Delta EtherCAT User Manual

EtherCAT CoE Standard Communication EtherCAT Programming Guide
7-14 March, 2017
7
7.11 _ECAT_Slave_PDO_Get_Information

Syntax
U16 PASCAL _ECAT_Slave_PDO_Get_Information (U16 CardNo, U16 NodeID, U16 SlotNo,
U16 IOType, U16 *ODCnt, U16 *StartIndex)

Purpose
This is for acquiring the basic information of each slave device PDO.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
IOType U16 Type
OD format to be read
0: Master Rx
1: Master Tx
ODCnt U16* Quantity OD number of this IO type in the slave.
StartIndex U16* Index The starting index of the slave device.

Example
U16 Status;
U16 CardNo=16, NodeID = 1 ,SlotNo = 0, IOType = 0;
U16 ODCnt, StartIndex;
Status = _ECAT_Slave_PDO_Get_Information(CardNo, NodeID, SlotNo, IOType,
&ODCnt, &StartIndex);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English