6.2 PowerlinkConnectionPointType ToC Previous Next

6.2.4 Method WriteByIndex ToC Previous Next

The Method WriteByIndex can be used to access the POWERLINK Object Dictionary by Index and Sub-Index to write values of POWERLINK Objects.

Signature

WriteByIndex (
[in]	UInt16		Index
[in]	Byte			SubIndex
[in]	BaseDataType	Data
[out]	UInt32		PowerlinkAbortCode
);

Argument Description
Index Index of the POWERLINK Object in the POWERLINK Object Dictionary
SubIndex Sub-Index of the POWERLINK Object in the POWERLINK Object Dictionary
Data Data to be written to the POWERLINK Object
PowerlinkAbortCode SDO Abort Code as defined in EPSG DS 301
Some of the SDO Abort Codes defined in POWERLINK are mapped to an OPC UA ResultCode, see table for ‘Method Result Codes’

Method Result Codes

ResultCode SDO Abort Code Description
Good 0 The write access was successful
Bad_ResourceInvalid - The POWERLINK Device is not available, the output argument PowerlinkAbortCode will be set to 0x0504 0000 (timeout)
Bad_NotFound 0x0602 0000 Object does not exist in the POWERLINK Object Dictionary
  0x0609 0011 Sub-Index does not exist
Bad_Timeout 0x0504 0000 The operation timed out / SDO protocol timed out
Bad_NotSupported 0x0601 0000 Unsupported access to an POWERLINK Object
Bad_NotWritable 0x0601 0002 Attempt to write a read-only POWERLINK Object
Bad_OutOfRange 0x0609 0030 Value range of parameter exceeded
  0x0609 0031 Value of parameter written too high
  0x0609 0032 Value of parameter written too low
Bad_TypeMismatch 0x0607 0010 length of service parameter does not match
  0x0607 0012 length of service parameter too high
  0x0607 0013 length of service parameter too low
Bad_CommunicationError All other SDO Abort Codes  

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