FB_EcCoeSdoRead

VAR_INPUT

VAR_INPUT
    sNetId      : T_AmsNetId; 
    nSlaveAddr  : UINT; 
    nSubIndex   : BYTE; 
    nIndex      : WORD;
    pDstBuf     : DWORD; 
    cbBufLen    : UDINT; 
    bExecute    : BOOL;
    tTimeout    : TIME := DEFAULT_ADS_TIMEOUT; 
END_VAR

sNetId: This is a string that contains the AMS network identifier of the EtherCAT master device.

nSlaveAddr: Fixed address of the EtherCAT slave to which the SDO upload command should be sent.

nSubIndex:Sub-index of the object that is to be read.

nIndex: Index of the object that is to be read.

pDstBuf:The address (pointer) of the receive buffer.

cbBufLen:The maximum available buffer size for the data to be read, in bytes.

bExecute: The block is activated by a rising edge at this input.

tTimeout: Maximum time allowed for the execution of the function block.

VAR_OUTPUT

VAR_OUTPUT
    bBusy       : BOOL;
    bError      : BOOL;
    nErrId      : UDINT;
END_VAR

bBusy: This output is set when the function block is activated and remains set until an acknowledgement is received.

bError: This output is set up after the bBusy output has been reset if there has been an error in transmission of the command.

nErrId: Supplies the ADS error code associated with the most recently executed command if the bError output is set.

Example of an implementation in ST:

PROGRAM TEST_SdoRead
VAR
    fbSdoRead   : FB_EcCoESdoRead;
    sNetId      : T_AmsNetId := '172.16.2.131.2.1';
    bExecute    : BOOL;
    nSlaveAddr  : UINT := 1006;
    nIndex      : WORD := 16#1018;
    nSubIndex   : BYTE :=1;
    vendorId    : UDINT;
    bError      : BOOL;
    nErrId      : UDINT;
END_VAR

fbSdoRead(sNetId:= sNetId,nSlaveAddr :=nSlaveAddr, nIndex:=nIndex, nSubIndex :=nSubIndex, pDstBuf:= ADR(vendorId), cbBufLen:=SIZEOF(vendorId),bExecute:=bExecute);
bError:=fbSdoRead.bError;
nErrId:=fbSdoRead.nErrId;

Requirements