| Command syntax | Description |
|---|---|
Cfg.LinkEcEntryToObject(<str>,<str>) | Links an EtherCAT entry to an object. |
Cfg.SetEnableFuncCallDiag(<int>) | Enable printouts of which functions in hw_motor.cpp are being called. |
Cfg.SetEnableTimeDiag(<int>) | Enable printouts of timing information related to the realtime thread. |
Cfg.ValidateConfig() | Validates the current configuration) |
| Command syntax | Description |
|---|---|
Cfg.AddAxisEnc(<int>) | Add encoder object to axis. |
Cfg.AddAxisGroup(<str>) | Creates an axis group object. |
Cfg.AddAxisToGroupByIndex(<int>,<int>) | Adds an axis to an group |
Cfg.AddAxisToGroupByName(<int>,<str>) | Adds an axis to an group |
Cfg.AddAxisToGroupByName(<int>,<str>,<int>) | Adds an axis to an group |
Cfg.AppendAxisPLCExpr(<int>)=<str> | Append axis sync. |
Cfg.CompileAxisPLC(<int>) | Compile Axis PLC code * For more syntax help plese view PLC syntax (setPLCExpr()). |
Cfg.CreateAxis(<int>) | Creates an axis object at index axisIndex. |
Cfg.CreateAxis(<int>,<int>) | Creates an axis object at index axisIndex. |
Cfg.CreateAxis(<int>,<int>,<int>) | Creates an axis object at index axisIndex. |
Cfg.CreateAxis(<int>,<int>,<int>,<int>) | Creates an axis object at index axisIndex. |
Cfg.CreateDefaultAxis(<int>) | Creates an axis object at index axisIndex. |
Cfg.CreateMasterSlaveSM(<int>,<str>,<str>,<str>,<int>,<int>) | Create a new master slave state machine object |
GetAxisAcc(<int>) | Get axis acceleration setpoint. |
GetAxisAllowCommandsFromPLC(<int>) | Get axis allow command from PLC. |
GetAxisBlockCom(<int>) | Get axis block external com. |
GetAxisCycleCounter(<int>) | Get axis execution cycle counter. |
GetAxisDec(<int>) | Get axis deceleration setpoint. |
GetAxisDrvScaleNum(<int>) | Get drive output scale numerator. |
GetAxisEnableAlarmAtHardLimits(<int>) | Get enable alarms at limits bit. |
GetAxisEnableSoftLimitBwd(<int>) | Get backward soft-limit enabled state of an axis. |
GetAxisEnableSoftLimitFwd(<int>) | Get forward soft-limit enabled state of an axis. |
GetAxisEncConfigIndex(<int>) | Get index of current encoder being configured. |
GetAxisEncPosRaw(<int>) | Get raw unscaled encoder value. |
GetAxisEncPrimaryIndex(<int>) | Get index of current encoder being used for control (PID). |
GetAxisEncScaleDenom(<int>) | Get the denominator part of the encoder scale. |
GetAxisEncScaleNum(<int>) | Get the numerator part of the encoder scale. |
GetAxisEncSourceType(<int>) | Get axis encoder data source. |
GetAxisGroupCount() | Get total group count |
GetAxisGroupIndexByName(<str>) | Get index of axis group by name |
GetAxisHomeVelOffCam(<int>) | Get off cam referencing/homing velocity setpoint. |
GetAxisHomeVelTowardsCam(<int>) | Get Towards cam referencing/homing velocity setpoint. |
GetAxisModRange(<int>) | Get axis modulo range. |
GetAxisModType(<int>) | Set axis modulo motion type. |
GetAxisMonAtTargetTime(<int>) | Get “at target” monitoring time (cycles). |
GetAxisMonAtTargetTol(<int>) | Set drive type. |
GetAxisMonEnableAtTargetMon(<int>) | Get enable “at target” monitoring. |
GetAxisMonEnableLagMon(<int>) | Get position lag monitoring enable. |
GetAxisMonEnableMaxVel(<int>) | Get enable maximum velocity monitoring (over speed). |
GetAxisMonEnableVelocityDiff(<int>) | Enable monitoring of velocity difference. |
GetAxisMonExtHWInterlockPolarity(<int>) | Get polarity of motion axis interlock from EtherCAT entry. |
GetAxisMonHomeSwitchPolarity(<int>) | Get polarity of home switch. |
GetAxisMonLatchLimit(<int>) | Get latch on limit settings. |
GetAxisMonLimitBwdPolarity(<int>) | Get polarity of hard low limit switch. |
GetAxisMonLimitFwdPolarity(<int>) | Get polarity of hard high limit switch. |
GetAxisMonMaxVel(<int>) | Get maximum allowed velocity. |
GetAxisMonMaxVelDriveILDelay(<int>) | Set velocity monitoring interlock delay for drive. |
GetAxisMonMaxVelTrajILDelay(<int>) | Set velocity monitoring interlock delay for trajectory. |
GetAxisMonPosLagTime(<int>) | Get position lag monitoring time (cycles). |
GetAxisMonPosLagTol(<int>) | Get position lag maximum monitoring tolerance. |
GetAxisMonVelDiffDriveILDelay(<int>) | Set drive interlock filter time in cycles for velocity difference monitoring. |
GetAxisMonVelDiffTol(<int>) | Set maximum allowed difference between setpoint speed and actual speed±n |
GetAxisMonVelDiffTrajILDelay(<int>) | Set trajectory interlock filter time in cycles for velocity difference monitoring. |
GetAxisPLCEnable(<int>) | Get axis enable for axis sync. |
GetAxisPLCEncVelFilterEnable(<int>) | Enables/disables velocity filter of external actual value. |
GetAxisPLCEncVelFilterSize(<int>) | Set size of external encoder velocity filter. |
GetAxisPLCTrajVelFilterEnable(<int>) | Enables/disables velocity filter of external setpoint. |
GetAxisPLCTrajVelFilterSize(<int>) | Set size of external trajectory velocity filter. |
GetAxisSoftLimitPosBwd(<int>) | Get backward soft-limit position. |
GetAxisSoftLimitPosFwd(<int>) | Get forward soft-limit position. |
GetAxisTrajSourceType(<int>) | Get axis trajectory data source. |
GetAxisType(<int>) | Get axis type. |
GetAxisVel(<int>) | Get axis target velocity setpoint. |
Cfg.LinkEcEntryToAxisDrive(<int>,,<int>,<int>,<int>) | Links an EtherCAT entry to the drive object of the axis at axisIndex. |
Cfg.LinkEcEntryToAxisDrive(<int>,<str>,<int>,<int>,<int>) | Links an EtherCAT entry to the drive object of the axis at axisIndex. |
Cfg.LinkEcEntryToAxisEncoder(<int>,<str>,<int>,<int>,<int>) | Links an EtherCAT entry to the encoder object of the axis at axisIndex. |
Cfg.LinkEcEntryToAxisMonitor(<int>,<str>,<int>,<int>,<int>) | Links an EtherCAT entry to the monitor object of the axis at axisIndex |
Cfg.LinkEcEntryToAxisStatusOutput(<int>,<str>,<int>) | Links an EtherCAT entry to the an axis object for status output * The output will be high when the axis object is without error code and otherwise zero. |
Cfg.LoadAxisEncLookupTable(<int>,<str>) | Load encoder correction lookup table file. |
MoveAbsolutePosition(<int>,<float>,<float>,<float>,<float>) | Move axis to an absolute position. |
MoveRelativePosition(<int>,<float>,<float>,<float>,<float>) | Move axis to a relative position. |
MoveVelocity(<int>,<float>,<float>,<float>) | Move axis in a constant velocity. |
Cfg.SelectAxisEncConfig(<int>,<int>) | Select encoder to configured. |
Cfg.SelectAxisEncCSPDrv(<int>,<int>) | Select encoder to be used by ecmc drive object for CSP control. |
Cfg.SelectAxisEncPrimary(<int>,<int>) | Select encoder to be used for control. |
Cfg.SetAxisAcc(<int>,<float>) | Set axis acceleration setpoint. |
Cfg.SetAxisAllowCommandsFromPLC(<int>,<int>) | Allow commands from PLCs. |
Cfg.SetAxisAllowSourceChangeWhenEnabled(<int>,<int>) | Allow change of encoder and trajectory source when axis is enabled |
Cfg.SetAxisAutoDisableAfterTime(<int>,<float>) | Set axis auto amplifier disable after a defined idle time (axis not busy). |
Cfg.SetAxisAutoEnableTimeout(<int>,<float>) | Set axis auto amplifier enable timout time. |
Cfg.SetAxisAutoModeCmdHoming(<int>,<int>) | Set axis auto mode command for homing. |
Cfg.SetAxisAutoModeCmdMotion(<int>,<int>) | Set axis auto mode command for motion. |
Cfg.SetAxisBlockCom(<int>,<int>) | Block/unblock communicatiom from via cmd parser. |
Cfg.SetAxisCntrlDeadband(<int>,<float>) | Set PID-controller deadband. |
Cfg.SetAxisCntrlDeadbandTime(<int>,<int>) | Set PID-controller deadband time filter. |
Cfg.SetAxisCntrlInnerParams(<int>,<float>,<float>,<float>,<float>) | Use a differnt set of pid parameters if within a certain distance of target |
Cfg.SetAxisCntrlIPartHL(<int>,<float>) | Set PID-controller maximum integral part output value. |
Cfg.SetAxisCntrlIPartLL(<int>,<float>) | Set PID-controller minimum integral part output value. |
Cfg.SetAxisCntrlKd(<int>,<float>) | Set PID-controller differential gain. |
Cfg.SetAxisCntrlKff(<int>,<float>) | Set PID-controller feed forward gain. |
Cfg.SetAxisCntrlKi(<int>,<float>) | Set PID-controller integral gain. |
Cfg.SetAxisCntrlKp(<int>,<float>) | Set PID-controller proportional gain. |
Cfg.SetAxisCntrlOutHL(<int>,<float>) | Set PID-controller maximum output value. |
Cfg.SetAxisCntrlOutLL(<int>,<float>) | Set PID-controller minimum output value. |
Cfg.SetAxisDec(<int>,<float>) | Set axis deceleration setpoint. |
Cfg.SetAxisDisableAtErrorReset(<int>,<int>) | Disable axis at error reset * If axis is in error state and a reset command is issued, then the axis will be disabled. |
Cfg.SetAxisDrvBrakeCloseAheadTime(<int>,<int>) | Set brake close ahead time . |
Cfg.SetAxisDrvBrakeEnable(<int>,<int>) | Set enable of brake. |
Cfg.SetAxisDrvBrakeOpenDelayTime(<int>,<int>) | Set brake open delay time . |
Cfg.SetAxisDrvReduceTorqueEnable(<int>,<int>) | Set enable of reduce torque functionality. |
Cfg.SetAxisDrvScaleDenom(<int>,<float>) | Set drive output scale denominator. |
Cfg.SetAxisDrvScaleNum(<int>,<float>) | Set drive output scale numerator. |
Cfg.SetAxisDrvStateMachineTimeout(<int>,<float>) | Set drive timeout . |
Cfg.SetAxisDrvVelSetOffsetRaw(<int>,<float>) | Set drive raw velocity offset. |
Cfg.SetAxisEmergDeceleration(<int>,<float>) | Set axis emergency deceleration setpoint. |
Cfg.SetAxisEnableAlarmAtHardLimits(<int>,<int>) | Set enable alarms at limits bit. |
Cfg.SetAxisEnableAlarmAtSoftLimit(<int>,<int>) | Enable alarm when at softlimit |
Cfg.SetAxisEnableAtStartup(<int>,<int>) | Set axis amplifier enable at ioc startup. |
Cfg.SetAxisEnableMotionFunctions(<int>,<int>,<int>,<int>) | Set enable of motion functions. |
Cfg.SetAxisEnableSoftLimitBwd(<int>,<int>) | Set enable backward soft-limit of an axis. |
Cfg.SetAxisEnableSoftLimitFwd(<int>,<int>) | Set enable forward soft-limit of an axis. |
Cfg.SetAxisEncAbsBits(<int>,<int>) | Set encoder register bit count for absolute data. |
Cfg.SetAxisEncAllowOverUnderFlow(<int>,<int>) | Set allow over/under flow of encoder raw counter * Set flag to allow over- and under-flows of encoder raw counter (default over/underflow are allowed). |
Cfg.SetAxisEncBits(<int>,<int>) | Set encoder register bit count. |
Cfg.SetAxisEncDelayCyclesAndEnable(<int>,<float>,<int>) | Set encoder delay in cycles * Delay between drv setpoint and encoder act, typically atleast 2 cycles |
Cfg.SetAxisEncEnableRefAtHome(<int>,<int>) | Set referance this encoder at homing * Referance this encoder during homing. |
Cfg.SetAxisEncHomeLatchArmControlWord(<int>,% | Set latch control word to arm latch The start bit is defined when linking the entry. |
Cfg.SetAxisEncHomeLatchCountOffset(<int>,<int>) | Set home index pulse count offset. |
Cfg.SetAxisEncInvHwReady(<int>,<int>) | Invert Encoder Ready bit. |
Cfg.SetAxisEncLookupTableEnable(<int>,<int>) | Enable/Disable encoder lookup table. |
Cfg.SetAxisEncLookupTableRange(<int>,<float>) | Set encoder lookup table mask |
Cfg.SetAxisEncLookupTableScale(<int>,<float>) | Set encoder lookup table scale factor |
Cfg.SetAxisEncMaxDiffToPrimEnc(<int>,<float>) | Set maximum position deviation between current encoder and primary encoder. |
Cfg.SetAxisEncOffset(<int>,<float>) | Set encoder offset value. |
Cfg.SetAxisEncPosFilterEnable(<int>,<int>) | Enables/disables encoder position filter. |
Cfg.SetAxisEncPosFilterSize(<int>,<int>) | Set size of encoder position filter. |
Cfg.SetAxisEncRawMask(<int>,% | Set encoder raw data mask. |
Cfg.SetAxisEncRefToOtherEncAtStartup(<int>,<int>) | Reference this encoder to other encoder at startup. |
Cfg.SetAxisEncScaleDenom(<int>,<float>) | Set the denominator part of the encoder scale. |
Cfg.SetAxisEncScaleNum(<int>,<float>) | Set the numerator part of the encoder scale. |
Cfg.SetAxisEncSourceType(<int>,<int>) | Set axis encoder data source. |
Cfg.SetAxisEncType(<int>,<int>) | Set encoder type. |
Cfg.SetAxisEncVelFilterEnable(<int>,<int>) | Enables/disables encoder velocity filter. |
Cfg.SetAxisEncVelFilterSize(<int>,<int>) | Set size of encoder velocity filter. |
Cfg.SetAxisErrorId(<int>,<int>) | Set axis error code. |
Cfg.SetAxisHomeAcc(<int>,<float>) | Set homing acceleration for current encoder beeing configured. |
Cfg.SetAxisHomeDec(<int>,<float>) | Set homing deceleration for current encoder beeing configured. |
Cfg.SetAxisHomeLatchCountOffset(<int>,<int>) | Set home index pulse count offset. |
Cfg.SetAxisHomePosition(<int>,<float>) | Set axis home reference position setpoint. |
Cfg.SetAxisHomePostMoveEnable(<int>,<int>) | Set homing post movement enable * After successfull homing sequence an absolute positioning command can be executed. |
Cfg.SetAxisHomePostMoveTargetPosition(<int>,<float>) | Set homing post movement target position * After successfull homing sequence an absolute positioning command can be executed. |
Cfg.SetAxisHomePostMvPos(<int>,<float>) | Set homing post movement target position * After successfull homing sequence an absolute positioning command can be executed. |
Cfg.SetAxisHomeSeqId(<int>,<int>) | Set homing sequence id for current encoder beeing configured. |
Cfg.SetAxisHomeSwitchEnable(<int>,<int>) | Enable use of home sensor * Enable use of home sensor Will be automatically enabled if an EtherCAT entry is linked |
Cfg.SetAxisHomeSwitchPLCOverride(<int>,<int>) | Override home switch with PLC code * If overridden then the home switch does not need to be linked instead the switch value must be set in plc code |
Cfg.SetAxisHomeVelOffCam(<int>,<float>) | Set off cam referencing/homing velocity setpoint. |
Cfg.SetAxisHomeVelTowardsCam(<int>,<float>) | Set Towards cam referencing/homing velocity setpoint. |
Cfg.SetAxisJerk(<int>,<float>) | Set axis maximum jerk setpoint. |
Cfg.SetAxisJogVel(<int>,<float>) | Set axis jog velocity setpoint. |
Cfg.SetAxisLimitSwitchBwdPLCOverride(<int>,<int>) | Override bwd limit switch with PLC code * If overridden then the limit switch does not need to be linked instead the switch value must be set in plc code |
Cfg.SetAxisLimitSwitchFwdPLCOverride(<int>,<int>) | Override fwd limit switch with PLC code * If overridden then the limit switch does not need to be linked instead the switch value must be set in plc code |
Cfg.SetAxisModRange(<int>,<float>) | Set axis modulo range. |
Cfg.SetAxisModType(<int>,<int>) | Set axis modulo motion type. |
Cfg.SetAxisMonAnalogInterlockPolarity(<int>,<int>) | Set polarity of motion axis interlock from EtherCAT entry. |
Cfg.SetAxisMonAnalogInterlockRawLimit(<int>,<float>) | Set analog interlock raw value limit . |
Cfg.SetAxisMonAnILPol(<int>,<int>) | Set polarity of motion axis interlock from EtherCAT entry. |
Cfg.SetAxisMonAnILRawLim(<int>,<float>) | Set analog interlock raw value limit . |
Cfg.SetAxisMonAtTargetTime(<int>,<int>) | Set “at target” monitoring time (cycles). |
Cfg.SetAxisMonAtTargetTol(<int>,<float>) | Set “at target” monitoring tolerance. |
Cfg.SetAxisMonCntrlOutHL(<int>,<float>) | Set monitoring controller output high limit. |
Cfg.SetAxisMonEnableAnalogInterlock(<int>,<int>) | Enable motion axis interlock from analog EtherCAT entry. |
Cfg.SetAxisMonEnableAtTargetMon(<int>,<int>) | Enable “at target” monitoring. |
Cfg.SetAxisMonEnableCntrlOutHLMon(<int>,<int>) | Enable controller output high limit monitoring. |
Cfg.SetAxisMonEnableEncsDiff(<int>,<int>) | Enable monitoring diff of act. |
Cfg.SetAxisMonEnableExtHWInterlock(<int>,<int>) | Enable motion axis interlock from EtherCAT entry. |
Cfg.SetAxisMonEnableLagMon(<int>,<int>) | Enable position lag monitoring. |
Cfg.SetAxisMonEnableMaxVel(<int>,<int>) | Enable maximum velocity monitoring (over speed). |
Cfg.SetAxisMonEnableStallMon(<int>,<int>) | Enable stall monitoring. |
Cfg.SetAxisMonEnAnIL(<int>,<int>) | Enable motion axis interlock from analog EtherCAT entry. |
Cfg.SetAxisMonExtHWInterlockPolarity(<int>,<int>) | Set polarity of motion axis interlock from EtherCAT entry. |
Cfg.SetAxisMonHomeSwitchPolarity(<int>,<int>) | Set polarity of home switch. |
Cfg.SetAxisMonLatchLimit(<int>,<int>) | Set latch limit settings. |
Cfg.SetAxisMonLimitBwdPolarity(<int>,<int>) | Set polarity of hard low limit switch. |
Cfg.SetAxisMonLimitFwdPolarity(<int>,<int>) | Set polarity of hard high limit switch. |
Cfg.SetAxisMonMaxVel(<int>,<float>) | Set maximum allowed velocity. |
Cfg.SetAxisMonPosLagTime(<int>,<int>) | Set position lag monitoring time (cycles). |
Cfg.SetAxisMonPosLagTol(<int>,<float>) | Set position lag maximum monitoring tolerance. |
Cfg.SetAxisMonStallMinTimeOut(<int>,<float>) | Set stall monitong minimum time out. |
Cfg.SetAxisMonStallTimeFactor(<int>,<float>) | Set stall monitong time factor. |
Cfg.SetAxisPLCEnable(<int>,<int>) | Enable axis sync PLC expression. |
Cfg.SetAxisSeqTimeout(<int>,<int>) | Set sequence timeout time in seconds. |
Cfg.SetAxisSoftLimitPosBwd(<int>,<float>) | Set backward soft-limit position. |
Cfg.SetAxisSoftLimitPosFwd(<int>,<float>) | Set forward soft-limit position. |
Cfg.SetAxisSrcChgEn(<int>,<int>) | Allow change of encoder and trajectory source when axis is enabled |
Cfg.SetAxisTrajSourceType(<int>,<int>) | Set axis trajectory data source. |
Cfg.SetAxisTrajStartPos(<int>,<float>) | Set axis trajectory start position. |
Cfg.SetAxisTweakDist(<int>,<float>) | Set axis tweak distance. |
Cfg.SetAxisVel(<int>,<float>) | Set axis target velocity setpoint. |
Cfg.SetAxisVelAccDecTime(<int>,<float>,<float>) | Set axis deceleration setpoint. |
Cfg.SetDiagAxisEnable(<int>) | Enable detailed motion diagnostics printouts. |
Cfg.SetDiagAxisFreq(<int>) | Set axis frequency of detailed motion diagnostics printouts. |
Cfg.SetDiagAxisIndex(<int>) | Set axis index for detailed motion diagnostics. |
Cfg.SetPVTControllerTrgDurMs(<float>) | Set duration of PVT (profile move) trigger output |
StopMotion(<int>) | Stop axis. |
StopMotion(<int>,<int>) | Stop axis. |
| Command syntax | Description |
|---|---|
Cfg.EcAddDataDT(<str>,<int>,<int>,<int>,<str>,<str>) | Adds a data item object to access data directly from EtherCAT domain. |
Cfg.EcAddDomain(<int>,<int>) | Add domain |
Cfg.EcAddEntryComplete(<int>,0x<hex>,0x<hex>,<int>,<int>,0x<hex>,0x<hex>,0x<hex>,<int>,<str>,<int>) | Set update in realtime bit for an entry * If set to zero the entry will not be updated during realtime operation. |
Cfg.EcAddEntryDT(<int>,0x<hex>,0x<hex>,<int>,<int>,0x<hex>,0x<hex>,0x<hex>,<str>,<str>) | Adds an EtherCAT slave to the hardware configuration. |
Cfg.EcAddEntryDT(<int>,0x<hex>,0x<hex>,<int>,<int>,0x<hex>,0x<hex>,0x<hex>,<str>,<str>,<int>) | Adds an EtherCAT slave to the hardware configuration. |
Cfg.EcAddMemMap(<int>,<str>,<int>,<int>,<str>) | Adds a memory map object to access data directly from EtherCAT domain. |
Cfg.EcAddMemMapDT(<str>,<int>,<int>,<str>,<str>) | Adds a memory map object to access data directly from EtherCAT domain. |
Cfg.EcAddSdo(<int>,0x<hex>,0x<hex>,0x<hex>,<int>) | Adds a Service Data Object for writing. |
Cfg.EcAddSdo(<int>,0x<hex>,0x<hex>,<int>,<int>) | Adds a Service Data Object for writing. |
Cfg.EcAddSdoAsync(<int>,0x<hex>,0x<hex>,<str>,<str>) | Adds an async SDO object. |
Cfg.EcAddSdoBuffer(<int>,0x<hex>,0x<hex>,<str>,<int>) | Adds a Service Data Object for writing. |
Cfg.EcAddSdoComplete(<int>,0x<hex>,<str>,<int>) | Adds a Service Data Object for writing. |
Cfg.EcAddSdoDT(<int>,0x<hex>,0x<hex>,<str>,<str>) | Adds a Service Data Object for writing. |
Cfg.EcAddSimEntry(<int>,<str>,<str>,% | Adds an EtherCAT simulation entry. |
Cfg.EcAddSlave(<int>,<int>,0x<hex>,0x<hex>) | Adds an EtherCAT slave to the hardware configuration. |
Cfg.EcApplyConfig(<int>) | Apply hardware configuration to master. |
Cfg.EcEnablePrintouts(<int>) | Enable diagnostic printouts from EtherCAT objects. |
EcGetMemMapId(<str>) | Get index of a memmap object based on its name id string |
EcGetSlaveProductCode(<int>) | Read product code of selected ethercat slave |
EcGetSlaveRevisionNum(<int>) | revision number id of selected ethercat slave |
EcGetSlaveSerialNum(<int>) | Read serial number of selected ethercat slave |
EcGetSlaveVendorId(<int>) | Read vendor id of selected ethercat slave |
EcPrintSlaveConfig(<int>)= | Prints hardware configuration for a selected slave. |
EcReadSdo(<int>,0x<hex>,0x<hex>,<int>) | Write to a Service Data Object. |
Cfg.EcResetMaster(<int>) | Retry configuring slaves for an selected EtherCAT master. |
Cfg.EcSelectReferenceDC(<int>,<int>) | Select EtherCAT reference clock. |
Cfg.EcSetAllowOffline(<int>) | Allow master to be offline |
Cfg.EcSetDelayECOkAtStartup(<int>) | Delay ethercat OK status for a time * This can be useful to allow extra time for DC clocks to synchronize or for slaves that do not report correct data directly when entering OP. |
Cfg.EcSetDiagnostics(<int>) | Enable EtherCAT bus diagnostics. |
Cfg.EcSetDomainAllowOffline(<int>) | Allow domain to be offline |
Cfg.EcSetDomainFailedCyclesLimit(<int>) | Set allowed bus cycles in row of none complete domain data transfer. |
Cfg.EcSetEntryUpdateInRealtime(<int>,<str>,<int>) | Set update in realtime bit for an entry * If set to zero the entry will not be updated during realtime operation. |
Cfg.EcSetMaster(<int>) | Selects EtherCAT master to use. |
Cfg.EcSetSlaveEnableSDOCheck(<int>,<int>) | Enable SDO setting check for a slave SDO setting check is default true for slaves linked to a motion axis. |
Cfg.EcSetSlaveNeedSDOSettings(<int>,<int>,<int>) | Set bit that slave needs SDO settings * This slave needs SDO settings i.e. |
Cfg.EcSetSlaveSDOSettingsDone(<int>,<int>,<int>) | Set bit that all SDOs has been set for this slave * After SDOs have been set this function should be called to tell ecmc that. |
Cfg.EcSlaveConfigDC(<int>,0x<hex>,<int>,<int>,<int>,<int>) | Configure slave DC clock. |
Cfg.EcSlaveConfigWatchDog(<int>,<int>,<int>) | Configure Slave watch dog. |
Cfg.EcSlaveVerify(<int>,<int>,0x<hex>,0x<hex>) | Verify slave at position * The command verifies that the actual slave at a certain position\ has the correct alias, position, vendor id, product code and revision number. |
Cfg.EcSlaveVerify(<int>,<int>,0x<hex>,0x<hex>,0x<hex>) | Verify slave at position * The command verifies that the actual slave at a certain position\ has the correct alias, position, vendor id, product code and revision number. |
Cfg.EcUseClockRealtime(<int>) | Use CLOCK_REALTIME * Ecmc will as default use CLOCK_MONOTONIC as clock source both for the RT loop and the ethercat bus. |
Cfg.EcVerifySdo(<int>,0x<hex>,0x<hex>,0x<hex>,<int>) | Verify a Service Data Object. |
Cfg.EcVerifySdo(<int>,0x<hex>,0x<hex>,<int>,<int>) | Verify a Service Data Object. |
Cfg.EcWriteSdo(<int>,0x<hex>,0x<hex>,0x<hex>,<int>) | Write to a Service Data Object. |
Cfg.EcWriteSdo(<int>,0x<hex>,0x<hex>,<int>,<int>) | Write to a Service Data Object. |
Cfg.EcWriteSoE(<int>,<int>,<int>,<int>,% | Write SoE |
Cfg.LinkEcEntryToEcStatusOutput(<int>,<str>) | Links an EtherCAT entry to the ethecat master object for hardware status output * The output will be high when the EtherCAT master is without error code and otherwise zero. |
ReadEcEntryIndexIDString(<int>,<str>) | Read the object Index of an entry addressed by slaveBusPosition and entryIdString. |
ReadEcSlaveIndex(<int>) | Read the object Index of an slave addressed by slaveBusPosition. |
WriteEcEntry(<int>,<int>,<int>) | Writes a value to an EtherCAT entry. |
Cfg.WriteEcEntryEcPath(<str>,% | Writes a value to an EtherCAT entry addressed by an ethercat path . |
Cfg.WriteEcEntryIDString(<int>,<str>,% | Writes a value to an EtherCAT entry addressed by slaveBusPosition and entryIdString. |
| Command syntax | Description |
|---|---|
Cfg.ClearStorage(<int>) | Clear data storage buffer. |
Cfg.CreateStorage(<int>,<int>,<int>) | Create a data storage object. |
GetStorageDataIndex(<int>) | Get current index of data in storage buffer. |
Cfg.LoadLUTFile(<int>,<str>) | Load and create lookup table (LUT). |
Cfg.PrintDataStorage(<int>) | Print contents of buffer. |
ReadDataStorage(<int>) | Reads contents of storage buffer. |
Cfg.SetDataStorageCurrentDataIndex(<int>,<int>) | Set current data index of storage buffer. |
Cfg.SetStorageEnablePrintouts(<int>,<int>) | Enable diagnostic printouts from data storage object. |
AppendDataStorage(<int>)= | No public header brief found (parser-specific or undocumented). |
WriteDataStorage(<int>)= | No public header brief found (parser-specific or undocumented). |
| Command syntax | Description |
|---|---|
Cfg.AppendPLCExpr(<int>)=<str> | Append Line to PLC expression. |
Cfg.ClearPLCExpr(<int>) | Clear PLC expression. |
Cfg.CompilePLC(<int>) | Compile PLC expression. |
Cfg.CreatePLC(<int>) | Create a PLC object called. |
Cfg.CreatePLC(<int>,<float>) | Create a PLC object called. |
Cfg.DeletePLC(<int>) | Delete PLC. |
GetPLCEnable(<int>) | Set enable of PLC. |
Cfg.LoadAxisPLCFile(<int>,<str>) | Load PLC file. |
Cfg.LoadPLCFile(<int>,<str>) | Load PLC file. |
Cfg.LoadPLCLibFile(<int>,<str>) | Load PLC Libray to PLC. |
ReadPLCVar(<int>,<str>) | Read PLC variable. |
Cfg.SetPLCEnable(<int>,<int>) | Set enable of PLC. |
Cfg.SetPLCExpr(<int>)=<str> | Set PLC expression. |
Cfg.SetPLCExpr(<int>,"<str>) | Set PLC expression. |
WritePLCVar(<int>,<str>,<float>) | Write to PLC variable. |
| Command syntax | Description |
|---|---|
Cfg.LoadPlugin(<int>,<str>) | Load a ecmc plugin. |
Cfg.LoadPlugin(<int>,<str>,<str>) | Load a ecmc plugin. |
Cfg.LoadSafetyPlugin(<str>,<str>) | Load safety plugin to ecmc (executes just before data is sent to the bus). |
Cfg.ReportPlugin(<int>) | Printout details of plugin. |
| Command syntax | Description |
|---|---|
ControllerErrorReset() | No public header brief found (parser-specific or undocumented). |
Cfg.EcAddEntryComplete(<int>,0x<hex>,0x<hex>,<int>,<int>,0x<hex>,0x<hex>,0x<hex>,<int>,<int>,<str>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcAddEntryComplete(<int>,0x<hex>,0x<hex>,<int>,<int>,0x<hex>,0x<hex>,0x<hex>,<int>,<str>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcAddPdo(<int>,<int>,0x<hex>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcAddSyncManager(<int>,<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcApplyConfig() | No public header brief found (parser-specific or undocumented). |
EcPrintAllHardware() | No public header brief found (parser-specific or undocumented). |
EcReadSoE(<int>,<int>,<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcResetError() | No public header brief found (parser-specific or undocumented). |
Cfg.EcWriteSdoComplete(<int>,0x<hex>,0x<hex>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.EcWriteSdoComplete(<int>,0x<hex>,<int>,<int>) | No public header brief found (parser-specific or undocumented). |
fAcceleration? | No public header brief found (parser-specific or undocumented). |
fActPosition? | No public header brief found (parser-specific or undocumented). |
fActVelocity? | No public header brief found (parser-specific or undocumented). |
fDeceleration? | No public header brief found (parser-specific or undocumented). |
fPosition? | No public header brief found (parser-specific or undocumented). |
fVelocity? | No public header brief found (parser-specific or undocumented). |
GetAxisAllowSourceChangeWhenEnabled(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisAutoDisableAfterTime(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisAutoEnableTimeout(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlDeadband(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlDeadbandTime(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlInnerKd(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlInnerKi(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlInnerKp(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlInnerTol(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlIPartHL(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlIPartLL(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlKd(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlKff(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlKi(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlKp(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlOutHL(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisCntrlOutLL(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisDrvBrakeCloseAheadTime(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisDrvBrakeEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisDrvBrakeOpenDelayTime(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisDrvReduceTorqueEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisDrvScaleDenom(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEmergDeceleration(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEnableConstVel(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEnableHome(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEnablePos(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncAbsBits(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncBits(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncDelayCompEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncDelayCompTime(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncEnableRefAtHome(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncHomeIndex(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncLookupTableEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncLookupTableRange(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncLookupTableScale(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncOffset(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncPosFilterEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncPosFilterSize(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncRawMask(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncVelFilterEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisEncVelFilterSize(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomeAcc(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomeDec(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomePosition(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomePostMoveEnable(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomePostMoveTargetPosition(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisHomeSeqId(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisJerk(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisJogVel(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonAnalogInterlockPolarity(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonAnalogInterlockRawLimit(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonAnalogInterlockRawValue(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonEnableAnalogInterlock(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonEnableStallMon(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonStallMinTimeOut(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonStallTimeFactor(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisMonStopAtAnyLimit(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisPLCExpr(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisSrcChgEn(<int>) | No public header brief found (parser-specific or undocumented). |
GetAxisTweakDist(<int>) | No public header brief found (parser-specific or undocumented). |
GetControllerError() | No public header brief found (parser-specific or undocumented). |
GetControllerErrorMessage() | No public header brief found (parser-specific or undocumented). |
GetPLCExpr(<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.IocshCmd=<str> | No public header brief found (parser-specific or undocumented). |
Cfg.LinkEcEntryToObject(,) | No public header brief found (parser-specific or undocumented). |
Cfg.LinkEcEntryToObject(,<str>) | No public header brief found (parser-specific or undocumented). |
ReadEcEntry(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
ReadEcEntryIDString(<int>,<str>) | No public header brief found (parser-specific or undocumented). |
sErrorMessage? | No public header brief found (parser-specific or undocumented). |
Cfg.SetAppMode(<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisAutoResetError(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisCntrlInnerKd(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisCntrlInnerKi(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisCntrlInnerKp(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisCntrlInnerTol(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisDrvType(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisEnableConstVel(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisEnableHome(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisEnablePos(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisEncDelayCompEnable(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisEncDelayCompTime(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonEnableVelocityDiff(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonMaxVelDriveILDelay(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonMaxVelTrajILDelay(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonStopAtAnyLimit(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonVelDiffDriveILDelay(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonVelDiffTol(<int>,<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisMonVelDiffTrajILDelay(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisPLCEncVelFilterEnable(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisPLCEncVelFilterSize(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisPLCTrajVelFilterEnable(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetAxisPLCTrajVelFilterSize(<int>,<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetEcStartupTimeout(<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetSamplePeriodMs(<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetSampleRate(<float>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetTraceMask(<int>) | No public header brief found (parser-specific or undocumented). |
Cfg.SetTraceMaskBit(<int>,<int>) | No public header brief found (parser-specific or undocumented). |