/**
\addtogroup?CiA402appl?CiA402?Sample?Application
@{
*/

/**
\file?cia402appl.c
\author?EthercatSSC@beckhoff.com
\brief?Implementation
This?file?contains?all?ciA402?specific?functions

\version?5.11


Changes?to?version?V5.10:

V5.11?ECAT11:?create?application?interface?function?pointer?add?eeprom?emulation?interface?functions


Changes?to?version?V5.01:

V5.10?CIA402?1:?Update?complete?access?handling?for?0xF030

V5.10?ECAT6:?Add?“USE_DEFAULT_MAIN“?to?enable?or?disable?the?main?function


Changes?to?version?V5.0:

V5.01?ESC2:?Add?missed?value?swapping


Changes?to?version?V4.40:

V5.0?CIA402?1:?Syntax?bugfix?in?dummy?motion?controller

V5.0?CIA402?2:?Handle?0xF030/0xF050?in?correlation?do?PDO?assign/mapping?objects

V5.0?CIA402?3:?Trigger?dummy?motion?controller?if?valid?mode?of?operation?is?set.

V5.0?CIA402?4:?Change?Axes?structure?handling?and?resources?allocation.

V5.0?ECAT2:?Create?generic?application?interface?functions.?Documentation?in?Application?Note?ET9300.


Changes?to?version?V4.30:

V4.40?CoE?6:?add?AL?Status?code?to?Init?functions

V4.40?CIA402?2:?set?motion?control?trigger?depending?on?“Synchronisation“?“mode?of?operation“?and?“cycle?time“

V4.40?CIA402?1:?change?behaviour?and?name?of?bit12?of?the?status?word?（0x6041）?（WG?CIA402?24.02.2010）

V4.30?:?create?file?（state?machine;?handling?state?transition?options;?input?feedback）
*/

/*-----------------------------------------------------------------------------------------
------
------????Includes
------
-----------------------------------------------------------------------------------------*/
#include?“ecat_def.h“


/*?ECATCHANGE_START（V5.11）?ECAT11*/
#include?“applInterface.h“
/*?ECATCHANGE_END（V5.11）?ECAT11*/

#include?“coeappl.h“

#define?_CiA402_
#include?“cia402appl.h“
#undef?_CiA402_


/*--------------------------------------------------------------------------------------
------
------????local?types?and?defines
------
--------------------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------------------
------
------????local?variables?and?constants
------
-----------------------------------------------------------------------------------------*/
TCiA402Axis???????LocalAxes[MAX_AXES];
/*-----------------------------------------------------------------------------------------
------
------????application?specific?functions
------
-----------------------------------------------------------------------------------------*/

/////////////////////////////////////////////////////////////////////////////////////////
/**
?\return????0???????????????Init?CiA402?device?successful
????????????ALSTATUSCODE_XX?Init?CiA402?device?failed

?\brief????This?function?initializes?the?Axes?structures
*/////////////////////////////////////////////////////

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4940??2017-09-10?16:22??ET1100&CIA402源代碼\applInterface.h

?????文件??????56838??2017-09-10?16:22??ET1100&CIA402源代碼\cia402appl.c

?????文件??????61620??2017-09-10?16:22??ET1100&CIA402源代碼\cia402appl.h

?????文件??????31827??2017-09-10?16:22??ET1100&CIA402源代碼\coeappl.c

?????文件???????1870??2017-09-10?16:22??ET1100&CIA402源代碼\coeappl.h

?????文件??????25070??2017-09-10?16:22??ET1100&CIA402源代碼\ecatappl.c

?????文件???????5906??2017-09-10?16:22??ET1100&CIA402源代碼\ecatappl.h

?????文件???????6129??2017-09-10?16:22??ET1100&CIA402源代碼\ecatcoe.c

?????文件???????4218??2017-09-10?16:22??ET1100&CIA402源代碼\ecatcoe.h

?????文件??????96043??2017-09-10?16:22??ET1100&CIA402源代碼\ecatslv.c

?????文件??????29091??2017-09-10?16:22??ET1100&CIA402源代碼\ecatslv.h

?????文件??????41755??2017-09-10?16:22??ET1100&CIA402源代碼\ecat_def.h

?????文件??????29272??2017-09-10?16:22??ET1100&CIA402源代碼\el9800hw.c

?????文件???????7015??2017-09-10?16:22??ET1100&CIA402源代碼\el9800hw.h

?????文件??????11825??2017-09-10?16:22??ET1100&CIA402源代碼\esc.h

?????文件??????37654??2017-09-10?16:22??ET1100&CIA402源代碼\mailbox.c

?????文件???????8732??2017-09-10?16:22??ET1100&CIA402源代碼\mailbox.h

?????文件??????75696??2017-09-10?16:22??ET1100&CIA402源代碼\objdef.c

?????文件??????14801??2017-09-10?16:22??ET1100&CIA402源代碼\objdef.h

?????文件??????61372??2017-09-10?16:22??ET1100&CIA402源代碼\sdoserv.c

?????文件??????33627??2017-09-10?16:22??ET1100&CIA402源代碼\sdoserv.h

?????目錄??????????0??2018-01-16?22:37??ET1100&CIA402源代碼

-----------?---------??----------?-----??----

???????????????645301????????????????????22