Directive (device command) to perform a read of the internal registers of an ethercat device using an incremental address.
Syntax |
ECAT_APRD nEt adp ado [len] [-TO microSec] [-BF] [-U8|-U16|-U32] |
|---|---|
nEt |
Number of the Ethernet port whose information is wanted |
adp |
Incremental address (0 first device, -1 second device, -2 third device, and so on, up to -1024, read Note) |
ado |
Address of the register to be read on the device |
len |
Number of bytes to read - if omitted assume length equal to 2. (optional) |
-TO microsec |
Timeout waiting for response - if omitted, the value 500000 is assumed. (optional) |
-BF |
Forces the use of the data support buffer. (optional) |
-U8 |
Byte visualization (defaults if len = 1 or different from 2 and 4). (optional) |
-U16 |
Word visualization (default if len = 2). (optional) |
-U32 |
Dword visualization (default if len = 4). (optional) |
Notes |
NOTE: The incremental address refers to the PHYSICAL location of the devices in the EtherCAT line, so by selecting 0 as the address I refer to the device connected directly to the master, with -1 the one connected immediately after and so on. If the value is not in the validity range, remote error 101 is returned.
Example
Lettura da porta ETH 1, secondo dispositivo (slave) connesso alla linea, indirizzo del registro 0x0120
|
