromFile public CommandStatus FoeWriteFileFromFile( EcatHandle subDevice, bool bootState, string name, uint password, string file )
|
|
ReadAxisSdoObject public KsCommandStatus<byte[]> ReadAxisSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
int Length
)
|
ReadAxisSdoObject public CommandStatus<byte[]> ReadAxisSdoObject( EcatHandle axis, ushort obIndex, byte obSubIndex, bool completeAccess, uint length, bool priority )
|
|
ReadIOSdoObject public KsCommandStatus<byte[]> ReadIOSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
int Length
)
|
ReadModuleSdoObject public CommandStatus<byte[]> ReadModuleSdoObject( EcatHandle module, ushort obIndex, byte obSubIndex, bool completeAccess, uint length, bool priority )
|
|
SoeReadSsc public KsCommandStatus<byte[]> SoeReadSsc(
int SlaveId,
byte DriveNo,
byte ElementFlags,
ushort Idn,
int Length
)
|
SoeReadSsc public CommandStatus<byte[]> SoeReadSsc( EcatHandle subDevice, byte driveNo, byte elementFlags, ushort idn, uint length )
|
|
SoeWriteSsc public KsCommandStatus SoeWriteSsc(
int SlaveId,
byte DriveNo,
byte ElementFlags,
ushort Idn,
byte[] Value
)
|
SoeWriteSsc public CommandStatus SoeWriteSsc( EcatHandle subDevice, byte driveNo, byte elementFlags, ushort idn, byte[] value )
|
|
VoeWrite public KsCommandStatus VoeWrite(
int SlaveId,
uint VendorId,
ushort VendorType,
byte[] Data
)
|
VoeWrite public CommandStatus VoeWrite( EcatHandle subDevice, uint vendorId, ushort vendorType, byte[] data )
|
|
WriteAxisSdoObject public KsCommandStatus WriteAxisSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
byte[] Value
)
|
WriteAxisSdoObject public CommandStatus WriteAxisSdoObject( EcatHandle axis, ushort obIndex, byte obSubIndex, bool completeAccess, byte[] value, bool priority )
|
|
WriteIOSdoObject public KsCommandStatus WriteIOSdoObject(
int Index,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
byte[] Value
)
|
WriteModuleSdoObject public CommandStatus WriteModuleSdoObject( EcatHandle module, ushort obIndex, byte obSubIndex, bool completeAccess, byte[] value, bool priority )
|
Managed MainDevice APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
Create public KsError Create(
int Instance,
int IdealProcessor
)
|
CreateMainDevice public EcatErrorCode CreateMainDevice( ref EcatHandle mainDevice, uint instance )
|
|
Destroy public KsError Destroy() |
DestroyMainDevice public EcatErrorCode DestroyMainDevice( ref EcatHandle mainDevice )
|
|
GetDCSystemTime public KsReturn<ulong> GetDCSystemTime(
DcCycle Cycle
)
|
GetDCSystemTime public EcatErrorCode GetDCSystemTime( EcatHandle mainDevice, DcCycle cycle, ref ulong time )
|
|
GetStatus public KsError GetStatus(
SubsystemStatus Status,
SubsystemDiagnostics Diagnostics
)
|
GetStatus (Status, Diagnostics) public EcatErrorCode GetStatus( EcatHandle mainDevice, ref MainDeviceStatus status, ref MainDeviceDiagnostics diagnostics )
|
|
RequestState public KsCommandStatus RequestState(
EthercatState State
)
|
RequestState public CommandStatus RequestState( EcatHandle mainDevice, EcatState state )
|
|
Restart public KsCommandStatus Restart() |
Restart public CommandStatus Restart( EcatHandle mainDevice )
|
|
Start public KsCommandStatus Start() |
Start public CommandStatus Start( EcatHandle mainDevice )
|
|
StartFromConfiguration public KsCommandStatus StartFromConfiguration(
string Configuration
)
|
StartFromConfiguration public CommandStatus StartFromConfiguration( EcatHandle mainDevice, string configuration )
|
|
Stop public KsCommandStatus Stop() |
Stop public CommandStatus Stop( EcatHandle mainDevice )
|
|
SubsystemIsRunning public KsReturn<bool> SubsystemIsRunning() |
IsMainDeviceRunning public EcatErrorCode IsMainDeviceRunning( EcatHandle mainDevice, ref bool created )
|
|
GetFeatureStatus public KsReturn<double> GetFeatureStatus(
KsFeature Feature
)
|
GetFeatureStatus public EcatErrorCode GetFeatureStatus( EcatHandle mainDevice, EcatFeature feature, ref double status )
|
|
PulseHeartbeat public KsError PulseHeartbeat() |
PulseHeartbeat public EcatErrorCode PulseHeartbeat( EcatHandle mainDevice )
|
|
SetFeatureStatus public KsError SetFeatureStatus(
KsFeature Feature,
double Value
)
|
SetFeatureStatus public EcatErrorCode SetFeatureStatus( EcatHandle mainDevice, EcatFeature feature, double status )
|
|
SetHeartbeat public KsError SetHeartbeat(
bool Enable,
double Timeout
)
|
SetHeartbeat public EcatErrorCode SetHeartbeat( EcatHandle mainDevice, bool enable, double timeout )
|
Managed Module Control APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ForceInputBit public KsError ForceInputBit(
int Index,
int BitOffset,
bool Value
)
|
ForceModuleInputBit public EcatErrorCode ForceModuleInputBit( EcatHandle module, uint bitOffset, bool value )
|
|
ForceInputByte public KsError ForceInputByte(
int Index,
int ByteOffset,
byte Value
)
|
ForceModuleInputByte public EcatErrorCode ForceModuleInputByte( EcatHandle module, uint byteOffset, byte value )
|
|
ForceInputDWord public KsError ForceInputDWord(
int Index,
int ByteOffset,
uint Value
)
|
ForceModuleInputDWord public EcatErrorCode ForceModuleInputDWord( EcatHandle module, uint byteOffset, uint value )
|
|
ForceInputWord public KsError ForceInputWord(
int Index,
int ByteOffset,
ushort Value
)
|
ForceModuleInputWord public EcatErrorCode ForceModuleInputWord( EcatHandle module, uint byteOffset, ushort value )
|
|
ReadInputBit public KsReturn<bool> ReadInputBit(
int Index,
int BitOffset
)
|
ReadModuleInputBit public EcatErrorCode ReadModuleInputBit( EcatHandle module, uint bitOffset, ref bool value )
|
|
ReadInputByte public KsReturn<byte> ReadInputByte(
int Index,
int ByteOffset
)
|
ReadModuleInputByte public EcatErrorCode ReadModuleInputByte( EcatHandle module, uint byteOffset, ref byte value )
|
|
ReadInputDWord public KsReturn<uint> ReadInputDWord(
int Index,
int ByteOffset
)
|
ReadModuleInputDWord public EcatErrorCode ReadModuleInputDWord( EcatHandle module, uint byteOffset, ref byte value )
|
|
ReadInputWord public KsReturn<ushort> ReadInputWord(
int Index,
int ByteOffset
)
|
ReadModuleInputWord public EcatErrorCode ReadModuleInputWord( EcatHandle module, uint byteOffset, ref ushort value )
|
|
ReadOutputBit public KsReturn<bool> ReadOutputBit(
int Index,
int BitOffset
)
|
ReadModuleOutputBit public EcatErrorCode ReadModuleOutputBit( EcatHandle module, uint bitOffset, ref bool value )
|
|
ReadOutputByte public KsReturn<byte> ReadOutputByte(
int Index,
int ByteOffset
)
|
ReadModuleOutputByte public EcatErrorCode ReadModuleOutputByte( EcatHandle module, uint byteOffset, ref byte value )
|
|
ReadOutputDWord public KsReturn<uint> ReadOutputDWord(
int Index,
int ByteOffset
)
|
ReadModuleOutputDWord public EcatErrorCode ReadModuleOutputDWord( EcatHandle module, uint byteOffset, ref byte value )
|
|
ReadOutputWord public KsReturn<ushort> ReadOutputWord(
int Index,
int ByteOffset
)
|
ReadModuleOutputWord public EcatErrorCode ReadModuleOutputWord( EcatHandle module, uint byteOffset, ref ushort value )
|
|
WriteOutputBit public KsError WriteOutputBit(
int Index,
int BitOffset,
bool Value
)
|
WriteModuleOutputBit public EcatErrorCode WriteModuleOutputBit( EcatHandle module, uint bitOffset, bool value )
|
|
WriteOutputByte public KsError WriteOutputByte(
int Index,
int ByteOffset,
byte Value
)
|
WriteModuleOutputByte public EcatErrorCode WriteModuleOutputByte( EcatHandle module, uint byteOffset, byte value )
|
|
WriteOutputDWord public KsError WriteOutputDWord(
int Index,
int ByteOffset,
uint Value
)
|
WriteModuleOutputDWord public EcatErrorCode WriteModuleOutputDWord( EcatHandle module, uint byteOffset, uint value )
|
|
WriteOutputWord public KsError WriteOutputWord(
int Index,
int ByteOffset,
ushort Value
)
|
WriteModuleOutputWord public EcatErrorCode WriteModuleOutputWord( EcatHandle module, uint byteOffset, ushort value )
|
Managed Shared Memory APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ReadMemoryBit public KsReturn<bool> ReadMemoryBit(
int Offset,
int BitOffset
)
|
ReadMemoryBit public EcatErrorCode ReadMemoryBit( uint offset, uint bitOffset, ref bool value )
|
|
ReadMemoryByte public KsReturn<byte> ReadMemoryByte(
int Offset
)
|
ReadMemoryByte public EcatErrorCode ReadMemoryByte( uint offset, ref byte value )
|
|
ReadMemoryDWord public KsReturn<uint> ReadMemoryDWord(
int Offset
)
|
ReadMemoryDWord public EcatErrorCode ReadMemoryDWord( uint offset, ref uint value )
|
|
ReadMemoryLWord public KsReturn<ulong> ReadMemoryLWord(
int Offset
)
|
ReadMemoryLWord public EcatErrorCode ReadMemoryLWord( uint offset, ref ulong value )
|
|
ReadMemoryWord public KsReturn<ushort> ReadMemoryWord(
int Offset
)
|
ReadMemoryWord public EcatErrorCode ReadMemoryWord( uint offset, ref ushort value )
|
|
WriteMemoryBit public KsError WriteMemoryBit(
int Offset,
int BitOffset,
bool Value
)
|
WriteMemoryBit public EcatErrorCode WriteMemoryBit( uint offset, uint bitOffset, bool value )
|
|
WriteMemoryByte public KsError WriteMemoryByte(
int Offset,
byte Value
)
|
WriteMemoryByte public EcatErrorCode WriteMemoryByte( uint offset, byte value )
|
|
WriteMemoryDWord public KsError WriteMemoryDWord(
int Offset,
uint Value
)
|
WriteMemoryDWord public EcatErrorCode WriteMemoryDWord( uint offset, uint value )
|
|
WriteMemoryLWord public KsError WriteMemoryLWord(
int Offset,
ulong Value
)
|
WriteMemoryLWord public EcatErrorCode WriteMemoryLWord( uint offset, ulong value )
|
|
WriteMemoryWord public KsError WriteMemoryWord(
int Offset,
ushort Value
)
|
WriteMemoryWord public EcatErrorCode WriteMemoryWord( uint offset, ushort value )
|
Managed Simulated Hardware APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
ConfigureAxis public KsError ConfigureAxis(
int Index,
AxisDetails Details
)
|
ConfigureAxis public EcatErrorCode ConfigureAxis( EcatHandle mainDevice, uint index, SubDeviceStatus details, uint resolution )
|
|
ConfigureIo public KsError ConfigureIo(
int Index,
SlaveStatus Details
)
|
ConfigureIo public EcatErrorCode ConfigureIo( EcatHandle mainDevice, uint index, SubDeviceStatus details )
|
|
GetConfiguredAxisCount public KsReturn<int> GetConfiguredAxisCount() |
GetConfiguredAxisCount public EcatErrorCode GetConfiguredAxisCount( EcatHandle mainDevice, ref uint count )
|
|
GetConfiguredIoCount public KsReturn<int> GetConfiguredIoCount() |
GetConfiguredIoCount public EcatErrorCode GetConfiguredIoCount( EcatHandle mainDevice, ref uint count )
|
|
SetConfiguredAxesCount public KsError SetConfiguredAxesCount(
int Count
)
|
SetConfiguredAxesCount public EcatErrorCode SetConfiguredAxesCount( EcatHandle mainDevice, uint count )
|
|
SetConfiguredIoCount public KsError SetConfiguredIoCount(
int Count
)
|
SetConfiguredIoCount public EcatErrorCode SetConfiguredIoCount( EcatHandle mainDevice, uint count )
|
Managed SubDevice APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
OverrideSlavePdoConfiguration public KsError OverrideSlavePdoConfiguration(
int SlaveId,
int InputLength,
int OutputLength
)
|
OverrideSubDevicePdoConfiguration public EcatErrorCode OverrideSubDevicePdoConfiguration( EcatHandle subDevice, uint inputLength, uint outputLength )
|
|
ReadAllSlaveEEprom public KsCommandStatus ReadAllSlaveEEprom(
int SlaveId,
string File
)
|
ReadAllSubDeviceEEprom public CommandStatus ReadAllSubDeviceEEprom( EcatHandle subDevice, string file )
|
|
ReadSlaveAlias public KsCommandStatus<ushort> ReadSlaveAlias(
int SlaveId
)
|
ReadSubDeviceAlias public CommandStatus<ushort> ReadSubDeviceAlias( EcatHandle subDevice )
|
|
ReadSlaveEEprom public KsCommandStatus<uint> ReadSlaveEEprom(
int SlaveId,
int Offset
)
|
ReadSubDeviceEEprom public CommandStatus<uint> ReadSubDeviceEEprom( EcatHandle subDevice, uint offset )
|
|
ReadSlaveRegister public KsCommandStatus<byte[]> ReadSlaveRegister(
int SlaveId,
int Offset,
int Length
)
|
ReadSubDeviceRegister public CommandStatus<byte[]> ReadSubDeviceRegister( EcatHandle subDevice, ushort offset, uint length )
|
|
ReloadSlaveEEprom public KsCommandStatus ReloadSlaveEEprom(
int SlaveId
)
|
ReloadSubDeviceEEprom public CommandStatus ReloadSubDeviceEEprom( EcatHandle subDevice )
|
|
RequestSlaveState public KsCommandStatus RequestSlaveState(
int SlaveId,
EthercatState State
)
|
RequestSubDeviceState public CommandStatus RequestSubDeviceState( EcatHandle subDevice, EcatState state )
|
|
ResetSlaveEsc public KsCommandStatus ResetSlaveEsc(
int SlaveId
)
|
ResetSubDeviceEsc public CommandStatus ResetSubDeviceEsc( EcatHandle subDevice )
|
|
RestartSlave public KsCommandStatus RestartSlave(
int SlaveId
)
|
RestartSubDevice public CommandStatus RestartSubDevice( EcatHandle subDevice )
|
|
WriteAllSlaveEEprom public KsCommandStatus WriteAllSlaveEEprom(
int SlaveId,
string File
)
|
WriteAllSubDeviceEEprom public CommandStatus WriteAllSubDeviceEEprom( EcatHandle subDevice, string file )
|
|
WriteSlaveAlias public KsCommandStatus WriteSlaveAlias(
int SlaveId,
ushort Alias
)
|
WriteSubDeviceAlias public CommandStatus WriteSubDeviceAlias( EcatHandle subDevice, ushort alias )
|
|
WriteSlaveEEprom public KsCommandStatus WriteSlaveEEprom(
int SlaveId,
int Offset,
uint Data
)
|
WriteSubDeviceEEprom public CommandStatus WriteSubDeviceEEprom( EcatHandle subDevice, uint offset, uint data )
|
|
WriteSlaveRegister public KsCommandStatus WriteSlaveRegister(
int SlaveId,
int Offset,
byte[] Data
)
|
WriteSubDeviceRegister public CommandStatus WriteSubDeviceRegister( EcatHandle subDevice, ushort offset, byte[] data )
|
Other Managed E-CAT APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
KsCommandStatus Class |
CommandStatus Class
|
|
KsCommandStatus<T> Class |
CommandStatus<T> Class
|
|
SubsystemDiagnostics Class |
MainDeviceDiagnostics Class
|
|
SubsystemStatus Class |
MainDeviceStatus Class
|
|
SlaveDiagnostics Class |
SubDeviceDiagnostics Class
|
|
SlaveStatus Class |
SubDeviceStatus Class
|
Removed APIs
This section lists KINGSTAR 4.x APIs that were removed from wRTOS 1.x SDKs.
Removed E-CAT APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
GetAxisByIndex |
Removed. Use RtecatOpenAxisByIndex or RtecatOpenAxisByLocation to open an Axis and then use RtecatGetAxisStatus to get its status. |
|
ReadAxisAlias |
Removed. |
|
WriteAxisAlias |
Removed. |
|
GetSlaveById |
Removed. Use RtecatOpenSubDeviceByExplicitId, RtecatOpenSubDeviceByIndex, or RtecatOpenSubDeviceByStationAddress to open a SubDevice and then use RtecatGetSubDeviceStatus to get its status. |
|
GetIOByIndex |
Removed. Use RtecatOpenModuleByIndex or RtecatOpenModuleByLocation to open a module and then use RtecatGetModuleStatus to get its status. |
|
ReadIOAlias |
Removed. |
|
WriteIOAlias |
Removed. |
|
ConfigureDc |
Removed. Use RtecatSetFeatureStatus. |
|
EnableAliases |
Removed. |
|
EnableAutoConfig |
Removed. Use RtecatSetFeatureStatus. |
|
EnableAutoRepair |
Removed. Use RtecatSetFeatureStatus. |
|
EnableAutoRestart |
Removed. Use RtecatSetFeatureStatus. |
|
EnableHotConnect |
Removed. Use RtecatSetFeatureStatus. |
|
EnableRedundancy |
Removed. Use RtecatSetFeatureStatus. |
|
EnableServerLog |
Removed. |
|
EnableShutdownHandler |
Removed. Use RtecatSetFeatureStatus. |
|
GetAliasesStatus |
Removed. |
|
GetStatusEx |
Removed. Use RtecatGetStatus. |
|
Log |
Removed. Use Variable Database Library (RTVDB APIs). |
|
RegisterCallbackEx |
Removed. Use RtecatRegisterCallbackOnReceive. |
|
SetCycleTime |
Removed. Use RtecatSetFeatureStatus. |
|
StopLog |
Removed. Use Variable Database Library (RTVDB APIs). |
|
Unlink |
Removed. Use RtecatCloseHandle. |
|
AddModuleConfiguration |
Removed. |
|
RemoveModuleConfiguration |
Removed. |
|
KsLogChannel |
Removed. Use Variable Database Library (RTVDB APIs). |
|
McTriggerSource |
Removed. Use Variable Database Library (RTVDB APIs). |
|
SafetySetting |
Removed. |
|
SubsystemStatusEx |
Removed. Use RTECAT_MAINDEVICE_STATUS. |
|
UserVariable |
Removed. Use Variable Database Library (RTVDB APIs). |
|
AxisState |
Removed. |
|
KsConfigurationType |
Removed. |
|
KsLogDataType |
Removed. Use Variable Database Library (RTVDB APIs). |
|
KsLogSeverity |
Removed. Use Variable Database Library (RTVDB APIs). |
|
KsLogSource |
Removed. Use Variable Database Library (RTVDB APIs). |
|
KsLogTriggerType |
Removed. Use Variable Database Library (RTVDB APIs). |
|
KsLogVariable |
Removed. Use Variable Database Library (RTVDB APIs). |
|
McTriggerSourceType |
Removed. Use Variable Database Library (RTVDB APIs). |
|
McTriggerType |
Removed. Use Variable Database Library (RTVDB APIs). |
|
McTriggerVariableType |
Removed. Use Variable Database Library (RTVDB APIs). |
Removed Managed E-CAT APIs
| KINGSTAR 4.x API | wRTOS 1.0 and later |
|---|---|
|
Api.CreateAsync |
Removed. |
|
Api.DestroyAsync |
Removed. |
|
Api.Dispose |
Removed. |
|
Api.EnableAliases |
Removed. |
|
Api.GetAliasesStatus |
Removed. |
|
Api.GetStatusEx |
Removed. Use Library.GetStatus. |
|
Api.Log |
Removed. Use Variable Database APIs. |
|
Api.RegisterCallback |
Removed. |
|
Api.StopLog |
Removed. Use Variable Database APIs. |
|
Api.Unlink |
Removed. Use Library.CloseHandle. |
|
Api.AbortCommand (byte) |
Removed. |
|
Api.AbortCommand (double) |
Removed. |
|
Api.AbortCommand (integer) |
Removed. |
|
Api.AbortCommand (long) |
Removed. |
|
Api.AbortCommand (short) |
Removed. |
|
Api.AbortCommand (ulong) |
Removed. |
|
Api.GetCommandStatus (byte) |
Removed. |
|
Api.GetCommandStatus (double) |
Removed. |
|
Api.GetCommandStatus (integer) |
Removed. |
|
Api.GetCommandStatus (long) |
Removed. |
|
Api.GetCommandStatus (short) |
Removed. |
|
Api.GetCommandStatus (ulong) |
Removed. |
|
Api.WaitForCommandAsync |
Removed. |
|
Api.WaitForCommandAsync (byte[]) |
Removed. |
|
Api.WaitForCommandAsync (byte) |
Removed. |
|
Api.WaitForCommandAsync (double) |
Removed. |
|
Api.WaitForCommandAsync (integer) |
Removed. |
|
Api.WaitForCommandAsync (long) |
Removed. |
|
Api.WaitForCommandAsync (SdoEntryDescription) |
Removed. |
|
Api.WaitForCommandAsync (SdoObjectDescription) |
Removed. |
|
Api.WaitForCommandAsync (short) |
Removed. |
|
Api.WaitForCommandAsync (uint) |
Removed. |
|
Api.WaitForCommandAsync (ulong) |
Removed. |
|
Api.WaitForCommandAsync (ushort[]) |
Removed. |
|
Api.WaitForCommandAsync (ushort) |
Removed. |
|
Api.WaitForCommand (byte) |
Removed. |
|
Api.WaitForCommand (double) |
Removed. |
|
Api.WaitForCommand (integer) |
Removed. |
|
Api.WaitForCommand (long) |
Removed. |
|
Api.WaitForCommand (short) |
Removed. |
|
Api.WaitForCommand (ulong) |
Removed. |
|
Api.GetMemoryPointer |
Removed. |
|
Api.GetSlaveById |
Removed. Use OpenSubDeviceByExplicitId, OpenSubDeviceByIndex, or OpenSubDeviceByStationAddress to open a SubDevice and then use GetSubDeviceStatus to get its status. |
|
Api.GetIOBuffers |
Removed. |
|
Api.GetIOByIndex |
Removed. |
|
Api.ReadIOAlias |
Removed. |
|
Api.WriteIOAlias |
Removed. |
|
Api.EoeSetSlaveEoeIp |
Removed. |
|
Api.FoeReadFileToBuffer |
Removed. |
|
Api.FoeWriteFileFromBuffer |
Removed. |
|
Api.RegisterMailboxCallback |
Removed. |
|
Api.GetAxisByIndex |
Removed. Use OpenAxisByIndex or OpenAxisByLocation to open an axis and then use GetAxisStatus to get its status. |
|
Api.GetAxisBuffers |
Removed. |
|
SlaveStatus Class |
Removed. Use AxisStatus Class and ModuleStatus Class. |
Related topics:
