openPOWERLINKEthernet POWERLINK Protocol Stack （PDF）

1 Introduction......................................................................................... 1 1.1 Ethernet POWERLINK................................................................ 1 1.2 Key Features................................................................................. 2 1.3 Supported object dictionary entries .............................................. 2 2 Application Programming Interface ................................................. 4 2.1 Software Structure........................................................................ 4 2.1.1 Directory Structure .......................................................... 5 2.1.2 Module Structure............................................................. 6 2.1.3 Header files ..................................................................... 7 2.1.4 Target dependant modules .............................................. 7 2.2 Data types ..................................................................................... 7 2.3 Functions .................................................................................... 14 2.3.1 EPL API Layer .............................................................. 14 2.3.1.1 Event callback function tEplApiCbEvent ...... 14 2.3.1.2 Sync callback function tEplApiCbSync......... 31 2.3.1.3 Function EplApiInitialize() ............................ 32 2.3.1.4 Function EplApiShutDown() ......................... 35 2.3.1.5 Function EplApiExecNmtCommand() .......... 36 2.3.1.6 Function EplApiMnTriggerStateChange() .... 37 2.3.1.7 Function EplApiReadObject() ....................... 38 2.3.1.8 Function EplApiWriteObject() ...................... 41 2.3.1.9 Function EplApiFreeSdoChannel() ............... 42 2.3.1.10 Function EplApiReadLocalObject() .............. 43 2.3.1.11 Function EplApiWriteLocalObject() ............. 44 2.3.1.12 Function EplApiLinkObject() ........................ 44 2.3.1.13 Function EplApiProcess() .............................. 45 2.3.1.14 Function EplApiProcessImageSetup() ........... 46 2.3.1.15 Function EplApiProcessImageExchangeIn() . 47 2.3.1.16 Function EplApiProcessImageExchangeOut() ........................................................................ 48 2.3.2 Edrv module .................................................................. 49 2.3.2.1 Callback Function tEdrvRxHandler() ............ 49 2.3.2.2 Callback Function tEdrvTxHandler() ............ 51 2.3.2.3 Function EdrvInit() ........................................ 52 2.3.2.4 Function EdrvShutdown().............................. 52 2.3.2.5 Function EdrvDefineRxMacAddrEntry() ...... 53 2.3.2.6 Function EdrvUndefineRxMacAddrEntry() .. 53 2.3.2.7 Function EdrvAllocTxMsgBuffer() ............... 54 2.3.2.8 Function EdrvReleaseTxMsgBuffer() ........... 54 2.3.2.9 Function EdrvSendTxMsg() .......................... 55 2.3.2.10 Function EdrvTxMsgReady() ........................ 55 openPOWERLINK: Ethernet POWERLINK Protocol Stack © SYS TEC electronic GmbH 2008 L-1098e_2 2.3.2.11 Function EdrvTxMsgStart()........................... 56 3 Object Dictionary.............................................................................. 57 3.1 Fundamentals ............................................................................. 57 3.2 Structure of an OD, Standardized Profiles................................. 57 3.2.1 Communication Profile ................................................. 58 3.2.2 Device Profiles.............................................................. 58 3.3 Object Dictionary Structure ....................................................... 58 3.4 Object Dictionary Definition...................................................... 59 3.5 Example...................................................................................... 66 4 Configuration and Scaling ............................................................... 68 4.1 General configuration of the EPL stack..................................... 68 4.2 Ethernet driver............................................................................ 69 4.3 DLL module ............................................................................... 70 4.4 OBD module .............................................................................. 70 4.5 SDO modules ............................................................................. 71 4.6 Timer module ............................................................................. 71 4.7 EPL API Layer ........................................................................... 72 Glossary ...................................................................................................... 73 References................................................................................................... 75