RtecatSoeReadSsc

RtecatSoeReadSsc reads data from a SubDevice through SoE (Servo Drive Profile over EtherCAT).

Syntax

Copy

RTECAT_COMMAND_STATUS RtecatSoeReadSsc(
  [in]    RTECAT_HANDLE SubDevice,
  [in]    BYTE DriveNo,
  [in]    BYTE ElementFlags,
  [in]    USHORT Idn,
  [out]   UCHAR* pValue,
  [in]    ULONG Length
);

Parameters

[in] SubDevice

A handle to a SubDevice. To retrieve the corresponding handle, use RtecatOpenSubDeviceByIndex, RtecatOpenSubDeviceByStationAddress, or RtecatOpenSubDeviceByExplicitId.

[in] DriveNo

A drive's index.

[in] ElementFlags

Which property of an Idn is read.

[in] Idn

The identification number of an object.

[out] pValue

A pointer to the buffer that stores the data from the SubDevice.

[in] Length

The length, in bytes, of the value to read. The valid range is 1-512.

Return Values

The function returns an RTECAT_COMMAND_STATUS structure. If an error occurs, field State of the structure is set to ecatCommandError and the error code is stored in field ErrorId (see RTECAT_ERROR for error values). If the function succeeds, ErrorId is set to ecatErrNoError (which is represented by the value 0). If the function fails, it stores a different error value.

Possible return values:

Return value	Meaning
ecatErrNoError	The function succeeded.
ecatErrNullParameter	Parameter pValue is NULL.
ecatErrWrongParameter	One of the following conditions occurred: Parameter SubDevice is invalid. The value of parameter Length is zero (0) or greater than 512.
ecatErrMainDeviceNotReady	The MainDevice is not ready.
ecatErrFeatureUnavailable	The SubDevice doesn't support SoE.

Remarks

RtecatSoeReadSsc is an asynchronous function that takes time to complete. It allows for background execution and requires you to check its status by calling RtecatGetCommandStatus or wait for it to complete by calling RtecatWaitForCommand.

Requirements

Minimum supported version	Header	Library
wRTOS 1.0 SDK	RtecatApi.h	RtecatApi_W64.lib (Windows), RtecatApi.lib (RTSS)