Delta EtherCAT User Manual

EtherCAT Programming Guide EtherCAT CoE Standard Communication
March, 2017 7-13
7
7.10 _ECAT_Slave_PDO_Set_OD_Data

Syntax
U16 PASCAL _ECAT_Slave_PDO_Set_OD_Data (U16 CardNo, U16 NodeID, U16 SlotNo, U16
ODIndex, U16 ODSubIndex, U8 *Data)

Purpose
This is for sending the data of an OD index in the PDO mapping. Before initializing the master,
the OD code should be defined in PDO mapping table by EcNavi in advance.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
ODIndex U16 Index OD index of the data
ODSubIndex U16 Subindex OD subindex of the data
Data U8* data The data contents of the specified OD index
 Example
U16 Status;
U8 Data = 0;
U16 CardNo=16, NodeID = 1 ,SlotNo = 0, IOType = 0;
U16 ODIndex = 0x1780, ODSubIndex = 0x01
Status = _ECAT_Slave_PDO_Set_OD_Data (CardNo, NodeID, SlotNo, ODIndex, ODSubIndex,
&Data);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English