- Write a COE object
Code: |
AS + 761 |
Symbolic: |
bccCoeObjWrite |
This command will write the specified COE object. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x1 Enable text on error |
4 |
U16 |
WSID |
Workstation ID (#1) |
6 |
U16 |
OBJIX |
Object index |
8 |
U16 |
SUBIX |
Object sub-index |
10 |
U16 |
DTYPE |
Data type (container data): 1 = Boolean (U8) 2 = Integer 8 (I8) 3 = Integer 16 (I16) 4 = Integer 32 (I32) 5 = Unsigned 8 (U8) 6 = Unsigned 16 (U16) 7 = Unsigned 32 (U32) 8 = Real 32 (FLT) 9 = Visible String (STRZ) 10= Octet String (...) 11 = Unicode String (...) 12 = Time of Day (...) 13 = Time Difference (...) 15 = Domain (...) 16 = Integer 24 (I32) 17 = Real 64 (DBL) 18 = Integer 40 (I64) 19 = Integer 48 (I64) 20 = Integer 56 (I64) 21 = Integer 64 (I64) 22 = Unsigned 24 (U32) 24 = Unsigned 40 (U64) 25 = Unsigned 48 (U64) 26 = Unsigned 56 (U64) 27 = Unsigned 64 (U64) 30 = Byte (U8) 45 = BITARR8 (U8) 46 = BITARR16 (U16) 47 = BITARR32 (U32) |
12 |
U8 |
DSIZE |
Size of data |
13 |
U8 |
- |
(reserved) |
14 |
U8[DSIZE] |
DATA |
Data |
(#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 |
... |
... |
... |
... |
In case of FLAGS wth 0x1 value, data is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
4 |
U32 |
ERRCOD |
Error code |
8 |
STRZ |
ERRTXT |
Error text |
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 object index 4 = Bad object sub-index 5 = Bad data type 6 = Bad data size 7 = Bad data |
