IApi.AoeReadSdoObject method

Reads data from a slave using the ADS over EtherCAT (AoE) SDO method.

Namespace: IntervalZero.KINGSTAR.Base.Api

Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

KsCommandStatus<byte[]> AoeReadSdoObject(
       int SlaveId,
       int Port,
       int ObIndex,
       int ObSubIndex,
       bool CompleteAccess,
       int Length
)

Function AoeReadSdoObject(
       SlaveId As Integer,
       Port As Integer,
       ObIndex As Integer,
       ObSubIndex As Integer,
       CompleteAccess As Boolean,
       Length As Integer
) As KsCommandStatus(Of Byte())

Parameters

SlaveId

Type: int

The index of a slave array. When EtherCAT is started, this index has the same value as the SlaveId, which corresponds to the position of the slave in the network. Please note that after EtherCAT is started in the Operational (Op) state, any addition or removal of slaves from the network will change the position of the slaves in the network (SlaveId). Nevertheless, the index of the slave will remain the same. Newly added devices will be added in the back of the slave array. For all slaves after the change, the index and SlaveId will no longer match. This behavior is only available for physical devices; simulated devices are inapplicable. Please refer to the use cases in EnableHotConnect for more details.

Port

Type: int

The EtherCAT slave port.

ObIndex

Type: int

The index of the object to read in the object dictionary.

ObSubIndex

Type: int

The subindex of the object to read in the object dictionary.

CompleteAccess

Type: bool

TRUE: Reads all subindexes. FALSE: Reads a single subindex.

Length

Type: int

The length in byte of the value to read.

Return value

Type: KsCommandStatus<byte[]>

Returns a state of a method and a byte array.

Usable EtherCAT states

ecatPreOP, ecatSafeOP, ecatOP

Examples

N/A