Code: |
AS + 750 |
Symbolic: |
bccCanObjRead |
This command will read the specified CANopen object. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x00000001 Enable text on error |
4 |
U16 |
WSID |
Workstation ID (#1) |
6 |
U16 |
OBJIX |
Object index |
8 |
U16 |
SUBIX |
Object sub-index |
10 |
I16 |
TYPE |
Data type: -1=As signed data +1=As unsigned data 5=As float |
Note (#1): Workstation ID is also know (or defined) as Robox ID.
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Reply flags: 0x00000001 Error on SDO |
4 |
DBL |
DATA |
Object data |
12 |
U32 |
ERRCOD |
Error code (if error) |
16 |
STRZ |
ERRTXT |
Error text (if error) |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 What illegal: 1=Flags 2=Workstation ID 3=Object index 4=Object sub-index 5=Data type |
