[Ethercat Device]
Description
Performs a CoE SDO upload to the specified object for such EtherCAT slave device.
Syntax
int sdoUpload(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.[out] void *data
The data buffer for reading.[in] uint32_t size
The size of the data buffer for reading.[out] uint32_t *abortcode
The pointer of the variable used to store the A.5 SDO Abort Code.[in] bool complete_access
Use Complete Access or not. The default is false.[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;
void setup() {
Serial.begin(115200);
master.begin();
slave.attach(0, master);
master.start(1000000);
}
void loop() {
slave.sdoUpload(0x6040, 0x00, &value, sizeof(value));
Serial.print("Value: ");
Serial.println(value);
delay(1000);
}Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.
