Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 - 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);