Methods

Table of Contents

• setSlaveConfigPath
  • Parameters
  • Examples
• setFrequency
  • Parameters
  • Examples
• init
  • Parameters
  • Examples
• start
  • Examples
• writeIndex
  • Parameters
  • Examples
• writeIndexes
  • Parameters
  • Examples
• fromNanoseconds
  • Parameters
  • Examples
• setInterval
  • Parameters
  • Examples
• getDomain
  • Examples
• getLatencyAndJitter
  • Parameters
  • Examples
• getMasterState
  • Examples
• getValues
  • Examples
• liveData
  • Parameters

setSlaveConfigPath

set slave configuration json file path

Parameters

• _path string json file path

Examples

etherlab.setSlaveConfigPath('./slaves.json');

setFrequency

Set frequency of ethercat cyclic task in Hertz

Parameters

• freq number frequency in Hertz

Examples

etherlab.setFrequency(1000);

Returns Object cyclick task frequency and period wrapped as object

init

Set frequency and slave config

Parameters

• configPath string json file path
• freq number frequency in Hertz

Examples

etherlab.init('./slaves.json', 1000);

Returns Object cyclick task frequency and period wrapped as object

start

start ethercat cyclic task

Examples

etherlab.start();

• Throws any error if slave configuration is undefined

writeIndex

Write value into domain identified by its index

Parameters

• args ...any
• index number domain index
• value number value to be written

Examples

etherlab.writeIndex(1, 0x1fff);

etherlab.writeIndex({index: 1, value: 0x1fff});

Returns number write failure will return -1, otherwise returns the value

writeIndexes

Write multiple values

Parameters

• arr Array<Object> array of object

  • arr[].index number domain index
  • arr[].value number value to be written

Examples

etherlab.writeIndex([{index: 1, value: 0x1fff} , {index: 2, value: 0x0000}]);

Returns array status of each write status

fromNanoseconds

convert number from nanosecond

Parameters

• val number number to be converted
• unit ("us" | "ms" | "s") time unit

Examples

etherlab.fromNanoseconds(1, 'ms');

Returns number time in selected unit

setInterval

set interval between 'data' event

Parameters

• val number time interval
• unit ("us" | "ms" | "s") time unit (optional, default 'ms')

Examples

etherlab.setInterval(1000, 'us');

getDomain

get allocated domain

Examples

const domain = await etherlab.getDomain();

Returns Promise<Object> allocated domain

getLatencyAndJitter

get calculated latency and jitter

Parameters

• unit (optional, default 'us')

Examples

etherlab.getLatencyAndJitter('us');

Returns Object latency and jitter

getMasterState

get current ethercat master state

Examples

etherlab.getMasterState();

Returns number master state

getValues

get allocated domain's values

Examples

const domain = await etherlab.getValues();

Returns Promise<Object> values of each domain

liveData

set 'data' event to be regularly emitted or not

Parameters

• state boolean live data state

Returns number live data state