Delta EtherCAT User Manual

EtherCAT CoE Standard Communication EtherCAT Programming Guide
7-12 March, 2017
7
7.9 _ECAT_Slave_PDO_Get_OD_Data

Syntax
U16 PASCAL _ECAT_Slave_PDO_Get_OD_Data (U16 CardNo, U16 NodeID, U16 SlotNo, U16
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 Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
IOType U16 Type
OD Format to be read
0: Rx
1: Tx
ODIndex U16 Index OD index of the data
ODSubIndex U16 Subindex OD subindex of the data
ByteSize U16 byte The size of the data space
Data U8* Data Acquire the data contents of the specified OD index
 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);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English