Elmomc Multi-Axis Motion Controller-Maestro Manual do Utilizador descarregar pdf (Página 242)

13.2

13.3

13.4

Sync and Timestamp

This function is common to other protocols besides DS301. See section 5.6.3 Callback

(interrupt) Functions.

Emergency Handling

This function is common to other protocols besides DS301. See section 5.6.3 Callback

(interrupt) Functions.

Send PDO

This function implements the sending of PDO Receive messages to the CAN node.

Syntax:

<node>.wpdo(pdoNum, wData, lData, length)

Input Parameters:

pdoNum – PDO number (1,2,3 or 4)

wData – high 32 bits of PDO data

lData – low 32 bits of PDO data

length – PDO data length (in bytes)

Return Value:

None

Example:

To send a PDO2 to node DS301 named: node1 data (8 byte long) where data on CAN

BUS will be:

Byte Num

0 1 2 3 4 5 6 7

CAN Data

0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08

Use the following:

node1.wpdo(2, 0x08070605, 0x04030201, 8)

pdoNum = 2

wData = 0x08070605 //high 32 bits of PDO data

lData = 0x04030201 // low 32 bits of PDO data

length = 8 // PDO data length (in bytes)

Maestro Software Manual Node DS301 Command Reference

MAN-MASSW (Ver. Q)

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Elmomc Multi-Axis Motion Controller-Maestro Manual do Utilizador Página 242