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< title > SOEM: ethercatsoe.c File Reference< / title >
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< div id = "projectname" > SOEM  < span id = "projectnumber" > v1.3.1< / span > < / div >
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< li > < a href = "index.html" > < span > Main  Page< / span > < / a > < / li >
< li > < a href = "annotated.html" > < span > Data  Structures< / span > < / a > < / li >
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< li > < a href = "files.html" > < span > File  List< / span > < / a > < / li >
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< a href = "#nested-classes" > Data Structures< / a > |
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< a href = "#define-members" > Defines< / a > |
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< a href = "#func-members" > Functions< / a > < / div >
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< div class = "title" > ethercatsoe.c File Reference< / div > < / div >
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< p > Servo over EtherCAT (SoE) Module.
< a href = "#details" > More...< / a > < / p >
< div class = "textblock" > < code > #include < stdio.h> < / code > < br / >
< code > #include < string.h> < / code > < br / >
< code > #include " osal.h" < / code > < br / >
< code > #include " oshw.h" < / code > < br / >
< code > #include " < a class = "el" href = "ethercattype_8h.html" > ethercattype.h< / a > " < / code > < br / >
< code > #include " < a class = "el" href = "ethercatbase_8h.html" > ethercatbase.h< / a > " < / code > < br / >
< code > #include " < a class = "el" href = "ethercatmain_8h.html" > ethercatmain.h< / a > " < / code > < br / >
< code > #include " < a class = "el" href = "ethercatsoe_8h.html" > ethercatsoe.h< / a > " < / code > < br / >
< / div > < table class = "memberdecls" >
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< tr > < td colspan = "2" > < h2 > < a name = "nested-classes" > < / a >
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Data Structures< / h2 > < / td > < / tr >
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< tr > < td class = "memItemLeft" align = "right" valign = "top" > struct   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "structec__SoEt.html" > ec_SoEt< / a > < / td > < / tr >
< tr > < td colspan = "2" > < h2 > < a name = "define-members" > < / a >
Defines< / h2 > < / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > #define  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#a55ce8a3abd460cd12e77611e654a87e4" > EC_SOE_MAX_DRIVES< / a >       8< / td > < / tr >
< tr > < td colspan = "2" > < h2 > < a name = "func-members" > < / a >
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Functions< / h2 > < / td > < / tr >
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< tr > < td class = "memItemLeft" align = "right" valign = "top" > PACKED_END void  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#a061df11eda95634e5524ccd9d2d312ea" > ecx_SoEerror< / a > (< a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *context, uint16 Slave, uint16 idn, uint16 Error)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#adb2dd61447da5f449a083931aa2fe467" > ecx_SoEread< / a > (< a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *context, uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#a4d2d52ed026adbfc0896953edb59ac70" > ecx_SoEwrite< / a > (< a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *context, uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#a99875a86cc956e9de8a5753a3107be5b" > ecx_readIDNmap< / a > (< a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *context, uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , int *Osize, int *Isize)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#af8db8dac3118e949c495d4e50caccfac" > ec_SoEread< / a > (uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#ae7ea660f01cb95ab4f37479bbc2f017e" > ec_SoEwrite< / a > (uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)< / td > < / tr >
< tr > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "ethercatsoe_8c.html#acb454e12b2034f0121a534de57b0e869" > ec_readIDNmap< / a > (uint16 < a class = "el" href = "eepromtool_8c.html#a7f46665d1fe6d01a75a90942bb34cfaf" > slave< / a > , int *Osize, int *Isize)< / td > < / tr >
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< / table >
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< hr / > < a name = "details" id = "details" > < / a > < h2 > Detailed Description< / h2 >
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< div class = "textblock" > < p > Servo over EtherCAT (SoE) Module. < / p >
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< / div > < hr / > < h2 > Define Documentation< / h2 >
< a class = "anchor" id = "a55ce8a3abd460cd12e77611e654a87e4" > < / a > <!-- doxytag: member="ethercatsoe.c::EC_SOE_MAX_DRIVES" ref="a55ce8a3abd460cd12e77611e654a87e4" args="" -->
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< td class = "memname" > #define EC_SOE_MAX_DRIVES      8< / td >
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< hr / > < h2 > Function Documentation< / h2 >
< a class = "anchor" id = "acb454e12b2034f0121a534de57b0e869" > < / a > <!-- doxytag: member="ethercatsoe.c::ec_readIDNmap" ref="acb454e12b2034f0121a534de57b0e869" args="(uint16 slave, int *Osize, int *Isize)" -->
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< div class = "memitem" >
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< td class = "memname" > int ec_readIDNmap < / td >
< td > (< / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > Osize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > Isize< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
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< a class = "anchor" id = "af8db8dac3118e949c495d4e50caccfac" > < / a > <!-- doxytag: member="ethercatsoe.c::ec_SoEread" ref="af8db8dac3118e949c495d4e50caccfac" args="(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > int ec_SoEread < / td >
< td > (< / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > driveNo< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > elementflags< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > idn< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > psize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > void *  < / td >
< td class = "paramname" > < em > p< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > timeout< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
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< a class = "anchor" id = "ae7ea660f01cb95ab4f37479bbc2f017e" > < / a > <!-- doxytag: member="ethercatsoe.c::ec_SoEwrite" ref="ae7ea660f01cb95ab4f37479bbc2f017e" args="(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > int ec_SoEwrite < / td >
< td > (< / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > driveNo< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > elementflags< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > idn< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > psize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > void *  < / td >
< td class = "paramname" > < em > p< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > timeout< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
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< / div >
< div class = "memdoc" >
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< a class = "anchor" id = "a99875a86cc956e9de8a5753a3107be5b" > < / a > <!-- doxytag: member="ethercatsoe.c::ecx_readIDNmap" ref="a99875a86cc956e9de8a5753a3107be5b" args="(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > int ecx_readIDNmap < / td >
< td > (< / td >
< td class = "paramtype" > < a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *  < / td >
< td class = "paramname" > < em > context< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > Osize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > Isize< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
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< / div >
< div class = "memdoc" >
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< p > SoE read AT and MTD mapping.< / p >
< p > SoE has standard indexes defined for mapping. This function tries to read them and collect a full input and output mapping size of designated slave.< / p >
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< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > context< / td > < td > = context struct < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > slave< / td > < td > = Slave number < / td > < / tr >
< tr > < td class = "paramdir" > [out]< / td > < td class = "paramname" > Osize< / td > < td > = Size in bits of output mapping (MTD) found < / td > < / tr >
< tr > < td class = "paramdir" > [out]< / td > < td class = "paramname" > Isize< / td > < td > = Size in bits of input mapping (AT) found < / td > < / tr >
< / table >
< / dd >
< / dl >
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< dl class = "return" > < dt > < b > Returns:< / b > < / dt > < dd > > 0 if mapping succesful. < / dd > < / dl >
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< / div >
< / div >
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< a class = "anchor" id = "a061df11eda95634e5524ccd9d2d312ea" > < / a > <!-- doxytag: member="ethercatsoe.c::ecx_SoEerror" ref="a061df11eda95634e5524ccd9d2d312ea" args="(ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > PACKED_END void ecx_SoEerror < / td >
< td > (< / td >
< td class = "paramtype" > < a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *  < / td >
< td class = "paramname" > < em > context< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > Slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > idn< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > Error< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
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< / div >
< div class = "memdoc" >
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< p > Report SoE error.< / p >
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< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > context< / td > < td > = context struct < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > Slave< / td > < td > = Slave number < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > idn< / td > < td > = IDN that generated error < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > Error< / td > < td > = Error code, see EtherCAT documentation for list < / td > < / tr >
< / table >
< / dd >
< / dl >
< / div >
< / div >
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< a class = "anchor" id = "adb2dd61447da5f449a083931aa2fe467" > < / a > <!-- doxytag: member="ethercatsoe.c::ecx_SoEread" ref="adb2dd61447da5f449a083931aa2fe467" args="(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > int ecx_SoEread < / td >
< td > (< / td >
< td class = "paramtype" > < a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *  < / td >
< td class = "paramname" > < em > context< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > driveNo< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > elementflags< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > idn< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int *  < / td >
< td class = "paramname" > < em > psize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > void *  < / td >
< td class = "paramname" > < em > p< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > timeout< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
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< / div >
< div class = "memdoc" >
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< p > SoE read, blocking.< / p >
< p > The IDN object of the selected slave and DriveNo is read. If a response is larger than the mailbox size then the response is segmented. The function will combine all segments and copy them to the parameter buffer.< / p >
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< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > context< / td > < td > = context struct < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > slave< / td > < td > = Slave number < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > driveNo< / td > < td > = Drive number in slave < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > elementflags< / td > < td > = Flags to select what properties of IDN are to be transfered. < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > idn< / td > < td > = IDN. < / td > < / tr >
< tr > < td class = "paramdir" > [in,out]< / td > < td class = "paramname" > psize< / td > < td > = Size in bytes of parameter buffer, returns bytes read from SoE. < / td > < / tr >
< tr > < td class = "paramdir" > [out]< / td > < td class = "paramname" > p< / td > < td > = Pointer to parameter buffer < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > timeout< / td > < td > = Timeout in us, standard is EC_TIMEOUTRXM < / td > < / tr >
< / table >
< / dd >
< / dl >
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< dl class = "return" > < dt > < b > Returns:< / b > < / dt > < dd > Workcounter from last slave response < / dd > < / dl >
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< / div >
< / div >
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< a class = "anchor" id = "a4d2d52ed026adbfc0896953edb59ac70" > < / a > <!-- doxytag: member="ethercatsoe.c::ecx_SoEwrite" ref="a4d2d52ed026adbfc0896953edb59ac70" args="(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)" -->
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< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > int ecx_SoEwrite < / td >
< td > (< / td >
< td class = "paramtype" > < a class = "el" href = "structecx__contextt.html" > ecx_contextt< / a > *  < / td >
< td class = "paramname" > < em > context< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > slave< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > driveNo< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint8  < / td >
< td class = "paramname" > < em > elementflags< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > uint16  < / td >
< td class = "paramname" > < em > idn< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > psize< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > void *  < / td >
< td class = "paramname" > < em > p< / em > , < / td >
< / tr >
< tr >
< td class = "paramkey" > < / td >
< td > < / td >
< td class = "paramtype" > int  < / td >
< td class = "paramname" > < em > timeout< / em >   < / td >
< / tr >
< tr >
< td > < / td >
< td > )< / td >
< td > < / td > < td > < / td >
< / tr >
< / table >
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< / div >
< div class = "memdoc" >
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< p > SoE write, blocking.< / p >
< p > The IDN object of the selected slave and DriveNo is written. If a response is larger than the mailbox size then the response is segmented.< / p >
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< dl > < dt > < b > Parameters:< / b > < / dt > < dd >
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< table class = "params" >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > context< / td > < td > = context struct < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > slave< / td > < td > = Slave number < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > driveNo< / td > < td > = Drive number in slave < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > elementflags< / td > < td > = Flags to select what properties of IDN are to be transfered. < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > idn< / td > < td > = IDN. < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > psize< / td > < td > = Size in bytes of parameter buffer. < / td > < / tr >
< tr > < td class = "paramdir" > [out]< / td > < td class = "paramname" > p< / td > < td > = Pointer to parameter buffer < / td > < / tr >
< tr > < td class = "paramdir" > [in]< / td > < td class = "paramname" > timeout< / td > < td > = Timeout in us, standard is EC_TIMEOUTRXM < / td > < / tr >
< / table >
< / dd >
< / dl >
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< dl class = "return" > < dt > < b > Returns:< / b > < / dt > < dd > Workcounter from last slave response < / dd > < / dl >
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< / div >
< / div >
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< / div >
< hr class = "footer" / > < address class = "footer" > < small > Generated on Wed Mar 11 2015 20:44:23 for SOEM by 
< a href = "http://www.doxygen.org/index.html" >
< img class = "footer" src = "doxygen.png" alt = "doxygen" / > < / a > 1.7.4 < / small > < / address >
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< / body >
< / html >