Difference between revisions of "CANopen:SET DOUT PDO DADD"
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Revision as of 14:40, 26 August 2014
Set COBID and location of 32 Digital Outputs inside TPDO.
Outputs are mapped to sys.dout.<dadd*100> to sys.dout.<dadd*100 + 31>
For example:
As for device with physical address 3 outputs will be mapped sys.dout.300 to sys.dout.331
Drives that implement DS402 profile require output mask in 0x60FE subindex 2. Refer to the device manual for details.
Input
dadd: device address (physical network address)
cobid: CAN COBID
offset: offset inside PDO, starting from 0
size: in bytes, for example 0x60FE.1 is 4 bytes long
Output
None
Return Value
None
Declaration
import_c SET_DOUT_PDO_DADD(byval as long,byval as long,byval as long,byval as long)
Syntax
SET_DOUT_PDO_DADD(<dadd>,<cobid>,<offset>,<size>)
Exceptions
None
Examples
SET_DOUT_PDO_DADD(1,0,0,0) ' Unmap Digital Outputs
call CAN_SDO_WRITE(1,0x1601,01,32,0x60FE0120) 'outputs are mapped to RPDO1 at location #1
call CAN_SDO_WRITE(1,0x60FE,02,32,0xffff0000) 'outputs mask
SET_DOUT_PDO_DADD(1,0x300,0 , 4) ' Digital Outputs is located in bytes 0,1,2 and 3 of TPDO with COBID 0x300