EtherCAT:EC PDO READ
While the system is running we are able to read and write specific PDOS without interfering with the realtime 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)