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This function is used to read the data in the buffer (PDO - Process Data Object) received from the indicated workstation. It is also used to send the request for pdo update (RTR).

Syntax

i32 co_rpdo (i32 nWs, i32 nPdo, i32 nEl, real where)

nWs

Robox station ID (logical workstation 1-:-64).

Note: If 0 is specified as ws then it is meant for all.

nPdo

Number of the PDO being received from the drive (1-:-4)

nEl

Number of the element that you want to read:

•0, rPDO data refresh request command (RTR for asynchronous PDO)

•1-:-8, number of the logical element to be read

NOTE: If nEl is 0, the value is not returned.

where

Parameter in which the value read by PDO is downloaded. Conversion from the right format (defined in the configuration file) to real is performed by the base sw

Result

Returns:

Condition

Value

Description

-

0

Illegal parameters

nEl = 1

1

Data read for the first time.

Note: Meaningful information only if this instruction is executed in the rules to all scans.

nEl = 1

2

Data already read.

Note: Significant information only if this instruction is executed in the rules at all scans.

nEl <> 1

3

Valid data

Validity

Rule, Task

Note

 
  

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