nws

Numero di workstation.

objCode

Oggetto.

subIndex

subIndex.

Se EtherCAT (SoE):

nbyte

Lunghezza dei dati da trasmettere. Può assumere i seguenti valori: (opzionale)

0 = No object.

1 = Unsigned 8 bits.

2 = Unsigned 16 bits.

3 = Unsigned 24 bits.

4 = Unsigned 32 bits.

5 = Real 32 bit.

-1 = Signed 8 bits.

-2 = Signed 16 bits.

-3 = Signed 24 bits.

-4 = Signed 32 bits.

data

Valore da trasmettere. (opzionale)

-F

Da utilizzare per la lettura di dati floating point. (opzionale)

Annotazioni

Nel caso in cui venga dato un comando illegale si avrà una risposta del tipo:

ERROR on SDO : 0x<code>

dove <code> potrà assumere i seguenti lavori:

0503 0000 = Toggle bit not aternated.

0504 0000 = SDO protocol timed out.

0504 0001 = Client / Server command specifier not valid or unknown.

0504 0002 = Invalid block size (block mode only).

0504 0003 = Invalid sequence number (block mode only).

0504 0004 = CRC error (block mode only).

0504 0005 = Out of memory.

0601 0000 = Unsupported access to an object.

0601 0001 = Attempt to read a write only object.

0601 0002 = Attempt to write a read only object.

0602 0000 = Object does not exist in the object dictionary.

0604 0041 = Object cannot be mapped to the PDO.

0604 0042 = The number and lenght of the objects to be mapped would exceed PDO lenght.

0604 0043 = General parameter incompatibility reason.

0604 0047 = General internal incompatibility in the device.

0606 0000 = Access failed due to an hardware error.

0607 0010 = Data type does not match, length of service parameter does not match.

0607 0012 = Data type does not match, length of service parameter too high.

0607 0013 = Data type does not match, length of service parameter too low.

0609 0011 = Sub-index does not exist.

0609 0030 = Value range of parameter exceed (only for write access).

0609 0031 = Value of parameter written too high.

0609 0032 = Value of parameter written too low.

0609 0036 = Maximum value is less than minimum value.

0800 0000 = General error.

0800 0020 = Data cannot be transferred or stored to the application.

0800 0021 = Data cannot be transferred or stored to the application because of local control.

0800 0022 = Data cannot be transferred or stored to the application because of the present device state.

0800 0023 = Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error).