Delta EtherCAT Programming Manual page 133

EtherCAT CoE Standard Communication
7.9 _ECAT_Slave_PDO_Get_OD_Data

Syntax
U16 PASCAL _ECAT_Slave_PDO_Get_OD_Data (U16 CardNo, U16 NodeID, U16 SlotNo, U16
7
IOType, U16 ODIndex, U16 ODSubIndex, U16 ByteSize, U8 *Data)

Purpose
This is for reading the data of an OD index in the PDO mapping. Before initializing the master,
the OD code should be defined in PDO mapping table by EcNavi in advance.

Parameter
Name
CardNo
NodeID
SlotNo
IOType
ODIndex
ODSubIndex
ByteSize
Data

Example
U16 Status;
U8 Data = 0;
U16 CardNo=16, NodeID = 1 ,SlotNo = 0, IOType = 0;
U16 ODIndex = 0x1810, ODSubIndex = 0x01, ByteSize = 0x43;
Status = _ECAT_Slave_PDO_Get_OD_Data (CardNo, NodeID, SlotNo, IOType, ODIndex,
ODSubIndex, ByteSize, &Data);
7-12
Data type Property
U16 Number
U16 Number
U16 Number
U16 Type
U16 Index
U16 Subindex
U16 byte
U8* Data
Description
Card No.
Node ID
Slot ID
OD Format to be read
0: Rx
1: Tx
OD index of the data
OD subindex of the data
The size of the data space
Acquire the data contents of the specified OD index
EtherCAT Programming Guide
March, 2017