Api.VoeWrite method

Writes data into a VoE-enabled device through VoE (Vendor-specific protocol over EtherCAT).

Namespace: IntervalZero.KINGSTAR.OpcUa.Api

Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0

Syntax

C#VB

public KsCommandStatus VoeWrite(
       int SlaveId,
       ulong VendorId,
       ushort VendorType,
       byte[] Data
)

Public Function VoeWrite(
       SlaveId As Integer,
       VendorId As ULong,
       VendorType As UShort,
       Data As Byte[]
) As KsCommandStatus

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.

VendorId

Type: ulong

Vendor ID.

VendorType

Type: ushort

Vendor type.

Data

Type: byte[]

The data to be written.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

If you want to see the response from the VoE-enabled device after you send VoeWrite, you need to use RegisterMailboxCallback to retrieve the VoE message.

Usable EtherCAT states

ecatPreOp, ecatSafeOp, ecatOp

Examples

N/A