Delta EtherCAT User Manual

EtherCAT Programming Guide EtherCAT CoE Standard Communication
March, 2017 7-3
7
7.1 _ECAT_Slave_SDO_Send_Message

Syntax
U16 PASCAL _ECAT_Slave_SDO_Send_Message(U16 CardNo, U16 NodeID,
U16 SlotNo, U16 Index, U16 SubIndex, U16 DataSize, U8 *Data)

Purpose
This is for issuing SDO command (CANopen) to the slave.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
Index U16 Index The index of CANopen object dictionary
SubIndex U16 Subindex The subindex of CANopen object dictionary
DataSize U16 byte Data size of the sent message. Unit: byte
Data U8* data Data of the sent message

Example
U16 Status;
U16 CardNo=16,NodeID=1,SlotNo=0;
U16 Index=0x6040, SubIndex=0, DataSize=4;
U8 Data[4]={0};
Status = _ECAT_Slave_SDO_Send_Message(CardNo, NodeID, SlotNo,
Index, SubIndex, DataSize, Data);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English