Difference between revisions of "CANopen:SET CONTROL PDO DADD"
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| − | {{Template: | + | {{Template:CANopen Firmware Functions |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Set COBID and location of Control Word inside TPDO | + | Set COBID and location of 16-bit Control Word inside TPDO. |
|INPUT= | |INPUT= | ||
| Line 8: | Line 8: | ||
cobid: CAN COBID<br> | cobid: CAN COBID<br> | ||
offset: offset inside PDO, starting from 0<br> | offset: offset inside PDO, starting from 0<br> | ||
| − | size: in bytes, for example | + | size: in bytes, for example 0x607a.0 is 4 bytes long<br> |
'''Important note'''<br> | '''Important note'''<br> | ||
| − | Control | + | Control Word and either "Position Command" or "Velocity Command" or "Torque Command" must be mapped to the '''same''' PDO.<br> |
| − | if Control Word is not mapped, COB id of either pcmd, vcmd or vcmd will be used <br> | + | if Control Word is not mapped, COB id of either pcmd, vcmd or vcmd will be used instead<br> |
|OUTPUT= | |OUTPUT= | ||
| Line 29: | Line 29: | ||
|EXAMPLE= | |EXAMPLE= | ||
| − | SET_CONTROL_PDO_DADD( | + | SET_CONTROL_PDO_DADD(1,0,0,0) ' Unmap Control Word<br> |
| + | SET_CONTROL_PDO_DADD(1,0x200,0 , 2) ' Control Word is located in bytes 0 and 1 of TPDO with COBID 0x200 | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[CANopen:CAN SDO WRITE|CAN_SDO_WRITE]] |
| − | * [[ | + | * [[CANopen:SET CONTROL PDO DADD|SET_CONTROL_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET STATUS PDO DADD|SET_STATUS_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET PCMD PDO DADD|SET_PCMD_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET PFB PDO DADD|SET_PFB_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET VCMD PDO DADD|SET_VCMD_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET VFB PDO DADD|SET_VFB_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET TCMD PDO DADD|SET_TCMD_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET TDCMD PDO DADD|SET_TDCMD_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET CFB PDO DADD|SET_CFB_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:SET DOUT PDO DADD|SET_DOUT_PDO_DADD]] |
| − | * [[ | + | * [[CANopen:Configuration Example|Configuration_Example]] |
}} | }} | ||
Latest revision as of 14:41, 26 August 2014
Set COBID and location of 16-bit Control Word inside TPDO.
Input
dadd: device address (physical network address)
cobid: CAN COBID
offset: offset inside PDO, starting from 0
size: in bytes, for example 0x607a.0 is 4 bytes long
Important note
Control Word and either "Position Command" or "Velocity Command" or "Torque Command" must be mapped to the same PDO.
if Control Word is not mapped, COB id of either pcmd, vcmd or vcmd will be used instead
Output
None
Return Value
None
Declaration
import_c SET_CONTROL_PDO_DADD(byval as long,byval as long,byval as long,byval as long)
Syntax
SET_CONTROL_PDO_DADD(<dadd>,<cobid>,<offset>,<size>)
Exceptions
None
Examples
SET_CONTROL_PDO_DADD(1,0,0,0) ' Unmap Control Word
SET_CONTROL_PDO_DADD(1,0x200,0 , 2) ' Control Word is located in bytes 0 and 1 of TPDO with COBID 0x200