EthercatDevice.sdoDownload16()

[Ethercat Device]

Description

Write 16-bit value to the specified object for such EtherCAT slave device.

Syntax

int sdoDownload16(uint16_t od_index, uint8_t od_subindex, uint16_t value, uint32_t timeout_us = 100000);

Parameters

• [in] uint16_t od_index
  Index of the object.
• [in] uint8_t od_subindex
  Subindex of the object.
• [in] uint16_t value
  The 16-bit value to be written to object.
• [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;

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

void loop() {
  slave.sdoDownload16(0x6040, 0x00, 0x000F);
  delay(1000);
}

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