PMP functions¶

Available PMP callback functions are described below.

GetTimeInSeconds¶

double GetTimeInSeconds()¶: Returns: The time in seconds.

GetControllerSamplePeriod¶

float GetControllerSamplePeriod()¶: Returns: The current controller sample period in seconds.

GetBusSamplePeriod¶

float GetBusSamplePeriod()¶: Returns: The current bus sample period in seconds. Can be used for EtherCAT SubDevices to determine the ratio between the bus sample period and controller sample period.