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Chapter 8 Using SDO Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 8-9
8.5 _DMC_01_send_message
FORMAT
I16 PASCAL _DMC_01_send_message (U16 CardNo, U16 NodeID,U16 SlotID,
U16 Index,U16 SubIdx,U16 DataType,U16 Value0,U16 Value1,U16 Value2,U16 Value3)
Purpose
Sends SDO command message to the data buffer. (This API function will wait for the
command to be sent before exiting)
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
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
/*
CardNo: Card No; NodeID: NodeID; SlotID: SlotID; 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: GSDO data high word (Low byte), Value3: GSDO data high word (High byte)
*/
U16 CardNo=0, NodeID=1, SlotID=0;
U16 Index=0x6060, SubIdx=0, DataType=0x2f, value0=0x1, value1=0, value2=0, value3=0;
I16 status= _DMC_01_send_message (CardNo, NodeID, SlotID, Index, SubIdx, DataType,
value0, value1, value2, value3);