Code: |
AS + 762 |
Symbolic: |
bccEcatNmtRead |
This command will read one or more EtherCAT NMT. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: |
4 |
U16 |
WSID |
Workstation ID (0=all)(#1) |
6 |
U16 |
NWS |
No. of workstation (max 63)(#2) |
(#1) Workstation ID is also know (or defined) as Robox ID.
(#2) In case of WSID = 0 (all), che NWS field is not considered
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U16 |
NWS |
No. of NMT structures (max 63) |
2 |
NMT |
DATA1 |
NMT data for 1st workstation |
6 |
NMT |
DATA2 |
NMT data for 2nd workstation |
... |
... |
... |
... |
... |
NMT |
DATA{NWS} |
NMT data for Nth workstation |
Each NMT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
WSID |
Workstation ID (#1) |
+2 |
U8 |
STSC |
Status code: 0=Not present 1=Init 2=Pre Operational 3=Boot 4=Safe Operational 8=Operational |
+3 |
U8 |
- |
(reserved) |
(#1) Workstation ID is also know (or defined) as Robox ID.
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 |
