ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 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)
13-2