ETC_CO_SdoRead

Library: IODrvEtherCAT

This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead4, parameter longer than 4 bytes are also supported. The parameters to be read are specified with Index and Subindex, as used in the object directory.

Inputs
Name	Data type	Description
`xExecute`	`BOOL`	Rising edge: Starts the reading of the slave parameters. In order to release the internal channel again afterwards, the instance must be called at least once with `xExecute: = FALSE`.
`xAbort`	`BOOL`	`TRUE`: The current read process is aborted.
`usiCom`	`USINT`	Number of the EtherCAT master: usiCom is always `1` if only one EtherCAT master is used. If several masters are used, `1` designates the first, `2` the second and so on.
`uiDevice`	`UInt`	Physical address of the slave. If the auto-configuration mode is deactivated in the master, the slave can be given its own address. This address must be specified here. If the auto-configuration mode is activated, the first slave is given the address `1001`. The current address of a slave is always located in the Slave dialog of the slave in the EtherCAT address field.
`usiChannel`	`USINT`	Reserved for future extensions
`wIndex`	`WORD`	Index of the parameter in the object directory.
`bySubindex`	`BYTE`	Subindex of the parameter in the object directory.
`udiTimeOut`	`UDINT`	Definition of the watchdog time in milliseconds. If the reading of the parameters is not yet complete on expiry of this time, an error message is output.
`pBuffer`	`CAA_PVOID`	Pointer to a data buffer in which the data are stored after a successful parameter transfer
`szSize`	`CAA_SIZE`	Size of the data buffer (`pBuffer)` in bytes

Outputs
Name	Data type	Description
`xDone`	`BOOL`	`TRUE`: Reading of the parameter was completed without error.
`xBusy`	`BOOL`	`TRUE`: Reading is not yet completed.
`xError`	`BOOL`	`TRUE`: An error occurred during reading.
`eError`	`ETC_CO_ERROR`	Information about the cause of the error that was displayed by `xError`, e.g. `ETC_CO_TIMEOUT` in case of a timeout
`udiSdoAbort`	`UDINT`	If an error has occurred in the device, this output provides further information about it.
`szDataRead`	`CAA_SIZE`	Number of bytes read; maximally `szSize` (input).

`ENUM ETC_CO_ERROR`
`ETC_CO_NO_ERROR`	`0`	No error
`ETC_CO_FIRST_ERROR`	`5750`	Error cause is stored at the output `udiSdoAbort`
`ETC_CO_OTHER_ERROR`	`5751`	No master found
`ETC_CO_DATA_OVERFLOW`	`5752`	`ETC_CO_Expedited` and size > 4
`ETC_CO_TIME_OUT`	`5753`	Time limits exceeded
`ETC_CO_FIRST_MF`	`5770`	not used
`ETC_CO_LAST_ERROR`	`5799`	not used