Difference between revisions of "CANopen:SET TCMD PDO DADD"
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| − | Set COBID and location of 16-bit Torque Command ([[ | + | Set COBID and location of 16-bit Torque Command ([[MC-Basic:element.TORQUECOMMAND]]) inside TPDO. |
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Latest revision as of 12:51, 13 September 2017
Set COBID and location of 16-bit Torque Command (MC-Basic:element.TORQUECOMMAND) 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_TCMD_PDO_DADD(byval as long,byval as long,byval as long,byval as long)
Syntax
SET_TCMD_PDO_DADD(<dadd>,<cobid>,<offset>,<size>)
Exceptions
None
Examples
SET_TCMD_PDO_DADD(1,0,0,0) ' Unmap Torque Command
SET_TCMD_PDO_DADD(1,0x200,2 , 2) ' Torque Command is located in bytes 2 and 3 of TPDO with COBID 0x200