RtecatWriteAxisSdoObject

RtecatWriteAxisSdoObject writes the value of an object to an axis through the CoE (CANopen over EtherCAT) SDO method.

Syntax

Copy 
RTECAT_COMMAND_STATUS RtecatWriteAxisSdoObject(
  [in]    RTECAT_HANDLE Axis,
  [in]    WORD ObIndex,
  [in]    BYTE ObSubIndex,
  [in]    BOOL CompleteAccess,
  [in]    const BYTE* pValue,
  [in]    ULONG Length,
  [in]    BOOL Priority
);

Parameters

[in] Axis

A handle to an axis. To retrieve the corresponding handle, use RtecatOpenAxisByIndex or RtecatOpenAxisByLocation.

[in] ObIndex

An object index in the object dictionary.

[in] ObSubIndex

An object subindex in the object dictionary.

[in] CompleteAccess

TRUE to write all subindexes, FALSE to write a single subindex.

[out] pValue

A pointer to the buffer that contains the value of an object to write to the axis.

[in] Length

The length, in bytes, of the value of an object to write to the axis.

[in] Priority

TRUE to use a higher priority queue, FALSE otherwise.

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 Axis is invalid.
  • The value of parameter Length is either zero (0) or greater than 128.

ecatErrMainDeviceNotReady

The MainDevice is not ready.

ecatErrWrongEnvironment

The SDO buffer is full.

ecatErrFeatureUnavailable

One of the following conditions occurred:

  • The SubDevice doesn't support CoE.
  • The axis is a simulated axis, which does not support SDO reading and writing.

ecatErrWrongSubDeviceState

The feature can't be used in the current SubDevice state. The mailbox functionality requires at least PreOp state to execute.

Remarks

RtecatWriteAxisSdoObject does not support writing to simulated axes.

RtecatWriteAxisSdoObject 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)

See Also: