NetworkIndexGet()

uint32_t NetworkIndexGet

(

RSINetworkIndexType

indexType

)

Description:

Returns the position in the global PDO (Process Data Object) array where this axis reads/writes a specific signal type. The firmware uses these indices to exchange data with the EtherCAT master. PDO mappings are auto-detected at startup via DS402 standard objects or configured via NodeInfo & CustomNodeInfo files.

Parameters

indexType

The axis signal type to query (position feedback, torque demand, status word, etc.)

Returns

PDO Network index, or NetworkIndexInvalid if not configured.

Sample Code:

// Get the PDO index where drive position error is mapped
uint32_t pdoIndex = axis->NetworkIndexGet(RSINetworkIndexType::NetworkIndexTypePDO_POSITION_ERROR_INDEX);
if (pdoIndex != NetworkIndexInvalid) {
    // Read the raw PDO value directly from the network topology
    int32_t errorCounts = controller->NetworkInputValueGet(pdoIndex);
}

See also

NetworkIndexSet, MotionController::NetworkOutputSentValueGet, MotionController::NetworkInputValueGet, RSINetworkIndexType

Examples

Homing.cs, and mathblock-pdo-copy.cs.