ISlave.CoeReadSdoObject method

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

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IKsCommand<byte[]> CoeReadSdoObject(
       int obIndex,
       int obSubIndex,
       bool completeAccess,
       int length
)

Function CoeReadSdoObject(
       obIndex As Integer,
       obSubIndex As Integer,
       completeAccess As Boolean,
       length As Integer
) As IKsCommand(Of Byte())

Parameters

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: IKsCommand<byte[]>

Returns the states 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