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 What illegal: 1=Flags 2=Workstation ID 3=Object index 4=Object sub-index 5=Data type 6=Data size 7=Data |
