CANopen:can pdo write
Write (send) PDO message to a slave.
This function allows sending of PDO to the slave. System will immidiately send PDO message via CAN controller
Input
Slave address
pdo
Output
None
Return Value
None
Declaration
public sub can_pdo1_write(byval addr as long, byval pdo as pdo_type)
public sub can_pdo2_write(byval addr as long, byval pdo as pdo_type)
public sub can_pdo3_write(byval addr as long, byval pdo as pdo_type)
public sub can_pdo4_write(byval addr as long, byval pdo as pdo_type)
Syntax
call can_pdo1_write(<Slave address>, <pdo>)
Exceptions
Examples
dim shared pdo1 as pdo_type
program
dim lRefCnt as long=0
dim lPdoVal as long=0
pdo1->data[1]=0x1234
pdo1->length[1]=2
pdo1->data[2]=0x5678abcd
pdo1->length[2]=4
pdo1->data[3]=0xca
pdo1->length[3]=1
pdo1->data[4]=0xfa
pdo1->length[4]=1
pdo1->length[5]=0
pdo1->length[6]=0
pdo1->length[6]=0
pdo1->length[7]=0
call can_pdo1_write(1, pdo1)
pdo1->data[1]=0x12345678
pdo1->length[1]=4
pdo1->data[2]=0xabcd
pdo1->length[2]=2
pdo1->data[3]=0xcafe
pdo1->length[3]=2
pdo1->length[4]=0
pdo1->length[5]=0
pdo1->length[6]=0
pdo1->length[6]=0
pdo1->length[7]=0
call can_pdo4_write(5, pdo1)
pdo1->data[1]=0x12345678
pdo1->length[1]=4
pdo1->data[2]=0xabcdef11
pdo1->length[2]=0
pdo1->length[3]=0
pdo1->length[4]=0
pdo1->length[5]=0
pdo1->length[6]=0
pdo1->length[6]=0
pdo1->length[7]=0
call can_pdo4_write(5, pdo1)
end program