-T datatype

Type of data:

1 = BOOLEAN

2 = INTEGER 8

3 = INTEGER 16

4 = INTEGER 32

5 = UNSIGNED 8

6 = UNSIGNED 16

7 = UNSIGNED 32

8 = REAL 32

9 = VISIBLE_STRING

10= OCTET_STRING

11 = UNICODE_STRING

12 = TIME_OF_DAY

13 = TIME_DIFFERENCE

15 = DOMAIN

16 = INTEGER 24

17 = REAL 64

18 = INTEGER 40

19 = INTEGER 48

20 = INTEGER 56

21 = INTEGER 64

22= UNSIGNED 24

24= UNSIGNED 40

25= UNSIGNED 48

26= UNSIGNED 56

27= UNSIGNED 64

30 = BYTE

45 = BITARR8

46 = BITARR16

47 = BITARR32

NOTE: To get the list of data types use the following command: COE_WOBJ -H.

nws

Number of workstations Robox ID

objCode

Object

subIndex

Subindex

data

Information to be written.

In case of VISIBLE_STRING the data element must be given between "".

In case of OCTET_STRING the data sequence (two digits per byte) to impose the decimal value 79 should be typed 4F.

UNICODE_STRING and DOMAIN are treated as OCTET_STRING.

ES. COE_WOBJ -T 8 1 0x3200 0 1.2 ; writing a float.

ES. COE_WOBJ -T 9 1 0x4200 0 "X-axis" ; writing a string.

ES. COE_WOBJ -T 10 1 0x4202 2 4F 52 A D2 88 0 ; writing 6 bytes into an OCTET_STRING.

Writing a single digit implies that the most significant one is worth 0.

That is, 4F 52 A D2 88 0 corresponds to writing 4F 52 0A D2 88 00.

-E

Enable echo of sent data. (optional)

Notes

In case an illegal command is given you will get a response like:

ERROR on SDO : 0x<code>

where <code> may take the following cases:

0503 0000 = Toggle bit not alternated

0504 0000 = SDO protocol timed out

0504 0001 = Client / Server command specifier not valid or unknown

0504 0002 = Invalid block size (block mode only)

0504 0003 = Invalid sequence number (block mode only)

0504 0004 = CRC error (block mode only)

0504 0005 = Out of memory

0601 0000 = Unsupported access to an object

0601 0001 = Attempt to read a write only object

0601 0002 = Attempt to write a read only object

0602 0000 = Object does not exist in the object dictionary

0604 0041 = Object cannot be mapped to the PDO

0604 0042 = The number and length of the objects to be mapped would exceed PDO length

0604 0043 = General parameter incompatibility reason

0604 0047 = General internal incompatibility in the device

0606 0000 = Access failed due to a hardware error

0607 0010 = Data type does not match, length of service parameter does not match

0607 0012 = Data type does not match, length of service parameter too high

0607 0013 = Data type does not match, length of service parameter too low

0609 0011 = Sub-index does not exist

0609 0030 = Value range of parameter exceed (only for write access)

0609 0031 = Value of parameter written too high

0609 0032 = Value of parameter written too low

0609 0036 = Maximum value is less than minimum value

0800 0000 = General error

0800 0020 = Data cannot be transferred or stored to the application

0800 0021 = Data cannot be transferred or stored to the application because of local control

0800 0022 = Data cannot be transferred or stored to the application because of the present device state

0800 0023 = Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of a file error)

NOTE: To get the error string starting from the code, use the command: COE_WOBJ -AC hhh llll where hhh and llll represent the high four digits (hex) of the error code while llll represents the low four digits.