Ec_Coesdowrite - Omron NY532-5400 Reference Manual

2 Instruction Descriptions

EC_CoESDOWrite

The EC_CoESDOWrite instruction writes a value to a CoE* object of a specified slave on an EtherCAT
network.
Instruction Name
EC_CoES- Write EtherCAT
DOWrite CoE SDO
* CoE stands for CAN Application Protocol over EtherCAT.
Variables
Name Meaning
NodeAdr Slave node
address
SdoObj SDO
parameter
TimeOut Timeout time
WriteDat Write data
WriteSize Write data
size
AbortCode Abort code
*1 The range is 1 to 192 for an NJ-series CPU Unit.
*2 The write data size may be less than 1 byte, e.g., if the write data is BOOL or a BOOL array. If it is less than 1 byte, set the
value of WriteSize to 1.
Bit strings
NodeAdr
SdoObj
TimeOut
OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK
WriteDat
An enumeration, array, array element, structure member, or union member can also be specified.
WriteSize
AbortCode
2-900
FB/
Graphic expression
FUN
FB
EC_CoESDOWrite_instance
EC_CoESDOWrite
Execute
NodeAdr
SdoObj
TimeOut
WriteDat
WriteSize
I/O Description
Node address of the slave to
access
SDO parameter
Input 0: 2.0s
1 to 65535: 0.1 to 6553.5 s
Write data
*2
Write data size
Output Response code for SDO
access specified by CoE
0: Normal end
Integers
OK
Refer to Function for details on the structure _sSDO_ACCESS.
OK
OK
OK
EC_CoESDOWrite_instance(Execute,
NodeAdr, SdoObj, TimeOut, WriteDat,
WriteSize, Done, Busy, Error, ErrorID,
Done
AbortCode);
Busy
Error
ErrorID
AbortCode
Valid range
*1
1 to 512
---
Depends on data
type.
1 to 2048
Depends on data
type.
NY-series Instructions Reference Manual (W560)
ST expression
Unit Default
--- ---
20
0.1 s
(2.0 s)
---
---
Bytes
--- ---
Times, durations, dates,
and text strings