EthercatDevice.sdoDownload()

[Ethercat Device]

Description

Performs a CoE SDO download to the specified object for such EtherCAT slave device.

Syntax

int sdoDownload(uint16_t od_index, uint8_t od_subindex, void * data, uint32_t size, uint32_t * abortcode = NULL, bool complete_access = false, uint32_t timeout_us = 100000);

Parameters

• [in] uint16_t od_index
  Index of the object.
• [in] uint8_t od_subindex
  Subindex of the object. 0 or 1 if Complete Access.
• [in] void data
  The data buffer for writing.
• [in] uint32_t size
  The size of the data buffer for writing.
• [out] uint32_t abortcode
  The pointer of the variable used to store A.5 SDO Abort Code.
• [in] bool complete_access
  Use Complete Access or not.
• [in] uint32_t timeout_us
  Timeout in microseconds.

Return Value

Return an error code. If the returned value is zero, it indicates a successful execution of this function.

Comment

This function must be called after a successful execution of EthercatMaster::begin(). This function is blocking and cannot be called within the Cyclic Callback.

Example

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_Generic slave;

uint16_t value = 0x000F;

void setup() {
  Serial.begin(115200);

  master.begin();
  slave.attach(0, master);
  master.start(1000000);
}

void loop() {
  slave.sdoDownload(0x6040, 0x00, &value, sizeof(value));
  delay(1000);
}

Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.