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APIs, concepts, guides, and more
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APIs, concepts, guides, and more
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Status structure for individual EtherCAT node diagnostics. More...
Attributes | |
| uint32_t | AlStatus |
| EtherCAT AL Status register (0x0130) value. This is a snapshot value primarily useful for detecting unexpected state transitions. 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 | AlStatusCode |
| EtherCAT AL Status Code register value. This is a snapshot value captured when the node reports an error or unexpected state change. Non-zero indicates an error condition. See ESI file or vendor documentation for device-specific codes. | |
| uint64_t | CoeEmergencyMessage |
| CANopen over EtherCAT (CoE) emergency message. 8-byte value containing error code and additional data per CiA 301 specification. Updated when the node sends an emergency message. | |
| int32_t | CoeEmergencyMessageNetworkCounter |
| Network counter value when the current CoeEmergencyMessage was received. Use to determine if the emergency message is new since last check. | |
Status structure for individual EtherCAT node diagnostics. Use this structure to monitor the state of an individual EtherCAT node (drive, I/O block, etc.). Contains AL status, status code, and CoE emergency message information.
1.15.0