ETC_CO_SdoRead4 (FB)¶

FUNCTION_BLOCK ETC_CO_SdoRead4

This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead, only parameter that are no longer than 4 bytes are supported. The parameters to be read are specified with Index and Subindex, as used in the object directory.

InOut:

Scope	Name	Type	Initial	Comment
Input	xExecute	BOOL		Rising edge: ACTION starts Falling edge: Resets outputs If a falling edge occurs before the function block has completed its action, the outputs operate in the usual manner and are only reset if either the action is completed or in the event of an error. In this case, the corresponding output values (xDone, xError) are present at the outputs for exactly one cycle.
	xAbort	BOOL	FALSE	TRUE: Action is stopped immediately and all outputs are reset to their initial values.
	usiCom	USINT	1	Index of master 1: first ETC master
	uiDevice	UINT		The physical slave address to access the EtherCAT slave
	usiChannel	USINT	1	not used in the moment because channel is set automatically
	wIndex	WORD		The index of the CoE object
	bySubindex	BYTE		The sub index of the CoE object
	udiTimeOut	UDINT		Timeout for operation in ms
Output	xDone	BOOL		TRUE: Action successfully completed
	xBusy	BOOL		TRUE: Function block active
	xError	BOOL		TRUE: Error occurred, function block aborts action, FALSE: No error
	eError	ETC_CO_ERROR		If xError is true then eError shows the error reason
	udiSdoAbort	UDINT		The abort code as received from the slave device
	abyData	ARRAY [1..4] OF BYTE		thje received data
	usiDataLength	USINT		Number of bytes successfully read