Delta EtherCAT Programming Manual page 136

EtherCAT Programming Guide
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
CardNo
NodeID
SlotNo
IOType
ODSeqID
ODIndex
ODSubIndex
ByteSize
ODStartIndex

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]);
}
March, 2017
Data type Property
U16 Number
U16 Number
U16 Number
U16 Type
U16 Number
U16* Index
U16* Subindex
U16* byte
U16* Index
EtherCAT CoE Standard Communication
Description
Card No.
Node ID
Slot ID
OD format to be read
0: Master Rx
1: Master Tx
OD sequence ID
OD index of the data
OD subindex of the data
The size of the data space
The starting index of the OD
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