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

Page 197

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Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

8-11

8.7 _DMC_01_read_message

FORMAT

I16 PASCAL _DMC_01_read_message (I16 CardNo, U16* Cmd, U16* COBID,
U16* DataType,U16* Value0,U16* Value1,U16* Value2,U16* Value3)


Purpose

Reads the last SDO command message into the data buffer.


Parameters

Name

Data Type

Unit

Description

CardNo

U16

Number

Unit

CardNo is between 0~15

Cmd

U16*

Number

Index of object dictionary

COBID U16*

Number

CAN

object ID(0x580 + current Node ID)

DataType

U16*

Number

Datatype of object dictionary

Value0 U16*

Number

Message buffer (Data1) – Idx low (High byte),

CMD (Low byte)

Value1

U16*

Number

Message buffer (Data2) – Sub-Idx (High byte)

Idx 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; 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: SDO data high word (Low byte), Value3: SDO data high word (High word);

*/
U16 CardNo=0,
U16 Cmd, COBID, DataType, Value0, Value1, Value2, Value3;
I16 status= _DMC_01_read_message (CardNo, &Cmd, & COBID, &DataType,

&Value0, &Value1, &Value2, &Value3);


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