CoE, the CAN application protocol over EtherCAT, through a SubDevice's mailbox (ETG.1000.6, 5.6): SDO uploads and downloads, which read and write the entries of its object dictionary, by index and subindex.
{:ok, <<vendor_id::little-32>>} = EtherCAT.CoE.upload(main, 0x1001, 0x1018, 0x01)
:ok = EtherCAT.CoE.download(main, 0x1001, 0x8000, 0x06, <<1>>)Values are the bytes of the entry, little-endian, as the object dictionary has them. Up to four go in the request itself (expedited); more go in one normal transfer, and in segments after it when they don't fit the mailbox.
With complete_access: true the whole object is read or written at once, from subindex 0, or 1
to leave out the count there.
A SubDevice that refuses aborts the transfer with a code: {:error, {:abort, code}}, which
describe_abort/1 explains. An upload bigger than max_size: is refused before it's read:
{:error, {:too_big, size}}. Emergency messages that come while waiting for an answer are kept,
and emergencies/2 gives the latest of them.
Summary
Functions
The name of a CoE data type, by its index in the object dictionary's data type area (ETG.1000.6, 5.6.7.3).
An emergency message's error code, error register and data (ETG.1000.6, 5.6.4).
What an SDO abort code means, in a few words.
Writes an entry of a SubDevice's object dictionary, by station address.
The latest emergency messages a SubDevice sent, newest first.
Reads an entry of a SubDevice's object dictionary, by station address.
Types
@type error() :: {:abort, 0..4_294_967_295} | {:too_big, non_neg_integer()} | {:mailbox, atom() | 0..65535} | :timeout | :no_mailbox | {:invalid_response, binary()} | term()
Why a transfer failed.
Functions
@spec data_type_name(0..65535) :: String.t()
The name of a CoE data type, by its index in the object dictionary's data type area (ETG.1000.6, 5.6.7.3).
iex> EtherCAT.CoE.data_type_name(0x0003)
"INTEGER16"
iex> EtherCAT.CoE.data_type_name(0x0800)
"0x0800"@spec decode_emergency(binary()) :: %{ error_code: 0..65535, error_register: byte(), data: binary() }
An emergency message's error code, error register and data (ETG.1000.6, 5.6.4).
iex> EtherCAT.CoE.decode_emergency(<<0x01, 0xA0, 0x11, 1, 2, 3, 4, 5>>)
%{error_code: 0xA001, error_register: 0x11, data: <<1, 2, 3, 4, 5>>}@spec describe_abort(0..4_294_967_295) :: String.t()
What an SDO abort code means, in a few words.
iex> EtherCAT.CoE.describe_abort(0x06020000)
"No such object"@spec download( EtherCAT.MainDevice.t(), 0..65535, 0..65535, byte(), binary(), keyword() ) :: :ok | {:error, error()}
Writes an entry of a SubDevice's object dictionary, by station address.
Options: complete_access: true, and timeout: (1 second) for each answer.
@spec emergencies(EtherCAT.MainDevice.t(), 0..65535) :: [map()]
The latest emergency messages a SubDevice sent, newest first.
@spec upload(EtherCAT.MainDevice.t(), 0..65535, 0..65535, byte(), keyword()) :: {:ok, binary()} | {:error, error()}
Reads an entry of a SubDevice's object dictionary, by station address.
Options: complete_access: true, max_size: (1 MiB), the most it takes, and timeout: (1
second) for each answer.