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从站 API

所有从站函数使用 uint16_t master_index 和 uint16_t slave_index（1-based）参数。

快速开始​

#define DYNAMIC_LOAD
#include "ethercat.h"

dll_t dll;
LOAD_DLL(&dll, "Darra.Core.dll");

uint16_t master = dll.Initialize();
uint16_t count = dll.SetNetwork(master, "\\Device\\NPF_{GUID}", "");
printf("从站总数: %u\n", count);

/* 读取从站信息 (slave_index 1-based) */
char name[128];
dll.GetSlaveName(master, 1, name, sizeof(name));
uint32_t vid = dll.GetSlaveVendorId(master, 1);
uint32_t pid = dll.GetSlaveProductCode(master, 1);
printf("从站1: %s VID=0x%08X PID=0x%08X\n", name, vid, pid);

索引与组访问​

/* 通过 master_index + slave_index 直接访问, slave_index 1-based */
char name[128];
dll.GetSlaveName(master, 1, name, sizeof(name));

/* 默认组从站数 */
uint16_t group_count = dll.GetGroupSlaveCount(master, 0);
提示

组相关函数详见 从站分组。

地址与标识​

/* 物理配置地址（自动分配） */
uint16_t addr  = dll.GetSlaveConfigAddr(master, 1);  /* 如 0x1001 */
uint16_t alias = dll.GetSlaveAliasAddr(master, 1);   /* EEPROM 别名 */

/* 标识 */
char     name[128];
dll.GetSlaveName(master, 1, name, sizeof(name));
uint32_t vid = dll.GetSlaveVendorId(master, 1);
uint32_t pid = dll.GetSlaveProductCode(master, 1);
uint32_t rev = dll.GetSlaveRevision(master, 1);
uint32_t sn  = dll.GetSlaveSerialNumber(master, 1);

IO 区与邮箱属性​

/* PDO 区位数 / 字节数 / IOmap 偏移 / 起始位 */
uint16_t in_bits  = dll.GetSlaveInputBits(master, 1);
uint32_t in_bytes = dll.GetSlaveInputBytes(master, 1);
uint32_t in_off   = dll.GetSlaveInputOffset(master, 1);
uint8_t  in_sbit  = dll.GetSlaveInputStartBit(master, 1);

uint16_t out_bits  = dll.GetSlaveOutputBits(master, 1);
uint32_t out_bytes = dll.GetSlaveOutputBytes(master, 1);
uint32_t out_off   = dll.GetSlaveOutputOffset(master, 1);
uint8_t  out_sbit  = dll.GetSlaveOutputStartBit(master, 1);

/* DC 状态与时间 */
BOOL    has_dc = dll.GetSlaveHasDC(master, 1);
int32_t cycle0 = dll.GetSlaveDCCycle0(master, 1);
int32_t shift  = dll.GetSlaveDCShift(master, 1);
int32_t pd     = dll.GetSlavePropagationDelay(master, 1);

/* 邮箱协议与缓冲区 */
uint16_t mbx_proto  = dll.GetSlaveMailboxProto(master, 1);
uint16_t mbx_wr_len = dll.GetSlaveMailboxWriteLength(master, 1);
uint16_t mbx_rd_len = dll.GetSlaveMailboxReadLength(master, 1);

详见 从站 IO 区属性 和 DC 同步。

协议访问​

协议说明文档
CoECANopen over EtherCATSDO 对象字典
CiA 402伺服驱动器状态机与使能
CiA 401通用 IO 模块数字/模拟 IO
SoEServo over EtherCATSERCOS 参数
FoEFile over EtherCAT文件传输
EoEEthernet over EtherCAT以太网隧道
AoEADS over EtherCATBeckhoff ADS
VoEVendor over EtherCAT厂商协议
FSoEFunctional Safety功能安全
MDP模块化设备模块发现

PDO 数据读写​

按类型直接读写 PDO 数据，无需手动字节偏移计算。详见 PDO 输入输出。

/* 读取输入 PDO (offset 为字节偏移) */
uint16_t status_word = PDOReadInputU16(master, slave, 0);
int32_t  actual_pos  = PDOReadInputI32(master, slave, 2);
float    temp        = PDOReadInputF32(master, slave, 6);

/* 写入输出 PDO */
PDOWriteOutputU16(master, slave, 0, 0x000F);     /* ControlWord */
PDOWriteOutputI32(master, slave, 2, 100000);     /* TargetPosition */
PDOWriteOutputF32(master, slave, 6, 3.14f);

支持的类型: U8/I8、U16/I16、U32/I32、U64/I64、F32/F64。

EMCY 紧急消息​

EtherCAT 从站在检测到异常时会发送 EMCY（Emergency）紧急消息。SDK 自动缓存从站的 EMCY 消息历史。

typedef struct {
    uint16_t error_code;
    uint8_t  error_register;
    uint8_t  data[5];
} ec_emcy_t;

int        EmcyGetCount(uint16_t master, uint16_t slave);
ec_emcy_t* EmcyGetHistory(uint16_t master, uint16_t slave, int* count);
void       EmcyClearHistory(uint16_t master, uint16_t slave);

示例:

int n;
ec_emcy_t* hist = EmcyGetHistory(master, 1, &n);
for (int i = 0; i < n; i++)
    printf("EMCY 错误码=0x%04X 寄存器=0x%02X\n",
           hist[i].error_code, hist[i].error_register);
EmcyClearHistory(master, 1);

拓扑查询​

SDK 提供从站网络拓扑的构建与查询功能，获取从站之间的父子关系和树形结构。

int TopologyBuild(uint16_t master_index, ec_topology_node_t* nodes, int max_nodes);
int TopologyGetRoots(uint16_t master_index, uint16_t* roots, int max_roots);
int TopologyGetChildren(uint16_t master_index, uint16_t parent_slave,
                        uint16_t* children, int max_children);

TopologyBuild() 通常在进入 OP 状态后调用一次。TopologyGetRoots() 返回直连主站的根从站列表。

示例 — 打印拓扑树:

void print_tree(uint16_t slave_idx, int depth) {
    char name[128];
    dll.GetSlaveName(master, slave_idx, name, sizeof(name));
    for (int i = 0; i < depth * 2; i++) printf(" ");
    printf("[%d] %s\n", slave_idx, name);

    uint16_t children[64];
    int n = dll.TopologyGetChildren(master, slave_idx, children, 64);
    for (int i = 0; i < n; i++)
        print_tree(children[i], depth + 1);
}

ec_topology_node_t nodes[64];
dll.TopologyBuild(master, nodes, 64);

uint16_t roots[64];
int n = dll.TopologyGetRoots(master, roots, 64);
for (int i = 0; i < n; i++) print_tree(roots[i], 0);

子页面​

页面说明
属性与方法从站基本属性、验证、拓扑、ESI
PDO 输入输出零拷贝指针、类型化读写、批量操作
DC 同步从站级 DC 配置
事件从站状态变化、热插拔、紧急消息