Lenze EtherCAT Controller-based Automation Instrukcja Użytkownika Pobierz pdf (Strona 129)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 129

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

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9.2.4 L_ETC_CoE_SdoReadEx (FB)

This function block triggers uploading of a CoE object (SDO) from the slave or from the master.

Visualisation: VISU_L_ETC_CoE_SdoReadEx

Complete access

By setting bit 0 at dwFlags, all subindices of an object are read by the slave using a single SDO

service. The following rules apply for transmission via "complete access":

• Subindex 1 always begins at an even byte address.

• Boolean/bit variables are packed in bytes. Following non-bit objects begin at the next byte

address.

• Non-existent subindices do not require any memory space.

• "Complete access" can start with subindex 0 or subindex 1. Other subindices are not permitted.

 Note!

For executing the function block, the EtherCAT master and the slave must be at least in

the "Pre-Operational" state.

L_ETC_CoE_SdoReadEx

BOOL  xExecute xDone  BOOL

BOOL  xAbort xBusy  BOOL

USINT  usiCom xError  BOOL

UINT  uiDevice eErrorCode  L_ETC_ERRORCODE

DWORD  dwFlags udiSdoAbort  UDINT

WORD  wIndex szDataRead  CAA_SIZE

BYTE  bySubindex

UDINT  udiTimeOut

CAA_PVOID  pBuffer

CAA_SIZE  szSize

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Lenze EtherCAT Controller-based Automation Instrukcja Użytkownika Strona 129