SDO_READ4 (FB)

FUNCTION_BLOCK SDO_READ4 EXTENDS CiA405Base

This function block is used for reading a specific object from object dictionary of a DEVICE. Up to 4 bytes can be read. Data is written to an ARRAY OF BYTE. If more than 4 bytes should be read please use SDO_READ. If object can be read without error CONFIRM becomes TRUE and DATA contains read data in Little Endian byte order. If an error occurs ERROR becomes unequal 0. In case of a SDO abort ERROR is set to CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR and ERRORINFO contains the associated abort code (in Little endian) as defined by CiA 301.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	NETWORK	USINT	1	CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, ...	CiA405Base
	ENABLE	BOOL	FALSE	Enables the function block on rising edge. Aborts operation on falling edge.	CiA405Base
	TIMEOUT	UDINT	0	Timeout in ms; 0 means no timeout	CiA405Base
Output	CONFIRM	BOOL	FALSE	TRUE: function block finished without error	CiA405Base
Output	ERROR	CANOPEN_KERNEL_ERROR	CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR	Error code: see CANOPEN_KERNEL_ERROR for further details	CiA405Base
Input	DEVICE	DEVICE		NodeID of destination device; 0 means local device (= CANopenManager)
	CHANNEL	USINT	1	SDO channel: 0: use any free channel; 1..n: specific channel
	INDEX	WORD		Index of object
	SUBINDEX	BYTE		SubIndex of object
Output	DATA	ARRAY [1..4] OF BYTE		Array of Byte the data is written to. Data is in CANopen Byte Order (= Little Endian).
	DATALENGTH	USINT		Amount of data in bytes written to DATA
	ERRORINFO	SDO_ERROR		contains abort code in little endian in case of ERROR is CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR