Api.CoeReadSdoEntryDescription method

Reads the description of an entry of an object dictionary from an SDO object through CANopen over EtherCAT (CoE).

Namespace: IntervalZero.KINGSTAR.Local.Api

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

Syntax

C#VB

public KsCommandStatus<SdoEntryDescription> CoeReadSdoEntryDescription(
       int SlaveId,
       int ObIndex,
       int ObSubIndex
)

Public Function CoeReadSdoEntryDescription(
       SlaveId As Integer,
       ObIndex As Integer,
       ObSubIndex As Integer
) As KsCommandStatus(Of SdoEntryDescription)

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.

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.

Return value

Type: KsCommandStatus<SdoEntryDescription>

Returns a state of a method and the description of an entry of an object dictionary of an SDO object.

Usable EtherCAT states

ecatPreOP, ecatSafeOP, ecatOP

Examples

N/A