ISlave.CoeWriteSdoObject method

Writes the value of an SDO object through CANopen over EtherCAT (CoE). The module table is different for each module and can be obtained in the user manual of the module. This method takes multiple cycles to finish.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

IKsCommand CoeWriteSdoObject(
       int obIndex,
       int obSubIndex,
       bool completeAccess,
       byte[] value
)

Function CoeWriteSdoObject(
       obIndex As Integer,
       obSubIndex As Integer,
       completeAccess As Boolean,
       value As Byte()
) As IKsCommand

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: Writes all subindexes. false: Writes a single subindex.

value

Type: byte[]

Pointer to the buffer containing the data to be written to the object.

Return value

Type: IKsCommand

Returns the states of a method.

Remarks

Used to update the drive configuration while the drive is disabled. You should read the drive's manual to learn when and how to use the SDO. If you call this method when the drive is enabled, an error may occur, depending on the response of your drive.

Usable EtherCAT states

ecatPreOP, ecatSafeOP, ecatOP