Ecat_Slave_Sdo_Read_Message - Delta EtherCAT Programming Manual

EtherCAT CoE Standard Communication

7.2 _ECAT_Slave_SDO_Read_Message


Syntax
U16 PASCAL _ECAT_Slave_SDO_Read_Message(U16 CardNo, U16 NodeID, U16 SlotNo, U16
7
Index, U16 SubIndex, U16 DataSize, U8 *Data)

Purpose
This is for acquiring the current SDO data (CANopen) of the slave.

Parameter
Name
CardNo
NodeID
SlotNo
Index
SubIndex
DataSize
Data

Example
U16 Status;
U16 CardNo=16,NodeID=1,SlotNo=0;
U16 Index=0x1000, SubIndex=0, DataSize=4;
U8 Data[4] = {0};
Status =_ECAT_Slave_SDO_Read_Message(CardNo, NodeID, SlotNo, Index, SubIndex,
DataSize, &Data[0]);
7-4
Data type Property
U16 Number
U16 Number
U16 Number
U16 Index
U16 Subindex
U16 byte
U8* data
Description
Card No.
Node ID
Slot ID
The index of CANopen object dictionary
The subindex of CANopen object dictionary
Data size of the received message. Unit: byte
Data of the received message
EtherCAT Programming Guide
March, 2017