Api.SoeReadSsc method

Uploads data from an EtherCAT slave to the EtherCAT master through SoE (Servo drive profile over EtherCAT).

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[]> SoeReadSsc(
       int SlaveId,
       byte DriveNo,
       byte ElementFlags,
       ushort Idn,
       int Length
)

Public Function SoeReadSsc(
       SlaveId As Integer,
       DriveNo As Byte,
       ElementFlags As Byte,
       Idn As UShort,
       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.

DriveNo

Type: byte

The index of a drive.

ElementFlags

Type: byte

Which property of an IDN is read.

Idn

Type: ushort

The identification number of an object.

Length

Type: int

Data length.

Return value

Type: KsCommandStatus<byte[]>

Returns a state of a method and a byte array.

Usable EtherCAT states

ecatPreOp, ecatSafeOp, ecatOp

Examples

N/A