YASKAWA VIPA SPEED7 - FB 53 - SDO_WRITE - Write Access to Object Dictionary Area

11.1.2 FB 53 - SDO_WRITE - Write access to Object Dictionary Area
With this block, you will have write access to the object directory of the EtherCAT slave
stations and EtherCAT master. The block operates asynchronously, that is, processing
covers multiple FB calls. Start the job by calling FB 53 with REQ = 1. The job status is
displayed via the output parameters BUSY and RETVAL. The record set transmission is
completed when the output parameter BUSY = FALSE.
The error handling happens with the parameters ERROR, ERROR_ID and RETVAL.
Parameters
Parameter Declaration Data type Description
REQ IN BOOL REQ = 1:
activates the SDO access at rising edge.
ID IN WORD Logical base address of the EtherCAT slave station respec-
tively master in the hardware configuration.
With an output module bit 15 must be set (example for
address 5: ID:=DW#16#8005). With a combination module
you have to set the lower one of the two addresses.
INDEX IN WORD Index of the object for the SDO access.
SUBINDEX IN BYTE Sub index of the object for the SDO access.
COMPL_ACCESS IN BOOL This parameter defines whether only a single sub-index, or
the entire object is to be written.
LEN IN INT Maximum length of the data to be written.
DONE OUT BOOL indicates that a new record set was written.
BUSY OUT BOOL This parameter indicates the status of the SDO access.
BUSY = 1: SDO access is not yet terminated.
ERROR OUT BOOL ERROR = 1: A write error has occurred.
RETVAL OUT INT Return value (0 = OK)
ERROR_ID OUT DWORD Bus specific error code. If there was an error during the SDO
access, the SDO abort error code (EtherCAT error code) can
be found here.
LEN OUT INT Length of the data to be written.
RECORD IN_OUT ANY Area of the data to be written.
Please note that the data transferred to RECORD are not in a temporary
area.
With the activation of the parameter COMPL_ACCESS the following is to be considered:
n With COMPL_ACCESS = true only SUBINDEX 0 or 1 is allowed! Otherwise you will
get an error message.
n With COMPL_ACCESS = true for SUBINDEX 0 2 bytes are written, because SUB-
INDEX 1 has an offset of 2 bytes.
Description
Special features at
COMPL_ACCESS (Com-
pleteAccess)
VIPA SPEED7
EtherCAT Communication
SDO Communication > FB 53 - SDO_WRITE - Write access to Object Dictionary Area
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