Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 692 of 909
SDORD(...)
SDORead
APPLICATION: Communications control
DESCRIPTION: Reads the value from SDO; assigns value read to a variable
EXECUTION: Immediate
CONDITIONAL TO: Enabled through CANCTL(17,value), see CANCTL(func-
tion,value) on page 354.
LIMITATIONS: Does not apply to Class 6 systems.
READ/REPORT: RSDORD
WRITE: Read only
LANGUAGE ACCESS: Communications control
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x.4.30 or later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The SDORD command gets (reads) the value from the specified SDO on a specified device. It
can assign that value to a variable. To do this, use:
x=SDORD(slave addr, index, sub-index, length)
where:
slave addr is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 2 (a
motor with CAN address 2). The valid range is from 1 to 127. SDO’s cannot
be broadcast. If slave addr is to itself, then internal loopback is used instead.
index is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 24640
(for object 6040hex).
sub-index is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 0 (for
sub-index 0).
length is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 4. This is
the number of bytes in the data; 1, 2, and 4 are the only valid values.
RSDORD(slave addr, index, sub-index, length) is the report version of the command. See
above for a description of the parameters.
The function will pause (not proceed) a user program until a confirmation is received or a
timeout occurs. In the event of a timeout, the value 0 is returned and an error code will be
Part 2: Commands: SDORD(...)
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