CANopen:SET DOUT PDO DADD

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

See Also

• CAN_SDO_WRITE
• SET_CONTROL_PDO_DADD
• SET_STATUS_PDO_DADD
• SET_PCMD_PDO_DADD
• SET_PFB_PDO_DADD
• SET_VCMD_PDO_DADD
• SET_VFB_PDO_DADD
• SET_TCMD_PDO_DADD
• SET_TDCMD_PDO_DADD
• SET_CFB_PDO_DADD
• SET_DOUT_PDO_DADD
• SET_DIN_PDO_DADD
• Configuration_Example