Lenze EtherCAT Controller-based Automation - Manual (Page 129)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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9 Function library L_IODrvEtherCAT.lib
9.2 CoE Interface
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9.2.4 L_ETC_CoE_SdoReadEx (FB)
This function block triggers uploading of a CoE object (SDO) from the slave or from the master.
Visualisation: VISU_L_ETC_CoE_SdoReadEx
Complete access
By setting bit 0 at dwFlags, all subindices of an object are read by the slave using a single SDO
service. The following rules apply for transmission via "complete access":
• Subindex 1 always begins at an even byte address.
• Boolean/bit variables are packed in bytes. Following non-bit objects begin at the next byte
address.
• Non-existent subindices do not require any memory space.
• "Complete access" can start with subindex 0 or subindex 1. Other subindices are not permitted.

Note!
For executing the function block, the EtherCAT master and the slave must be at least in
the "Pre-Operational" state.
L_ETC_CoE_SdoReadEx
BOOL  xExecute xDone  BOOL
BOOL  xAbort xBusy  BOOL
USINT  usiCom xError  BOOL
UINT  uiDevice eErrorCode  L_ETC_ERRORCODE
DWORD  dwFlags udiSdoAbort  UDINT
WORD  wIndex szDataRead  CAA_SIZE
BYTE  bySubindex
UDINT  udiTimeOut
CAA_PVOID  pBuffer
CAA_SIZE  szSize