Describes one general module. More...

#include <TGM.h>

Public Attributes
uint32_t	VendorID
	Vendor ID, set by TGMotion during EtherCAT network scan.

uint32_t	ProductID
	Product ID, set by TGMotion during EtherCAT network scan.

uint32_t	reserved1
	reserved

int32_t	EtherCATState
	I/O unit communication status from EtherCAT point of view.

volatile uint32_t	Control
	EtherCAT R/W control: 1 = write request, 2 = read request, 3 - error (set by TGMotion, must be cleared manually), 0 = ready.

uint32_t	NumberByte
	Number of read/write bytes (1 - 256 bytes)

uint32_t	RegisterIndex
	EtherCAT register index (address)

uint32_t	Data [64]
	read/write data of EtherCAT register, in case of error, 0 is returned and Control is set to 3

uint32_t	ECATBusPosition
	actual physical position on the ECAT bus

uint32_t	bUseLRW
	if set to 1, use LRW command for PDO (User_PDO_Output_Size and User_PDO_Input_Size must be the same), otherwise use LRD / LWR pair.

uint32_t	logicalReadWriteAddress
	logical FMMU address for LRW command. Set by TGMotion at device init, but can be overriden by PLC.

uint32_t	logicalReadAddress
	logical FMMU address for LRD command. Set by TGMotion at device init, but can be overriden by PLC.

uint32_t	logicalWriteAddress
	logical FMMU address for LWR command. Set by TGMotion at device init, but can be overriden by PLC.

uint32_t	mailBoxSize
	both mailBoxOut and mailBoxIn should be set to the same size. This value must be set by PLC before any SDO commands are performed.

uint32_t	mailBoxOutAddress
	must be set by PLC before any SDO commands are performed

uint32_t	mailBoxInAddress
	must be set by PLC before any SDO commands are performed

uint32_t	smOutputsAddress
	must be set by PLC before any ECAT commands are performed

uint32_t	smInputsAddress
	must be set by PLC before any ECAT commands are performed

EXT_SDO	CompleteSDO
	extended SDO communication channel (up to 128 data bytes)

uint32_t	reserved2 [8]
	Reserved.

uint32_t	User_PDO_Output_Size
	size of the output PDO (Master->Slave)

uint8_t	User_PDO_Output [USER_DIO_PDO_SIZE]
	output PDO as a flat array

uint32_t	User_PDO_Input_Size
	size of the input PDO (Slave->Master)

uint8_t	User_PDO_Input [USER_DIO_PDO_SIZE]
	input PDO as a flat array

Detailed Description

Describes one general module.

Structure size is 1024 bytes. The difference to UNIVERSAL_DEVICE is that the TGMotion only copies VendorID and Product ID to the structure and the PLC must handle all the sync manager and FMMUs values

Definition at line 1039 of file TGM.h.

The documentation for this struct was generated from the following file:

src/include/TGM.h

Public Attributes

Detailed Description