Api.CoeReadSdoObject method

Reads the value of 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<byte[]> CoeReadSdoObject(
       int SlaveId,
       int ObIndex,
       int ObSubIndex,
       bool CompleteAccess,
       int Length
)

Public 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 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 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