Delta EtherCAT

EtherCAT CoE Standard Communication EtherCAT Programming Guide
7-4 March, 2017
7
7.2 _ECAT_Slave_SDO_Read_Message
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Syntax
U16 PASCAL _ECAT_Slave_SDO_Read_Message(U16 CardNo, U16 NodeID, U16 SlotNo, U16
Index, U16 SubIndex, U16 DataSize, U8 *Data)
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Purpose
This is for acquiring the current SDO data (CANopen) of the slave.
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Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
Index U16 Index The index of CANopen object dictionary
SubIndex U16 Subindex The subindex of CANopen object dictionary
DataSize U16 byte Data size of the received message. Unit: byte
Data U8* data Data of the received message
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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]);