ETC_CO_SdoRead4

Library: IODrvEtherCAT

This function block serves to read EtherCAT slave parameters. Unlike ETC_CO_SdoRead, only parameter that are no longer than 4 bytes are 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 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 can always be checked in the slave dialog of the device editor 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.

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
`abyData`	`ARRAY [1..4] OF BYTE`	Array of 4 bytes into which the read parameter data are copied
`usiDataLength`	`USINT`	Number of bytes read (1,2,4).

`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