ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 243)

13.5
13.6
Maestro Software Manual Node DS301 Command Reference
MAN-MASSW (Ver. Q)
Initialization of Callback Functions: Receive PDO
This function implements initialization of PDO callback (@pdo).
Syntax:
.listenpdo(enablePDO1,
enablePDO2,
enablePDO3,
enablePDO4)
Input Parameters:
enablePDO1 – get PDO1 Transmit data from the CAN node
enablePDO2 – get PDO2 Transmit data from the CAN node
enablePDO3 – get PDO3 Transmit data from the CAN node
enablePDO4 – get PDO4 Transmit data from the CAN node
Return Value:
None
Example:
See the Callback Functions Receive PDO example below.
Callback Functions: Receive PDO
This function implements PDO handler calls and sends a new PDO Transmit message.
Syntax:
function @pdo(int address, int wData, int lData, int length)
Input Parameters:
Address – bit field consists of the following:
busId = address & 0x0100 (0 or 1)
nodeId = address & 0x00FF (1–127)
pdoNum = address >> 16 (1,2, 3 or 4)
wData – high 32 bits of PDO data
lData – low 32 bits of PDO data
length – PDO data length (in bytes)
Return Value:
None
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