OverrideSlavePdoConfiguration

Changes the input and output PDO length of the device to the new values. This can be used to programmatically set the configuration of a device.

Syntax

KsError OverrideSlavePdoConfiguration(
     int SlaveId,
     int InputLength,
     int OutputLength
);

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.

InputLength: the length of the PDO input data.

OutputLength: the length of the PDO output data.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Usable EtherCAT states

ecatInit, ecatPreOP

Example

N/A

Requirements

See also

RequestState