SDO_WRITE_DATA (FB)¶

FUNCTION_BLOCK SDO_WRITE_DATA EXTENDS CiA405Base

This function block is used for writing a specific object in object dictionary of a DEVICE. If DATA was written without error CONFIRM becomes TRUE. DATA has to be in Little Endian byte order. If an error occurs ERROR becomes unequal 0. In case of a SDO abort ERROR is set to CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR and ERRORINFO contains the associated abort code (in Little endian) as defined by CiA 301.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	NETWORK	USINT	1	CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, …	CiA405Base
	ENABLE	BOOL	FALSE	Enables the function block on rising edge. Aborts operation on falling edge.	CiA405Base
	TIMEOUT	UDINT	0	Timeout in ms; 0 means no timeout	CiA405Base
Output	CONFIRM	BOOL	FALSE	TRUE: function block finished without error	CiA405Base
	ERROR	CANOPEN_KERNEL_ERROR	CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR	Error code: see CANOPEN_KERNEL_ERROR for further details	CiA405Base
Input	DEVICE	DEVICE		NodeID of destination device; 0 means local device (= CANopenManager)
	CHANNEL	USINT	1	SDO channel: 0: use any free channel; 1..n: specific channel
	INDEX	WORD		Index of object
	SUBINDEX	BYTE		SubIndex of object
	MODE	SDO_MODE	SDO_MODE.AUTO	specifies the SDO Mode to be used
	DATA	POINTER TO BYTE		pointer to data which should be written (data has to be in little endian byte order)
	DATALENGTH	UDINT		length of data in bytes
Output	ERRORINFO	SDO_ERROR		contains abort code in little endian in case of ERROR is CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR