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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);