NetworkOutputOverrideFirmwareValueSet()

void NetworkOutputOverrideFirmwareValueSet	(	int32_t	index,
		FirmwareValue	value )

Parameters

index	The index of the Network Output to Override.
value	A FirmwareValue whose bits will be sent in place of the cyclic RMP value. Pre-load the cell that matches the output's data type (for example the Int16 cell for an INT PDO, the Float cell for a REAL PDO).

Description:

NetworkOutputOverrideFirmwareValueSet sets values to override those that would normally be set by the RMP, using a typed FirmwareValue rather than a raw unsigned 64-bit integer. This allows you to take complete control over exchanged EtherCAT PDOs without having to construct unions by hand for signed or floating point types. The override will only be sent if NetworkOutputOverrideSet(index, true) has been called.

Note

Because FirmwareValue is a union, the bits stored in any cell are forwarded directly to the underlying 64-bit override storage. No validation is performed against NetworkOutputDataTypeGet; if you load the Int32 cell of a value that the network expects as REAL, the RMP will still transmit those raw bits.

Sample Code:

IO: Input & Output

    // get Input values
    int inputCount = controller.NetworkInputCountGet();  // get number of Network Inputs (PDOs)
 
    Console.WriteLine($"Network Input Count: {inputCount}");
    for (int i = 0; i < inputCount; i++)
    {
        int size     = controller.NetworkInputBitSizeGet(i);    // read Input BitSize
        int offset   = controller.NetworkInputBitOffsetGet(i);  // read Input BitOffset
        string name  = controller.NetworkInputNameGet(i);       // read Input Name
        UInt64 value = controller.NetworkInputValueGet(i);      // read Input Value
        
        Console.WriteLine($"Input {i}: {name}, Size: {size}, Offset: {offset}, Value: {value}");
    }
 
    // get Output values
    int outputCount = controller.NetworkOutputCountGet();  // get number of Network Outputs (SDOs)
 
    Console.WriteLine($"Network Output Count: {outputCount}");
    for (int i = 0; i < outputCount; i++)
    {
        int size     = controller.NetworkOutputBitSizeGet(i);    // read Output BitSize
        int offset   = controller.NetworkOutputBitOffsetGet(i);  // read Output BitOffset
        string name  = controller.NetworkOutputNameGet(i);       // read Output Name
        UInt64 value = controller.NetworkOutputSentValueGet(i);  // read Output Value
        
        Console.WriteLine($"Output {i}: {name}, Size: {size}, Offset: {offset}, Value: {value}");
        controller.NetworkOutputOverrideValueSet(i, value);
    }

See also

NetworkOutputOverrideFirmwareValueGet, NetworkOutputOverrideValueSet, NetworkOutputOverrideSet, NetworkOutputDataTypeGet, FirmwareValue