E-CAT Fieldbus API Functions

The E-CAT API functions are grouped below:

Axis Control
Command
Diagnostics
E-CAT Component
Mailbox
MainDevice
Module Control
Shared Memory
Simulated Hardware
SubDevice

Axis Control

Reads and writes the values relevant to an axis.

Function	Description
RtecatForceAxisActualCurrent	Writes the actual current of a simulated axis.
RtecatForceAxisActualPosition	Writes the actual position of a simulated axis.
RtecatForceAxisActualTorque	Writes the actual torque of a simulated axis.
RtecatForceAxisActualVelocity	Writes the actual velocity of a simulated axis.
RtecatForceAxisCustomInput1	Writes the first custom input variable of a simulated axis.
RtecatForceAxisCustomInput2	Writes the second custom input variable of a simulated axis.
RtecatForceAxisDigitalInputs	Writes the digital inputs of a simulated axis.
RtecatForceAxisFollowingError	Writes the following error of a simulated axis.
RtecatForceAxisInputBit	Writes a bit into an input buffer of a simulated axis.
RtecatForceAxisInputByte	Writes a byte into an input buffer of a simulated axis.
RtecatForceAxisInputDWord	Writes a double word into an input buffer of a simulated axis.
RtecatForceAxisInputWord	Writes a word into an input buffer of a simulated axis.
RtecatForceAxisMopDisplay	Writes the modes of operation display of a simulated axis.
RtecatForceAxisSecondEncoder	Writes the secondary encoder's position of a simulated axis.
RtecatForceAxisStatusWord	Writes the status word of a simulated axis.
RtecatForceAxisTouchProbeStatus	Writes the touch probe status of a simulated axis.
RtecatGetAxisBuffers	Provides pointers to the input and output buffers of an axis.
RtecatGetAxisStatus	Gets the status of an axis.
RtecatOpenAxisByIndex	Opens the axis object by its index.
RtecatOpenAxisByLocation	Opens the axis object by its location.
RtecatReadAxisActualCurrent	Reads the actual current of an axis.
RtecatReadAxisActualPosition	Reads the actual position of an axis.
RtecatReadAxisActualTorque	Reads the actual torque of an axis.
RtecatReadAxisActualVelocity	Reads the actual velocity of an axis.
RtecatReadAxisControlWord	Reads the control word of an axis.
RtecatReadAxisCustomInput1	Reads the first custom input variable of an axis.
RtecatReadAxisCustomInput2	Reads the second custom input variable of an axis.
RtecatReadAxisCustomOutput1	Reads the first custom output variable of an axis.
RtecatReadAxisCustomOutput2	Reads the second custom output variable of an axis.
RtecatReadAxisDigitalInputs	Reads the digital inputs of an axis.
RtecatReadAxisDigitalOutputs	Reads the digital outputs of an axis.
RtecatReadAxisFollowingError	Reads the following error of an axis.
RtecatReadAxisInputBit	Reads a bit from an input buffer of an axis.
RtecatReadAxisInputByte	Reads a byte from an input buffer of an axis.
RtecatReadAxisInputDWord	Reads a double word from an input buffer of an axis.
RtecatReadAxisInputWord	Reads a word from an input buffer of an axis.
RtecatReadAxisMaxCurrent	Reads the maximum current of an axis.
RtecatReadAxisMaxTorque	Reads the maximum torque of an axis.
RtecatReadAxisMop	Reads the modes of operation of an axis.
RtecatReadAxisMopDisplay	Reads the modes of operation display of an axis.
RtecatReadAxisOutputBit	Reads a bit from an output buffer of an axis.
RtecatReadAxisOutputByte	Reads a byte from an output buffer of an axis.
RtecatReadAxisOutputDWord	Reads a double word from an output buffer of an axis.
RtecatReadAxisOutputWord	Reads a word from an output buffer of an axis.
RtecatReadAxisProfileAcceleration	Reads the profile acceleration of an axis.
RtecatReadAxisProfileDeceleration	Reads the profile deceleration of an axis.
RtecatReadAxisProfileVelocity	Reads the profile velocity of an axis.
RtecatReadAxisSecondEncoder	Reads the secondary encoder's position of an axis.
RtecatReadAxisStatusWord	Reads the status word of an axis.
RtecatReadAxisTargetPosition	Reads the target position of an axis.
RtecatReadAxisTargetTorque	Reads the target torque of an axis.
RtecatReadAxisTargetVelocity	Reads the target velocity of an axis.
RtecatReadAxisTorqueOffset	Reads the torque offset of an axis.
RtecatReadAxisTouchProbeControl	Reads the touch probe control of an axis.
RtecatReadAxisTouchProbeStatus	Reads the touch probe status of an axis.
RtecatSetAxisCustomName	Sets a custom name for an axis.
RtecatWriteAxisControlWord	Writes the control word of an axis.
RtecatWriteAxisCustomOutput1	Writes the first custom output variable of an axis.
RtecatWriteAxisCustomOutput2	Writes the second custom output variable of an axis.
RtecatWriteAxisDigitalOutputs	Writes the digital outputs of an axis.
RtecatWriteAxisMaxCurrent	Writes the maximum current of an axis.
RtecatWriteAxisMaxTorque	Writes the maximum torque of an axis.
RtecatWriteAxisMop	Writes the modes of operation of an axis.
RtecatWriteAxisOutputBit	Writes a bit into an output buffer of an axis.
RtecatWriteAxisOutputByte	Writes a byte into an output buffer of an axis.
RtecatWriteAxisOutputDWord	Writes a double word into an output buffer of an axis.
RtecatWriteAxisOutputWord	Writes a word into an output buffer of an axis.
RtecatWriteAxisProfileAcceleration	Writes the profile acceleration of an axis.
RtecatWriteAxisProfileDeceleration	Writes the profile deceleration of an axis.
RtecatWriteAxisProfileVelocity	Writes the profile velocity of an axis.
RtecatWriteAxisTargetPosition	Writes the target position of an axis.
RtecatWriteAxisTargetTorque	Writes the target torque of an axis.
RtecatWriteAxisTargetVelocity	Writes the target velocity of an axis.
RtecatWriteAxisTorqueOffset	Writes the torque offset of an axis.
RtecatWriteAxisTouchProbeControl	Writes the touch probe control of an axis.

Command

The commands that wait, cancel and get the states of the functions.

Function	Description
RtecatAbortCommand	Aborts a command.
RtecatGetCommandsStatus	Gets the status of multiple commands.
RtecatGetCommandStatus	Gets the status of a single command.
RtecatWaitForCommand	Waits for a command for a specified time duration.

Diagnostic

Resets MainDevice and SubDevices' diagnostic information.

Function	Description
RtecatResetDiagnostics	Resets MainDevice and SubDevice diagnostics information.

E-CAT Component

Controls the E-CAT component.

Function	Description
RtecatGetComponentStatus	Gets the E-CAT component status.
RtecatGetInstanceStatus	Gets an E-CAT MainDevice instance status.
RtecatIsComponentLicensed	Checks if the E-CAT component license is available on the system.
RtecatStartComponent	Starts all configured E-CAT MainDevice instances.
RtecatStartInstance	Starts an E-CAT MainDevice instance.
RtecatStopComponent	Stops all running E-CAT MainDevice instances.
RtecatStopInstance	Stops a running E-CAT MainDevice instance.

Mailbox

Exchanges data between the MainDevice and SubDevices.

Function	Description
RtecatAoeReadCommand	Reads data from a SubDevice through AoE (Automation Device Specification over EtherCAT).
RtecatAoeReadSdoObject	Reads data from a SubDevice through the AoE (Automation Device Specification over EtherCAT) SDO method.
RtecatAoeReadWriteCommand	Simultaneously reads data from and writes data to a SubDevice through AoE (Automation Device Specification over EtherCAT).
RtecatAoeWriteCommand	Writes data to a SubDevice through AoE (Automation Device Specification over EtherCAT).
RtecatAoeWriteControlCommand	Sends a command to a SubDevice through AoE (Automation Device Specification over EtherCAT).
RtecatAoeWriteSdoObject	Writes data to a SubDevice using the AoE (Automation Device Specification over EtherCAT) SDO method.
RtecatCoeReadSdoEntryDescription	Reads the description of an entry in an object dictionary through the CoE (CANopen over EtherCAT) SDO method.
RtecatCoeReadSdoObject	Reads an object value through the CoE (CANopen over EtherCAT) SDO method.
RtecatCoeReadSdoObjectDescription	Reads the description of an object through the CoE (CANopen over EtherCAT) SDO method.
RtecatCoeReadSdoODList	Reads the list of object indexes in a dictionary table through the CoE (CANopen over EtherCAT) SDO method.
RtecatCoeWriteSdoObject	Writes an object value through the CoE (CANopen over EtherCAT) SDO method.
RtecatFoeReadFileToBuffer	Reads a file from a SubDevice and saves it to a buffer through FoE (File Access over EtherCAT).
RtecatFoeReadFileToFile	Reads a file from a SubDevice and saves it to a file on the local machine.
RtecatFoeWriteFileFromBuffer	Writes a file from a buffer to a SubDevice through FoE (File Access over EtherCAT).
RtecatFoeWriteFileFromFile	Writes a file from the local machine to a SubDevice.
RtecatReadAxisSdoObject	Reads the value of an object from an axis through the CoE (CANopen over EtherCAT) SDO method.
RtecatReadModuleSdoObject	Reads the value of an object from a module through the CoE (CANopen over EtherCAT) SDO method.
RtecatRegisterMailboxCallback	Registers a function that the E-CAT Fieldbus will call when a mailbox message arrives.
RtecatSoeReadSsc	Reads data from a SubDevice through SoE (Servo Drive Profile over EtherCAT).
RtecatSoeWriteSsc	Writes data to a SubDevice through SoE (Servo Drive Profile over EtherCAT).
RtecatVoeWrite	Writes data to a VoE-enabled device through VoE (Vendor-Specific Protocol over EtherCAT).
RtecatWriteAxisSdoObject	Writes the value of an object to an axis through the CoE (CANopen over EtherCAT) SDO method.
RtecatWriteModuleSdoObject	Writes the value of an object to a module through the CoE (CANopen over EtherCAT) SDO method.

MainDevice

Reads and writes data from the MainDevice.

Function	Description
RtecatCloseHandle	Closes an E-CAT object handle.
RtecatCreateMainDevice	Creates a MainDevice object.
RtecatDestroyMainDevice	Destroys a MainDevice object.
RtecatGetDCSystemTime	Gets the timestamp of the selected Sync0's signal of the DC (distributed clock).
RtecatGetFeatureStatus	Gets the configuration of an EtherCAT startup feature.
RtecatGetStatus	Gets the status of a MainDevice.
RtecatOpenMainDevice	Opens a MainDevice object.
RtecatPulseHeartbeat	Sends a signal to notify E-CAT Fieldbus that the user application is running properly.
RtecatRegisterCallbackOnReceive	Registers a function to be called every cycle when new input data arrives. The function runs on the selected processor core.
RtecatRegisterCallbackOnTransmit	Registers a function to be called every cycle when the output data is about to be sent. The function runs on the selected processor core.
RtecatRequestState	Requests a MainDevice to switch to a specified EtherCAT state.
RtecatRestart	Restarts a MainDevice.
RtecatSetFeatureStatus	Sets the configuration of an EtherCAT startup feature.
RtecatSetHeartbeat	Configures the heartbeat settings.
RtecatStart	Starts a MainDevice. Calling RtecatStart also requests the MainDevice to switch to the Op state.
RtecatStartFromConfiguration	Starts a MainDevice using a configuration file created by the E-CAT Configuration Tool. Calling RtecatStartFromConfiguration also requests the MainDevice to switch to the Op state.
RtecatStop	Stops a MainDevice. Calling RtecatStop also requests the MainDevice to switch to the Offline state.

Module Control

Reads and writes the values relevant to a module.

Function	Description
RtecatForceModuleInputBit	Writes a bit into an input buffer of a simulated module.
RtecatForceModuleInputByte	Writes a byte into an input buffer of a simulated module.
RtecatForceModuleInputDWord	Writes a double word into an input buffer of a simulated module.
RtecatForceModuleInputWord	Writes a word into an input buffer of a simulated module.
RtecatGetModuleBuffers	Provides pointers to the input and output buffers of a module.
RtecatGetModuleStatus	Gets the status of a module.
RtecatOpenModuleByIndex	Opens a module object by its index.
RtecatOpenModuleByLocation	Opens a module object by its location.
RtecatReadModuleInputBit	Reads a bit from an input buffer of a module.
RtecatReadModuleInputByte	Reads a byte from an input buffer of a module.
RtecatReadModuleInputDWord	Reads a double word from an input buffer of a module.
RtecatReadModuleInputWord	Reads a word from an input buffer of a module.
RtecatReadModuleOutputBit	Reads a bit from an output buffer of a module.
RtecatReadModuleOutputByte	Reads a byte from an output buffer of a module.
RtecatReadModuleOutputDWord	Reads a double word from an output buffer of a module.
RtecatReadModuleOutputWord	Reads a word from an output buffer of a module.
RtecatSetModuleCustomName	Sets a custom name for a module.
RtecatWriteModuleOutputBit	Writes a bit into an output buffer of a module.
RtecatWriteModuleOutputByte	Writes a byte into an output buffer of a module.
RtecatWriteModuleOutputDWord	Writes a double word into an output buffer of a module.
RtecatWriteModuleOutputWord	Writes a word into an output buffer of a module.

Shared Memory

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

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

Function	Description
RtecatGetMemoryPointer	Gets the pointer to the address of the data in the E-CAT Fieldbus shared memory.
RtecatReadMemoryBit	Reads a bit from the E-CAT Fieldbus shared memory.
RtecatReadMemoryByte	Reads a byte from the E-CAT Fieldbus shared memory.
RtecatReadMemoryDWord	Reads a double word from the E-CAT Fieldbus shared memory.
RtecatReadMemoryLWord	Reads a quad word from the E-CAT Fieldbus shared memory.
RtecatReadMemoryWord	Reads a word from the E-CAT Fieldbus shared memory.
RtecatWriteMemoryBit	Writes a bit into the E-CAT Fieldbus shared memory.
RtecatWriteMemoryByte	Writes a byte into the E-CAT Fieldbus shared memory.
RtecatWriteMemoryDWord	Writes a double word into the E-CAT Fieldbus shared memory.
RtecatWriteMemoryLWord	Writes a quad word into the E-CAT Fieldbus shared memory.
RtecatWriteMemoryWord	Writes a word into the E-CAT Fieldbus shared memory.

Simulated Hardware

Configures simulated hardware.

Function	Description
RtecatConfigureAxis	Configures an axis. If the corresponding index contains a real axis module, the configuration set will be overridden.
RtecatConfigureIo	Configures an I/O module. If the corresponding index contains a real I/O module, the configuration set will be overridden.
RtecatGetConfiguredAxisCount	Gets the number of configured axes.
RtecatGetConfiguredIoCount	Gets the number of configured I/O modules.
RtecatSetConfiguredAxisCount	Sets the number of configured axes. If the actual number of detected real axes is less than the number configured, simulated axes will be generated during RtecatStart to match the configured number.
RtecatSetConfiguredIoCount	Sets the number of configured I/O modules. If the actual number of detected real I/O modules is less than the number configured, simulated I/O modules will be generated during RtecatStart to match the configured number.

SubDevice

Reads and writes data from an E-CAT sub device.

Function	Description
RtecatGetSubDeviceStatus	Gets the status of a SubDevice.
RtecatOpenSubDeviceByExplicitId	Opens a SubDevice object by its explicit identification.
RtecatOpenSubDeviceByIndex	Opens a SubDevice object by its index.
RtecatOpenSubDeviceByStationAddress	Opens a SubDevice object by its station address.
RtecatOverrideSubDevicePdoConfiguration	Changes the input and output PDO lengths of a SubDevice. This can be used to programmatically configure a SubDevice.
RtecatReadAllSubDeviceEEprom	Reads all data from a SubDevice's EEPROM.
RtecatReadSubDeviceAlias	Reads the alias address from a SubDevice.
RtecatReadSubDeviceEEprom	Reads a double word from a SubDevice's EEPROM.
RtecatReadSubDeviceRegister	Reads data from a SubDevice's register.
RtecatReloadSubDeviceEEprom	Reloads a SubDevice's EEPROM.
RtecatRequestSubDeviceState	Requests a SubDevice to go into a specified EtherCAT state.
RtecatResetSubDeviceEsc	Resets the EtherCAT SubDevice Controller of a SubDevice.
RtecatRestartSubDevice	Restarts a SubDevice.
RtecatWriteAllSubDeviceEEprom	Writes all data into a SubDevice’s EEPROM.
RtecatWriteSubDeviceAlias	Writes an alias address into a SubDevice.
RtecatWriteSubDeviceEEprom	Writes a double word into a SubDevice’s EEPROM.
RtecatWriteSubDeviceRegister	Writes data into a SubDevice's register.