Delta EtherCAT User Manual

EtherCAT Programming Guide EtherCAT CoE Standard Communication
March, 2017 7-15
7
7.12 _ECAT_Slave_PDO_Get_Detail_Mapping
 Syntax
U16 PASCAL _ECAT_Slave_PDO_Get_Detail_Mapping (U16 CardNo, U16 NodeID, U16 SlotNo,
U16 IOType, U16 ODSeqID, U16 *ODIndex, U16 *ODSubIndex, U16 *ODByteSize, U16
*ODStartIndex)
 Purpose
This is for acquiring the details of PDO mapping in the slave device.
 Parameter
Name Data type Property Description
CardNo U16 Number Card No.
NodeID U16 Number Node ID
SlotNo U16 Number Slot ID
IOType U16 Type
OD format to be read
0: Master Rx
1: Master Tx
ODSeqID U16 Number OD sequence ID
ODIndex U16* Index OD index of the data
ODSubIndex U16* Subindex OD subindex of the data
ByteSize U16* byte The size of the data space
ODStartIndex U16* Index The starting index of the OD

Example
U16 Status;
U16 CardNo=16, NodeID = 1 ,SlotNo = 0, IOType = 0, ODSeqID = 0, ODCnt , StartIndex;
U16 ODIndex[8]={0}, ODSubIndex[8]={0}, ODBitSize[8]={0}, ODStartIndex[8]={0};
Status = _ECAT_Slave_PDO_Get_Information(CardNo, NodeID, SlotNo, IOType, &ODCnt,
&StartIndex);
for (ODSeqID = 0; ODSeqID < ODCnt; ODSeqID++)
{
Status = _ECAT_Slave_PDO_Get_Detail_Mapping(CardNo, NodeID, SlotNo,
IOType, ODSeqID, &ODIndex[ODSeqID], &ODSubIndex[ODSeqID],
&ODBitSize[ODSeqID],&ODStartIndex[ODSeqID]);
}

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English