Delta EtherCAT Programming Manual page 134

EtherCAT Programming Guide
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
CardNo
NodeID
SlotNo
ODIndex
ODSubIndex
Data

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);
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Index
U16 Subindex
U8* data
EtherCAT CoE Standard Communication
Description
Card No.
Node ID
Slot ID
OD index of the data
OD subindex of the data
The data contents of the specified OD index
7
7-13