AoeReadSdoObject

Reads data from a slave using the ADS over EtherCAT (AoE) SDO method.

Syntax

KsCommandStatus AoeReadSdoObject(
     int SlaveId,
     int Port,
     int ObIndex,
     int ObSubIndex,
     BOOL CompleteAccess,
     BYTE* Value,
     int Length
);

Parameters

SlaveId: 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: the EtherCAT slave port.

ObIndex: the index of the object to read in the object dictionary.

ObSubIndex: the subindex of the object to read in the object dictionary.

CompleteAccess: TRUE: reads all subindexes. FALSE: reads a single subindex.

Value: pointer to the value to be read.

Length: the length in byte of the value to read.

Return value

Returns the KsCommandStatus structure.

Usable EtherCAT states

ecatPreOP, ecatSafeOP, ecatOP

Example

Copy

//////////////////////////////////////////////////////////////////
//
// This code snippet demonstrates how to configure IO-Link sensors
// connected to IO-Link master and use AoeReadSdoObject to request
// service data stored in these IO-Link devices.
//
//////////////////////////////////////////////////////////////////

KsError nRet = errNoError;
KsCommandStatus Command = { 0 };
char readResult[64] = { 0 };
IoLinkSetting IoLink = {
    17, // IO-Link specification: Version 1.1
    0,  // SPDU
    3,  // Control
    32, // Input length
    0   // Output length
};

nRet = Create(0, 0);

nRet = AddModuleConfiguration(
           1,               // EthercatSlaveID
           0,               // LinkedDeviceID
           configIoLink,    // Protocol
           &IoLink          // Settings
       );

Command = WaitForCommand(30, TRUE, Start());

Command = WaitForCommand(
              5,
              FALSE,
              AoeReadSdoObject(
                  0,                    // SlaveID
                  0x1001,               // Port
                  0x13,                 // ObIndex
                  0,                    // ObSubIndex
                  FALSE,                // CompleteAccess
                  (BYTE*)readResult,    // Value
                  64                    // Length
              )
          );
// Write the 0x13 "Product ID" data to 0x18 "Application Specific Name"
Command = WaitForCommand(5, FALSE, AoeWriteSdoObject(0, 0x1001, 0x18, 0,
                         FALSE, (BYTE*)readResult, 64));

Command = WaitForCommand(5, FALSE, Stop());

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksapi.h	ksapi.h
Library	KsApi_Rtss.lib	KsApi.lib