Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 694 of 909
SDOWR(...)
SDOWrite
APPLICATION: Communications control
DESCRIPTION: Writes a value to the specified SDO on a specified device
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:
Use SDORD and RSDORD
WRITE: Write 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 SDOWR command writes a value to the specified SDO on a specified device. To do this,
use:
SDOWR(slave addr, index, sub-index, length, value)
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.
value is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 1234
(max 32-bits of data). If the length is shorter than the variable or constant
given, then the value is truncated regardless of sign.
Part 2: Commands: SDOWR(...)
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