Function to write a SoE parameter (writing the stru.idn parameter to the device identified by stru.rid and information taken in source).
Writing can be done in pass-through mode or in blocking mode (usable only in tasks 1-:-8).
Pass-through mode means that the function must be continuously called and this returns the current state of the task.
Blocking mode means that the function is invoked and returns only when it has completed the write operation.
The function returns a result on the state of execution.
NOTE: To write commands to SoE procedures, set stru.cmd to the value concerned (see soe_widn directive).
Syntax |
i32 soe_widn (stru_soe_idn stru, source) |
|---|---|
stru |
Structure of type stru_soe_idn containing the information for writing a SoE parameter |
source |
Contains the value to be written. source must be an object compatible with the data being written (if writing a VISIBLE STRING, source will be of type string, if writing an OCTET_STRING it will be a byte array or structure). When writing arrays only information whose length is <= to 256 bytes will be handled. Having to write larger information use OCTET_STRING as the data type and provide a sufficiently large souce buffer (of course interpretation of the data is up to the application) |
Result |
Variable containing the result. See pass-through mode and/or blocking mode |
Validity |
Rule, Task |
System Requirements |
RTE 34.18.3 |
Note |
•Set stru.phase = 1 to initialize the write. •If the data type is not specified(stru.dataType=0), data type reading is performed on remote device. The variable stru.phase is changed. •The write command is sent to the remote device and a response is expected. The variable stru.phase is changed. •Waiting for response. •Receiving response with positive result. RTE changes stru.phase = 4. •Receiving response with negative result. RTE changes stru.phase = 0. o-2, communication handler busy o-3, communication handler crash (restart) o-5, command to a device not present(stru.rid) o-6, no operation running. stru.phase not initialized o-12, illegal value of idn(alarm 9900 arg 12) o-13, illegal value of element/cmd (alarm 9900 arg 13) o-14, illegal value of datatype (alarm 9900 arg 4/arg 14) o-15, illegal value of datalen (alarm 9900 arg 5/arg 15) o-16, illegal value of phase (alarm 9900 arg 6) o-21, destination not specified (alarm 9900 arg 16) o-22, destination changed (alarm 9900 arg 32) o-23, software error o2, command already answered positively, value available in destination o>2, SDO error code, see table below |
•Set stru.phase = -1 to execute the write. •If the data type is not specified(stru.dataType=0), the read of data type on remote device is executed. The variable stru.phase is changed. •The write command is sent to the remote device and a response is expected. The variable stru.phase is changed. •Waiting for response. If the response does not arrive within a maximum of 3 seconds, the function exits with an error (timeout, returns -2). •Receiving response with positive result. RTE changes stru.phase = 4. •Receive response with negative result. RTE changes stru.phase = 0. o-2, communication handler busy o-3, communication handler crash (restart) o-4, blocking mode handling not allowed in current task(stru.phase = 1) (rule, ladder). Command not accepted o-5, command to a device not present(stru.rid) o-6, no task running. stru.phase not initialized o-12, illegal value of idn (alarm 9900 arg 12) o-13, illegal value of element/cmd (alarm 9900 arg 13) o-14, illegal value of datatype (alarm 9900 arg 4/arg 14) o-15, illegal value of datalen (alarm 9900 arg 5/arg 15) o-16, illegal value of phase (alarm 9900 arg 6) o-21, destination not specified (alarm 9900 arg 16) o-22, destination changed (alarm 9900 arg 32) o-23, software error o2, command already answered positively, value available in destination o>2, SDO error code, see table below |
See example for soe_ridn() function. |
