EtherCAT:EC PDO READ
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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.
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)