Reads data from an EtherCAT slave's register.
Namespace: IntervalZero.KINGSTAR.Local.Api
Assembly: IntervalZero.KINGSTAR.Local.Api (in IntervalZero.KINGSTAR.Local.dll) Version: 4.4.0.0
Syntax
public KsCommandStatus<byte[]> ReadSlaveRegister(
int SlaveId,
int Offset,
int Length
)Public Function ReadSlaveRegister(
SlaveId As Integer,
Offset As Integer,
Length As Integer
) As KsCommandStatus(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.
Offset
Type: int
The offset of the register to read.
Length
Type: int
The length in byte of the data to read.
Return value
Type: KsCommandStatus<byte[]>
Returns the KsCommandStatus class and a byte array.
Remarks
Used to check a slave register during slave development.
IMPORTANT: This method is meant for slave development only. Otherwise, do not use it.
NOTE: This method uses a slow access method that should not be called in the cyclic callback, or it causes a deadlock.
Usable EtherCAT states
ecatInit, ecatPreOP, ecatSafeOP, ecatOP
Examples
N/A
See also