Reads data from a slave using the ADS over EtherCAT (AoE) SDO method.
Namespace: IntervalZero.KINGSTAR.OpcUa.Api
Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0
Syntax
public KsCommandStatus<byte[]> AoeReadSdoObject(
int SlaveId,
int Port,
int ObIndex,
int ObSubIndex,
bool CompleteAccess,
int Length
)Public Function AoeReadSdoObject(
SlaveId As Integer,
Port 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.
Port
Type: int
The EtherCAT slave port.
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.
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.
Usable EtherCAT states
ecatPreOP, ecatSafeOP, ecatOP
Examples
N/A
See also