EtherCAT:EC PDO WRITE

While the system is running we are able to read and write specific PDOS without interfering with the realtime functionality
of the system.
This subroutine writes a value to a specific PDO within the current cycle.

Input

Slave address, PDO index, PDO sub-index, new value to be written.

Output

None

Return Value

Void

Declaration

public sub EC_PDO_WRITE(byval slaveaddress as long, byval index as long, byval subindex as long, byval new_val as long)

Syntax

call EC_PDO_WRITE(<Slave address>, <PDO index>, <PDO sub-index>, <new value>)

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

call EC_PDO_WRITE(2, 0x6071,0, 5) ' Write VCMD PDO

See Also

• EC_PDO_READ
• EC_SDO_READ
• EC_SDO_WRITE