IApi.CoeReadSdoObject method

Reads the value of an SDO object through CANopen over EtherCAT (CoE).

Namespace: IntervalZero.KINGSTAR.Base.Api

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

Syntax

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

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

Parameters

SlaveId

Type: int

The slave index. This index value is automatically assigned by the KINGSTAR master when the EtherCAT network starts, based on the physical connection order. The first device connected directly to the master is assigned Index 0, followed by Index 1, Index 2, and so on. These indexes remain consistent within the slave array even if devices are added, removed, or reconnected. Please refer to the use cases in HotConnect, Repair, and Restart for more details.

ObIndex

Type: int

The CANopen index of the object. See your device manual to get the value.

ObSubIndex

Type: int

The CANopen subindex of the object. See your device manual to get the value.

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.

Remarks

Used to check that the drive or any other slave is configured as expected. If the number of bytes you read is more than what is available, the result may vary between drives. For example, the reading request may fail, or the drive may add leading zeros to the value to be read.

Usable EtherCAT states

ecatPreOP, ecatSafeOP, ecatOP

Examples

N/A