EthercatDevice_XXX.sdoUpload()

[EthercatDevice_XXX]

Description

(CoE) Read the object from EtherCAT Slave device to EtherCAT Master.

Format

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 = ECAT_DEFAULT_COE_TIMEOUT_US);

Syntax

EthercatDevice_XXX slave;
slave.sdoUpload();

Parameters

• uint16_t od_index: CANOpen Object index.
• uint8_t od_subindex: CANOpen Object sub-index.
• void *data: Data buffer to Download or Upload data.
• uint32_t size: The length of the data buffer.
• uint32_t *abortcode: SDO abort code pointer.
• bool complete_access: Complete Access.
• uint32_t timeout_us: Timeout, unit for microsecond.

Returns

Int: 0 for successful; if the return value is smaller than 0 means error.

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