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 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: 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