Difference between revisions of "CANopen:SET TDCMD PDO DADD"
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| − | {{Template: | + | {{Template:CANopen Firmware Functions |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Set COBID and location of 16-bit Torque Demand (output of position/velocity loop to current loop) inside RPDO.<br> | + | Set COBID and location of 16-bit Torque Demand (output of position/velocity loop to current loop [[MC-Basic:axis.TORQUEDRIVECOMMAND]]) inside RPDO.<br> |
| − | '''Do not confuse with | + | '''Do not confuse with Current feedback!'''<br> |
| Line 29: | Line 29: | ||
|EXAMPLE= | |EXAMPLE= | ||
SET_TDCMD_PDO_DADD(1,0,0,0) ' Unmap torque demand<br> | SET_TDCMD_PDO_DADD(1,0,0,0) ' Unmap torque demand<br> | ||
| − | SET_TDCMD_PDO_DADD(1,0x180,2 , 2) ' Torque | + | SET_TDCMD_PDO_DADD(1,0x180,2 , 2) ' Torque Demand is located in bytes 2,3 of RPDO with COBID 0x180 |
|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]] |
| + | * [[MC-Basic:axis.TORQUEDRIVECOMMAND]] | ||
}} | }} | ||
Latest revision as of 14:54, 26 August 2014
Set COBID and location of 16-bit Torque Demand (output of position/velocity loop to current loop MC-Basic:axis.TORQUEDRIVECOMMAND) inside RPDO.
Do not confuse with Current feedback!
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
Output
None
Return Value
None
Declaration
import_c SET_TDCMD_PDO_DADD(byval as long,byval as long,byval as long,byval as long)
Syntax
SET_TDCMD_PDO_DADD(<dadd>,<cobid>,<offset>,<size>)
Exceptions
None
Examples
SET_TDCMD_PDO_DADD(1,0,0,0) ' Unmap torque demand
SET_TDCMD_PDO_DADD(1,0x180,2 , 2) ' Torque Demand is located in bytes 2,3 of RPDO with COBID 0x180