Jetter JXM-IO-EW30, User Manual, Page: 45 / 56

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8.6.5 STX example: Output value AI1 Voltage to TPDO1
The following STX example shows you in part how you can output the value AI1 Voltage on
TPDO1.
//Switching JXM-IO-EW30-G27 to PREOPERATIONAL
CanOpenSetCommand(
cCanChannel,CAN_CMD_NMT,CAN_CMD_NMT_Value(
cJXMNodeId,CAN_NMT_PREOPERATIONAL));
//AI 1 Port Type to AI_VOLTAGE (=1)
iTemp := 1 ;
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x2100 , 1 , CANOPEN_DWORD, 4 , iTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Invalidating TxPDO object, setting uppermost bit to 1
dTemp := 0x80000000 + 0x180 + 0x30 ;
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x1800 , 1 , CANOPEN_DWORD, 4 , dTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Disabling mapping
dTemp := 0 ;
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x1a00 , 0 , CANOPEN_BYTE, 1 , dTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Entering value AI1 Voltage
dTemp := 0x21000a10 ; // Index: 0x2100, sub-index 0x0a = 10, length 0x10 = 16
bits
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x1a00 , 1 , CANOPEN_DWORD, 4 , dTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Enabling mapping
dTemp := 1 ; // Number of mapping entries
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x1a00 , 0 , CANOPEN_BYTE, 1 , dTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Validating object, setting uppermost bit to 0, specifying PDO COB
dTemp := 0x180 + 0x30 ;
CanOpenDownloadSDO(
cCanChannel, cJXMNodeId,
0x1800 , 1 , CANOPEN_DWORD, 4 , dTemp, iBusy);
when SDOACCESS_FINISHED(iBusy) continue ;
//Switching JXM-IO-EW30-G27 to OPERATIONAL
CanOpenSetCommand(
cCanChannel,CAN_CMD_NMT,CAN_CMD_NMT_Value(
cJXMNodeId,CAN_NMT_OPERATIONAL));