BECKHOFF ET9300 - Manual (Page 28)

26 Application Note ET9300
6 Application
This chapter includes an overview over the default (sample) applications, the application interface and
a guideline how to start the own application development.
6.1 Application Settings
The SSC contains a list of (sample) applications which can be used for master/slave testing or as
basis for the application development. The corresponding settings are listed in Table 3: Application
Related Settings (located in ecat_def.h or in the SSC Tool).
Table 3: Application Related Settings
Define Description
TEST_APPLICATION This application supports almost all SSC features.
Furthermore it is possible to force specific application
behavior (see chapter 9).
NOTE: this application shall not be used as basis for the
application development.
EL9800_APPLICATION Application based on the EL9800 EtherCAT Evaluation
Board. 8(4) LEDs: 8(4) switches; 16Bit analog input
CiA402_DEVICE Sample Implementation for the CiA402 Drive Profile. This
application supports 2 modular Axis. See chapter 8 for
further information.
SAMPLE_APPLICATION Hardware independent application. Recommend
application is if no SSC Tool configuration is available for
the target platform.
SAMPLE_APPLICATION_INTERFACE Sample application for Win32 to create a dynamic link
library.
6.2 SSC Functions
These functions are provided by the generic stack and shall be called from the application layer. The
functions are declared in the header “applInterface.h”.
Prototype: UINT16 MainInit(void)
Parameter Void
Return 0 if initialization was successful
> 0 if error has occurred while initialization
Description Initialize the generic slave stack.
This function should be called after the platform including operating system and
ESC is ready to use.
Prototype: void MainLoop(void)
Parameter Void
Return Void
Description This function handles the low priority function like EtherCAT state machine
handling, mailbox protocols and if no synchronization is enabled also the
application.
This function shall be called cyclically from the application.