Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 - Manual (Page 195)

Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 8-9
8.5 _DMC_01_send_message
 FORMAT
I16 PASCAL _DMC_01_send_message (U16 CardNo, U16 NodeID,U16 SlotID,
U16 Index,U16 SubIdx,U16 DataType,U16 Value0,U16 Value1,U16 Value2,U16 Value3)
 Purpose
Sends SDO command message to the data buffer. (This API function will wait for the
command to be sent before exiting)
 Parameters
Name Data Type Unit Description
CardNo U16 Number
Unit
CardNo is between 0~15
NodeID U16 Number
Unit
Node ID
SlotID U16 Number
Unit
Slot ID
Index U16 Number Index of object dictionary
SubIdx U16 Number Sub-index of object dictionary
DataType U16 Number Datatype of object dictionary
Value0 U16
Number
Message buffer (Data1) – index (Low byte),
CMD (High byte)
Value1 U16
Number
Message buffer (Data2) – Sub-Idx (High byte),
index high (Low byte)
Value2 U16 Number Message buffer (Data3) – Data (Low byte)
Value3 U16 Number Message buffer (Data4) – Data (High byte)
 Example
/*
CardNo: Card No; NodeID: NodeID; SlotID: SlotID; Index: SDO Index; SubIdx: SDO
Subindex; DataType: (Read Command) Read data, set as 0x40; (Write Command)
Write 8-bit, set as 0x2f; (Write Command) Write 16-bit, set as 0x2f; (Write Command) Write
32-bit, set as 0x23f;
Value0: SDO data low word (Low byte), Value1: SDO data low word (High byte);
Value2: GSDO data high word (Low byte), Value3: GSDO data high word (High byte)
*/
U16 CardNo=0, NodeID=1, SlotID=0;
U16 Index=0x6060, SubIdx=0, DataType=0x2f, value0=0x1, value1=0, value2=0, value3=0;
I16 status= _DMC_01_send_message (CardNo, NodeID, SlotID, Index, SubIdx, DataType,
value0, value1, value2, value3);