Difference between revisions of "CANopen:SET PCMD PDO DADD"
m (Lisa moved page CANOpen:SET PCMD PDO DADD to CANopen:SET PCMD PDO DADD: correction of CANopen) |
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|DESCRIPTION= | |DESCRIPTION= | ||
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* [[CANopen:SET DOUT PDO DADD|SET_DOUT_PDO_DADD]] | * [[CANopen:SET DOUT PDO DADD|SET_DOUT_PDO_DADD]] | ||
* [[CANopen:Configuration Example|Configuration_Example]] | * [[CANopen:Configuration Example|Configuration_Example]] | ||
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Revision as of 14:39, 26 August 2014
|DESCRIPTION= Set COBID and location of 32-bit Position Command (MC-Basic:axis.COUNTCOMMAND) 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_PCMD_PDO_DADD(byval as long,byval as long,byval as long,byval as long)
|SYNTAX= SET_PCMD_PDO_DADD(<dadd>,<cobid>,<offset>,<size>)
|EXCEPTIONS= None
|EXAMPLE=
SET_PCMD_PDO_DADD(1,0,0,0) ' Unmap Position Command
SET_PCMD_PDO_DADD(1,0x200,2 , 4) ' Position Command is located in bytes 2,3,4,5 of TPDO with COBID 0x200
|SEE ALSO=