Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 196

Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
8-10
Revised March, 2012
8.6 _DMC_01_send_message3
FORMAT
I16 _DMC_01_send_message3 (I16 CardNo, U16 Index,U16 SubIdx,U16 DataType,
U16 Value0,U16 Value1,U16 Value2,U16 Value3)
Purpose
Sends SDO command message to the data buffer and exits the data buffer once the
command is sent.
Parameters
Name
Data Type
Unit
Description
CardNo U16
Number
Unit
CardNo is between 0~15
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
U16 CardNo=0;
U16 lock;
U16 Index=0x6060, SubIdx=0, DataType=0x2f, value0=0x1, value1=0, value2=0, value3=0;
I16 status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0, value1,
value2, value3);
status = _DMC_01_check_canopen_lock (CardNo, &lock);
while(lock){ };
value0=0x2;
status= _DMC_01_send_message3 (CardNo, Index, SubIdx, DataType, value0, value1,
value2, value3);