Added example to write a SDO

examples/write_sdo.rs

@@ -0,0 +1,38 @@
+//! Example: Write an int8 SDO to a slave
+//!
+//! This example demonstrates a simple SDO write of a single unsigned byte
+//! (u8) to a slave device. It opens the EtherCAT master (index 0) with
+//! read/write access, and writes the value 0x06 to SDO 0x6060 subindex 0 on
+//! the first slave (slave position 0).
+//!
+//! Usage
+//! ```text
+//! # From the workspace root
+//! cargo run --example write_sdo
+//! ```
+use ethercat::{Master, MasterAccess, SdoIdx, SlavePos};
+
+pub fn main() -> Result<(), std::io::Error> {
+    // Initialize the logger to see info messages from the library.
+    env_logger::init();
+
+    log::info!("Opening EtherCAT master...");
+    // Open the first master (index 0) with read/write access. Adjust the index
+    // if your setup uses a different master interface.
+    let mut master = Master::open(0, MasterAccess::ReadWrite)?;
+
+    // Target the first slave (position 0) and SDO index 0x6060, subindex 0.
+    let slave_pos = SlavePos::from(0);
+    let sdo_idx = SdoIdx::new(0x6060, 0);
+
+    // Write a single byte (u8) value 0x06 to the SDO
+    let value: u8 = 0x06;
+    log::info!("Writing SDO 0x6060:0 with value 0x06...");
+    // Perform the download (write) operation. The API accepts any type that
+    // implements `SdoData` (u8 is supported).
+    master.sdo_download(slave_pos, sdo_idx, false, &value)?;
+
+    println!("Wrote SDO 0x{:X}:{} = 0x{:02X}", 0x6060, 0, value);
+
+    Ok(())
+}