beautypg.com

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

Page 25

background image

Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01

Revised March, 2012

3-3

NOTE

_DMC_01_get_device_table

Get the Slot ID using the PDO protocol

Example: gpDeviceInfo[gDMCCardNo] is a “WORD” type variable. If its value is 7,
the binary form is expressed as “

0000 0000 0000 0111”,

so Slave devices with Slot

IDs “1”, “2” and “3” exist.
_DMC_01_get_node_table

Get Node ID using SDO protocol.

Example: gpSlaveTable[0][gDMCCardNo] is a “DWORD” type variable. If its value is
7, the binary form is expressed as “

0000 0000 0000 0000 0000 0000 0000 0111”,

so

Slave devices with Node ID “1”, “2”, and “3” exist.

※You can use the following algorithm to find the Node ID for SDO.

lMask = 0x1;
for(i=0; i<32; i++)
{

/* Condition is met when the i-th bit is 1. */

if((gpSlaveTable[0][gDMCCardNo]>>i) & lMask) {

/* The derived i-th value +1 is the Node ID and corresponds to servo parameter
“P3-00” */

gpNodeID[gNodeNum] = (unsigned short)(i+1);
gNodeNum++;

}

}

4) Exit procedure

Figure 3.5

Click on the “Exit” button to execute the following procedure:

for(i=0; i

rt = _DMC_01_reset_card(gpDMCCardNoList[i]);

// Reset card

}
_DMC_01_close();

// Shut down PCI-DMC-A01

This manual is related to the following products: