Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 - Manual (Page 199)

Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 8-13
8.9 _DMC_01_get_message
 FORMAT
I16 PASCAL _DMC_01_get_message (I16 CardNo, U16 NodeID, U16 SlotID, U16 Index,
U16* Cmd, U16* COBID, U16* DataType, U16* Value0, U16* Value1, U16* Value2,
U16* Value3)

Purpose
Retrieves the SDO command message and places it in the data buffer.

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
Cmd U16* Number Index of object dictionary
COBID U16* Number CAN object 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
U16 CardNo=0, NodeID=1, SlotID=0, Index=0x6060, SubIdx=0;
U16 Cmd, COBID, DataType, Value0, Value1, Value2, Value3;
I16 status= _DMC_01_get_message(CardNo, NodeID, SlotID, Index, SubIndex, &Cmd,
&COBID, &DataType, &Value0, &Value1, &Value2, &Value3);