ETC_CO_SdoWrite4

Library: IODrvEtherCAT

This function block is for writing EtherCAT slave parameters. Unlike ETC_CO_SdoWrite, only parameter that are no longer than 4 bytes are 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.
`abyData`	`ARRAY [1,,4] OF BYTE`	Contains the data to be written. The data must be saved in the Intel byte order.
`usiDataLength`	`USINT`	Number of bytes (1,2,4) to be written.

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

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