ETC_CO_SdoWrite

Library: IODrvEtherCAT

This function block is for writing EtherCAT slave parameters. Unlike ETC_CO_SdoWrite4, parameter longer than 4 bytes are also supported. The parameters to be written 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 write 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 on the Slave tab 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 writing 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 containing the data to be written.
`szSize`	`CAA_SIZE`	Size of the data buffer (`pBuffer`) in bytes
`eMode`	`ETC_CO_MODE`	Number of bytes to be written. Possible entries: `ETC_CO_AUTO` `ETC_CO_EXPEDITED` `ETC_CO_SEGMENTED` AUTO mode is usually set and the mode suitable for the length is thus automatically used.

Outputs
Name	Data type	Description
`xDone`	`BOOL`	`TRUE`: Writing of the parameter was completed without error.
`xBusy`	`BOOL`	`TRUE`: Writing is not yet completed.
`xError`	`BOOL`	`TRUE`: An error occurred during writing.
`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
`szDataWritten`	`CAA_SIZE`	Number of bytes written; maximally `szSize` (input).

ENUM ETC_CO_MODE
`AUTO`	`0`	Client automatically selects the mode
`EXPEDITED`	`1`	Client uses the expedited protocol
`SEGMENTED`	`2`	Client uses the segmented protocol