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APIs, concepts, guides, and more
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APIs, concepts, guides, and more
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NetworkStatus structure for EtherCAT network health monitoring. More...
Attributes | |
| uint32_t | ActiveNodeCount |
| Number of nodes actively responding on the network. Compare against expected node count to detect dropped nodes. | |
| uint32_t | AlStatus |
| Logical OR of AL Status registers (0x0130) from all nodes. A value of 8 indicates all nodes are Operational with no errors. This is a snapshot value primarily useful for detecting unexpected node state transitions (e.g., a node falling out of OP). May not reflect current state after network shutdown. Bits 0-3 indicate Device State Machine state: 1=Init, 2=PreOp, 3=Bootstrap, 4=SafeOp, 8=Operational. Bit 4 is the Error Flag. | |
| uint32_t | CyclicFramePeriodUs |
| Most recent cyclic frame period in microseconds. Should match the configured sample rate. | |
| RSINetworkInterfaceType | InterfaceType |
| Host-side packet interface mechanism used for EtherCAT frame I/O (for example, INtime HPE2 or Linux AF_PACKET/AF_XDP). | |
| uint32_t | MissedCyclicFrameCount |
| Cumulative count of missed cyclic EtherCAT frames since network startup. Indicates communication reliability issues. | |
| int32_t | SynchronizationErrorNs |
| Distributed Clock synchronization error in nanoseconds. Updated approximately every 16 samples. Non-zero values indicate DC sync drift. | |
NetworkStatus structure for EtherCAT network health monitoring. Use this structure to monitor EtherCAT network health, detect communication failures, and diagnose timing issues. The values are updated cyclically by the EtherCAT master.
1.15.0