Api.WriteSlaveRegister method

Writes data into an EtherCAT slave's register.

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 WriteSlaveRegister(
       int SlaveId,
       int Offset,
       byte[] Data
)

Public Function WriteSlaveRegister(
       SlaveId As Integer,
       Offset As Integer,
       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.

Offset

Type: int

The offset of the register to write.

Data

Type: byte[]

The pointer to the buffer containing the data to write.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

Used to update 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