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

Page 196

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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);

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