EtherCAT.Slave.Config (ethercat v0.5.0)

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Declarative configuration for one slave in physical bus order.

Pass these entries in EtherCAT.start/1's :slaves list. Names are application identifiers, not device matching rules; the runtime does not select a position by driver identity. Explicit entries default to target_state: :op, whereas discovery without a slave list creates PREOP-held configurations.

Fields:

  • :name (required) — atom identifying this slave
  • :driver — module implementing EtherCAT.Driver, defaults to the built-in default driver
  • :config — driver-specific configuration map, default %{}
  • :process_data — one of:
    • :none (default) — do not auto-register process data
    • {:all, domain_id} — register all signal names from the driver's signal_model/2 against one domain
    • [{signal_name, domain_id}] — explicit signal-to-domain assignments
  • :target_state — desired startup target for this slave:
    • :op (default) — master will attempt to advance it to OP
    • :preop — master will leave it in PREOP for manual configuration
  • :sync — optional %EtherCAT.Slave.Sync.Config{} describing slave-local SYNC0/SYNC1 and latch intent
  • :health_poll_ms — AL Status polling interval in milliseconds, default 250; set nil to disable polling. Runtime polling detects disconnects and AL-state regressions in OP and runtime-held PREOP/SAFEOP. It is suppressed while the whole session is held in its initial PREOP provisioning phase, then restored on activation, including for slaves whose target remains PREOP.

Summary

Types

process_data_request()
t()
target_state()

Functions

default_health_poll_ms()

Types

process_data_request()

@type process_data_request() :: :none | {:all, atom()} | [{atom(), atom()}]

t()

@type t() :: %EtherCAT.Slave.Config{
  config: map(),
  driver: module(),
  health_poll_ms: pos_integer() | nil,
  name: atom(),
  process_data: process_data_request(),
  sync: EtherCAT.Slave.Sync.Config.t() | nil,
  target_state: target_state()
}

target_state()

@type target_state() :: :preop | :op

Functions

default_health_poll_ms()

@spec default_health_poll_ms() :: pos_integer()