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Original question:

DP83822I: uses for EtherCAT application

AM2434: APIs depending on TI state machine

Shimodome Ryo
Prodigy 80 points
Part Number: AM2434


I'm afraid that some APIs for CiA402 doesn't work well, for example EC_API_SLV_CiA402_getAllDriveFunctionStatus(), in case TI statemachine is replaced with custom state machine. Couldn't you kindly show me the APIs depending on TI state machine.

  • +1
    TI__Expert 3520 points

    Hello Shimodome Ryo,

    Yes. The below APIs should only be functional when the EtherCAT SubDevice stack's internal CiA402 state machine is active. If a custom CiA402 state machine is implemented and activated, then user should implement alternative functions for the below APIs according to the custom CiA402 state machine to use these with the application.

    EC_API_SLV_CiA402_setAxisNumber()
EC_API_SLV_CiA402_activateAxis()
EC_API_SLV_CiA402_getAxisActivateStatus()
EC_API_SLV_CiA402_SM_clearErrorCode()
EC_API_SLV_CiA402_SM_getErrorCode()
EC_API_SLV_CiA402_getDriveFunctionStatus()
EC_API_SLV_CiA402_getAllDriveFunctionStatus()
    Also, users can implement an additional CiA402 device specific object dictionary in a function and attach this function as a callback using 
    EC_API_SLV_CiA402_registerSetDictionary(), and it will be called during initialization from the API EC_API_SLV_init().
    Kind Regards,

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