Difference between revisions of "CANopen:SET TDCMD PDO DADD"
m (Text replace - "Template:CANopen-Firmware-Functions" to "Template:CANopen Firmware Functions") |
m (Lisa moved page CANOpen:SET TDCMD PDO DADD to CANopen:SET TDCMD PDO DADD: correction of CANopen) |
(No difference)
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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