EtherCAT:EC PDO WRITE
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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 subroutine writes a value to a specific PDO within the current cycle.
Slave address, PDO index, PDO sub-index, new value to be written.
public sub EC_PDO_WRITE(byval slaveaddress as long, byval index as long, byval subindex as long, byval new_val as long)
call EC_PDO_WRITE(<Slave address>, <PDO index>, <PDO sub-index>, <new value>)
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
call EC_PDO_WRITE(2, 0x6071,0, 5) ' Write VCMD PDO