Code: |
AS + 758 |
Symbolic: |
bccCanPdoRead |
This command will read data from a Tx/Rx CANopen PDO. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x00000001 read from TxPDO 0x00000002 read from RxPDO |
4 |
U16 |
WSID |
Workstation ID (0=all)(#1) |
6 |
U16 |
N |
No. of workstation (max 41) |
8 |
U16 |
PDO |
PDO index |
10 |
U16 |
ITEM |
PDO item index |
(#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 |
U16 |
N |
No. of WSDAT structures (max 23) |
2 |
WSDAT |
DATA1 |
PDO data for 1st workstation |
12 |
WSDAT |
DATA2 |
PDO data for 2nd workstation |
... |
... |
... |
... |
.. |
WSDAT |
DATA{N} |
PDO data for Nth workstation |
Each WSDAT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
WSID |
Workstation ID |
+2 |
DBL |
DATA |
PDO data |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 Param ID 1=Bad flags 2=Bad workstation ID 3=Bad no. of workstation 4=Bad PDO index 5=Bad PDO item index |
