GetStatusEx

Gets the extended state of an EtherCAT link. Use this function to see when the link has been established. After the link is established you can access the number of I/O and servo modules.

Syntax

KsError GetStatusEx(
     SubsystemStatusEx* Status,
     SubsystemDiagnostics* Diagnostics
);

Parameters

Status: pointer to the SubsystemStatusEx structure that shows the states of the EtherCAT link.

Diagnostics: pointer to the SubsystemDiagnostics structure that shows the diagnostics information of EtherCAT slaves' state.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Usable EtherCAT states

ecatOffline, ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP

Example

Copy

SubsystemStatusEx SubsystemEx = { ecatOffline, ecatOffline, 0, 0, 0, 0, 0,
    {ecatOffline}, {ecatOffline}, {axisOffline}, {groupDisabled},
    {FALSE}, 0LL, {0LL}, {0LL}, {0LL}, {0LL}, {0LL}
};
SubsystemDiagnostics Diagnostics = { 0 };

nRet = GetStatusEx(&SubsystemEx, &Diagnostics);

Requirements

	RT	Win32
Minimum supported version	4.2	4.2
Header	ksapi.h	ksapi.h
Library	KsApi_Rtss.lib	KsApi.lib