WARNING: This function cannot be used in a task if the co_robj()/co_wobj()/coe_robj()/coe_wobj() functions are also present in the task.
This function allows you to:
•Test if the previous SDO command co_send_sdo(), used to write data, was executed -> co_asw_sdo(nWs, handle)
•Test if the previous SDO command co_send_sdo(), used to read data, was executed -> co_asw_sdo(nWs, handle)
•Test if the previous SDO command co_send_sdo(), used to read data, was executed and simultaneously to download data -> co_asw_sdo(nWs, handle, type, data)
Syntax |
i32 co_asw_sdo (i32 nWs, i32 handle) i32 co_asw_sdo (i32 nWs, i32 handle, i32 type, real data) |
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nWs |
Robox station ID (logical workstation 1-:-64). Note: If 0 is specified as ws then it is meant for all. |
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handle |
Handle received from the previous execution of the co_send_sdo() function |
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type |
Allows you to select how to interpret the data to be downloaded in date:
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data |
Local variable where data is downloaded (from Fix format of specified size to real format) if type positive |
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Result |
Returns:
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Validity |
Rule, Task |
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Note |
From RTE 34.13.5, co_robj() and co_wobj() functions are available |
Example of use:
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