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 slave index. This index value is automatically assigned by the KINGSTAR master when the EtherCAT network starts, based on the physical connection order. The first device connected directly to the master is assigned Index 0, followed by Index 1, Index 2, and so on. These indexes remain consistent within the slave array even if devices are added, removed, or reconnected. Please refer to the use cases in HotConnect, Repair, and Restart 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