Difference between revisions of "EtherCAT:EC PDO READ"

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(Created page with "{{Axystems:Template:EtherCAT-Function |DESCRIPTION= While the system is running we are able to read and write specific PDOS = without = interfering with the realtime function...")
 
 
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{{Axystems:Template:EtherCAT-Function
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{{Languages|EtherCAT:EC_PDO_READ}}
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{{Template:EtherCAT-Function
  
 
|DESCRIPTION=
 
|DESCRIPTION=
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While the system is running we are able to read and write specific PDOS = without = interfering with the realtime functionality
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While the system is running, you can read from and write to PDOs ''without interfering'' with the real-time functionality of the system.<br/>
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of the system.
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This function retrieves the value of a specific PDO within the current cycle.
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In order to communicate with a specific slave we use its address and the functions EC_SDO_READ, EC_SDO_WRITE.<br/>
 
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To read data from the slave we have to specify a PDO index, a sub-index and its size.<br/>
 
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The first sub-index is 0. If only one sub-index exists, we still have to specify 0 (we cannot omit this field).<br/>
 
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The read value is returned from the function and can be set to a variable.<br/>
 
  
 
|INPUT=
 
|INPUT=
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Slave address, PDO index, PDO sub-index, PDO size in bits, the new value to be written.
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Slave address, PDO index, PDO sub-index.
  
 
|OUTPUT=
 
|OUTPUT=
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|RETURN VALUE=
 
|RETURN VALUE=
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Value that is read from the slave.
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Value that is read from the PDO.
  
 
|DECLARATION=
 
|DECLARATION=
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public function EC_SDO_READ(byval slaveaddres as long, byval index as long, byval subindex as long,byval size_bits as long) as long
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public function EC_PDO_READ(byval slaveaddres as long, byval index as long, byval subindex as long) as long
  
 
|SYNTAX=
 
|SYNTAX=
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retVal = EC_SDO_READ(<Slave address>, <PDO index>, <PDO sub-index>, <PDO size in bits>)
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retVal = EC_PDO_READ(<Slave address>, <PDO index>, <PDO sub-index>)
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|EXCEPTIONS=
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EC_SLAVE_ADDRESS_ERROR - "SLAVE ADDRESS ERROR" 20032<br/>
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EC_PDO_PARMS_ERROR - "INVAILD PDO PARAMETERS" 20040<br/>
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EC_PDO_DIRECTION_ERROR - "PDO WRONG DIRECTION (INPUT/OUTPUT)" 20046<br/>
  
 
|EXAMPLE=
 
|EXAMPLE=
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retVal = EC_SDO_READ(2, 0x6041,0, 32)  '  Read status word
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retVal = EC_PDO_READ(2, 0x6041, 0)  '  Read status word<br/>
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retVal = EC_PDO_READ(2, EC_STATUS_INDEX, EC_STATUS_SUBINDEX)
  
  
 
|SEE ALSO=
 
|SEE ALSO=
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* [[Axystems:EtherCAT:EC_SDO_WRITE|EC_SDO_WRITE]]
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* [[EtherCAT:EC PDO READ N|EC_PDO_READ_N]]
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* [[EtherCAT:EC PDO WRITE|EC_PDO_WRITE]]
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* [[EtherCAT:EC SDO READ|EC_SDO_READ]]
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* [[EtherCAT:EC SDO WRITE|EC_SDO_WRITE]]
  
 
}}
 
}}

Latest revision as of 18:01, 5 May 2017

Language: English  • 中文（简体）‎

While the system is running, you can read from and write to PDOs without interfering with the real-time functionality of the system.
This function retrieves the value of a specific PDO within the current cycle.

Input

Slave address, PDO index, PDO sub-index.

Output

None

Return Value

Value that is read from the PDO.

Declaration

public function EC_PDO_READ(byval slaveaddres as long, byval index as long, byval subindex as long) as long

Syntax

retVal = EC_PDO_READ(<Slave address>, <PDO index>, <PDO sub-index>)

Exceptions

EC_SLAVE_ADDRESS_ERROR - "SLAVE ADDRESS ERROR" 20032
EC_PDO_PARMS_ERROR - "INVAILD PDO PARAMETERS" 20040
EC_PDO_DIRECTION_ERROR - "PDO WRONG DIRECTION (INPUT/OUTPUT)" 20046

Examples

retVal = EC_PDO_READ(2, 0x6041, 0) ' Read status word
retVal = EC_PDO_READ(2, EC_STATUS_INDEX, EC_STATUS_SUBINDEX)

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=EtherCAT:EC_PDO_READ&oldid=128603"