Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 193
Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012
8-7
8.3 _DMC_01_get_canopen_ret
FORMAT
I16 PASCAL _DMC_01_get_canopen_ret (U16 CardNo, U16* COBID, U8* value)
Purpose
Retrieves data returned by CANOPEN (SDO related data).
Parameters
Name
Data Type
Unit
Description
CardNo U16
Number
Unit CardNo is between 0~15
COBID
U16*
Number
CAN object ID
value U8*
Number
Data contained within object
Value[0]: SDO Message response
If content is 32-bit long, value is 43
If content is 16-bit long, value is 4b
If content is 8-bit long, value is 4f
Write successful, value is 60
Error report, value is 80
Value[1]: Index(Low byte)
Value[2]: Index(High byte)
Value[3]: Sub index
Value[4]: Data low word (Low byte)
Value[5]: Data low word (High byte)
Value[6]: Data high word (Low byte)
Value[7]: Data high word (High byte)
Example
U16 CardNo=0;
U16 COBID=0;
U8 value[8]={0};
I16 status= _DMC_01_get_canopen_ret (CardNo, &COBID, value);