MOONS’ CANopen Library

User Manual

Rev. 1.1

Sep. 30th, 2017

©Copyright Shanghai AMP & MOONS’ Automation Co., Ltd. All Right Reserved.
 MOONS’ CANopen Library User Manual

Contents
1 GETTING STARTED ......................................................................................... 5

1.1 INTRODUCTION .............................................................................................. 5

1.2 OPERATING SYSTEM ...................................................................................... 5

1.3 PREPARATIONS .............................................................................................. 5

2 HOW TO USE THE DLL ................................................................................... 6

2.1 CANOPENLIBHELPER CLASS ......................................................................... 6

2.2 INCLUDED FILES ............................................................................................ 6

2.3 USAGE FLOWCHART....................................................................................... 7

2.4 PROGRAMMING GUIDE ................................................................................... 8

2.4.1 C++ ...................................................................................................................... 8
2.4.2 C# ........................................................................................................................ 9
2.4.3 VB.NET ................................................................................................................ 9

2.5 ABOUT SAMPLE CODE SOLUTION .................................................................. 10

3 API DEFINITION ............................................................................................. 12

3.1 API LIST ..................................................................................................... 12

3.1.1 Events ................................................................................................................ 12
3.1.2 Basic APIs.......................................................................................................... 12
3.1.3 SDO APIs........................................................................................................... 13
3.1.4 Advanced APIs .................................................................................................. 17

3.2 API DESCRIPTIONS ...................................................................................... 18

3.2.1 Structure & Enumeration Definition ................................................................... 18

4 API REFERENCE ........................................................................................... 21

4.1 EVENTS ...................................................................................................... 21

4.2 BASIC APIS ................................................................................................. 22

4.3 SDO APIS .................................................................................................. 46

4.4 ADVANCED APIS .......................................................................................... 68

5 FAQ ................................................................................................................. 72
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5.1 HOW TO SOLVE "LOADERLOCK WAS DETECTED" WHEN ADAPTER IS ZLG? ......... 72

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Revision History

Rev. Author Participator Date Description

1.0 Austin 2017-02-23 First released.

1.1 Austin 2017-09-30 Added canlib32.dll to the included files.

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1 Getting Started

1.1 Introduction
MOONS’ Motion Control Libraries provides powerful APIs to the users to write their Microsoft
Windows software when there are using MOONS’ field bus drives. It will help the users to develop
there motion control system rapidly and easily. MOONS’ Motion Control Libraries consist of the
following libraries:
Table 1.1 Motion Control Libraries List
Library DLL Description Communication

SCL SCLLib_x86.DLL Serial Port communication with RS232, RS485/422

SCL Library
SCLLib_x64.DLL

Ethernet SCL ESCLLib_x86.DLL Ethernet communication with SCL Ethernet

Library
ESCLLib_x64.DLL

CANopen CANopenLib_x86.DLL CANopen communication library CANopen

CANopenLib_x64.DLL

This User Manual gives basic instructions on how to use the CANopen Library to control your
MOONS’ drives via CANopen bus.
MOONS' provides VC++, VB.NET and C# sample codes to show you how to program with
MOONS’ CANopen Library. In the sample codes there is a helper file to encapsulate the
importation to the DLL. This will make it very convenient to use.

1.2 Operating System

Microsoft Windows XP(Service Pack 3), Vista, 7, 8 10 or later, 32-bit and 64-bit.

1.3 Preparations
Before you program your motion control application, you should do some configurations otherwise
it will lead the communication to muddle.
For MOONS' CANopen drives, you should configure all your drives in one CANopen fieldbus
network with same baud rate. Also the drives Node ID should be different entirely.

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2 How to Use the DLL

2.1 CANopenLibHelper Class

When customer want to use our library, they can’t call the function directly becase our library
is a DLL. Fortunely, for VC++, C# and VB.NET, MOONS’ provides a helper file to simple the call to
the DLL APIs.You don’t need to write the complicated links to the DLL. You only need to write
several lines of code then you can make the motor moving.
MOONS’ provide 32-bit and 64-bit DLL for 32-bit and 64-bit operating system respectively.

32-bit 64-bit

Application Application

CANopenLibHelper CANopenLibHelper
class class

CANopenLib_x86.dll CANopenLib_x64.dll

Fig. 2.1 CANopen Library Helper

2.2 Included Files

Your own application should include some files. Open the installation folder, normally the
installation folder should be "C:\Program Files (x86)\MOONS'\CANopen Library\". Then enter the
sub-folder "Lib". If you are using 32-bit operating system, please enter the "x86" and copy all files
and folder to the running folder of your own software. See Fig. 2.2 and Fig. 2.3:
32-bit

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Fig. 2.2 32-bit included files

64-bit

Fig. 2.3 64-bit included files

2.3 Usage Flowchart

The usage flowchart of the DLL is as following:

1. Open

2. Motion or Monitor Commands

3. Close

Fig. 2.4 Usage flowchart of CANopen DLL

1. Open
Call this function to Open CANopen Adapter so that you can communication to the drive.

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2. Motion or Monitor Commands

Here you can call the basic APIs or advanced APIs according to your application.
3. Close
Close CANopen communication and release resources.

2.4 Programming Guide

2.4.1 C++
// Define Adapter, 0=Kvaser, 1=PEAK, 2=ZLG
int nAdapter = 0;

// Initlize baud rate to 1Mbps

int nBaudRate = 0;

BYTE nChannel = 0;

// Set current node ID to 1

BYTE nNodeID = 1;

// Create an instance of helper

CANopenLibHelper *m_CANopenLibHelper = new CANopenLibHelper();
// For 32-bit operating system, using the following line:
// CANopenLibHelper *m_CANopenLibHelper = new CANopenLibHelper();

// Open CANopen Adapter

BOOL ret = m_CANopenLibHelper->Open(nAdapter, nBaudRate, nChannel);

// Enable the motor

ret = m_CANopenLibHelper->DriveEnable(nNodeID, TRUE);

// Rel Move: Distance = 20000 steps, Velocity = 10rps, Acceleration = 100 rps/s, Deceleration =
100rps/s

// Rel Move Velocity

double dVelocity = 10;

// Rel Move Acceleration

double dAccel = 100;

// Rel Move Deceleration

double dDecel = 100;

ret = m_CANopenLibHelper->RelMove(nNodeID, 20000, &dVelocity, &dAccel, &dDecel);

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2.4.2 C#
// Define Adapter, 0=Kvaser, 1=PEAK, 2=ZLG
int nAdapter = 0;

// Initlize baud rate to 1Mbps

int nBaudRate = 0;

byte nChannel = 0;

// Set current node ID to 1

byte nNodeID = 1;

// Create an instance of helper

CANopenLibHelper m_CANopenLibHelper = new CANopenLibHelper();
// For 32-bit operating system, using the following line:
// CANopenLibHelper m_CANopenLibHelper = new CANopenLibHelper();

// Open CANopen Adapter

bool ret = m_CANopenLibHelper.Open (nAdapter, nBaudRate, nChannel);

// Enable the motor

ret = m_CANopenLibHelper.DriveEnable(nNodeID, TRUE);

// Rel Move: Distance = 20000 steps, Velocity = 10rps, Acceleration = 100 rps/s, Deceleration =
100rps/s

// Rel Move Velocity

double dVelocity = 10;

// Rel Move Acceleration

double dAccel = 100;

// Rel Move Deceleration

double dDecel = 100;

ret = m_CANopenLibHelper.RelMove(nNodeID, 20000, dVelocity, dAccel, dDecel);

2.4.3 VB.NET
' Define Adapter, 0=Kvaser, 1=PEAK, 2=ZLG
Dim nAdapter As Integer = 0

' Initlize baud rate to 1Mbps

Dim nBaudRate As Integer = 0

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Dim nChannel As Byte = 0

' Set current node ID to 1

Dim nNodeID As Byte = 1

' Create an instance of helper

Dim m_CANopenLibHelper As New CANopenLibHelper()
' For 32-bit operating system, using the following line:
' CANopenLibHelper m_CANopenLibHelper = new CANopenLibHelper();

' Open CANopen Adapter

Dim ret As Boolean = m_CANopenLibHelper.Open(nAdapter, nBaudRate, nChannel)

' Enable the motor

ret = m_CANopenLibHelper.DriveEnable(nNodeID, True)

' Rel Move: Distance = 20000 steps, Velocity = 10rps, Acceleration = 100 rps/s, Deceleration =
100rps/s

' Rel Move Velocity

Dim dVelocity As Double = 10

' Rel Move Acceleration

Dim dAccel As Double = 100

' Rel Move Deceleration

Dim dDecel As Double = 100

ret = m_CANopenLibHelper.RelMove(nNodeID, 20000, dVelocity, dAccel, dDecel)

2.5 About Sample Code Solution

MOONS’ provides a Sample code with integrated VC++, C# and VB.NET in a Visual Studio
2010 solution. See below picture:

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Fig. 2.5 CANopenLibSample Properties

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3 API Definition

3.1 API List

3.1.1 Events
The DLL provides 4 type of events. OnHeartBeatReceive, OnDataSend, OnDataReceive and
OnTPDOReceived. You can handle your own process when the events are triggered.
Table 3.1 Events List
API Name Description

OnHeartBeatReceive Trigger when heart beat received

OnDataSend Trigger when send data to drive

OnDataReceive Trigger when received data from drive

OnTPDOReceived Trigger when TPDO received

3.1.2 Basic APIs

The basic APIs are about to the basic operation for communication such as the open CAN adapter
and close, etc..
Table 3.2 Basic API List
API Name Description

Open Open CANopen communication

Close Close CANopen communication

IsOpen Return a boolean value that indicate the port is open or closed.

SetExecuteTimeOut Set Execute Time Out

GetExecuteTimeOut Set Execute Time Out

SetExecuteRetryTimes Set Execute Retry Times

GetExecuteRetryTimes Set Execute Retry Times

ResetBuffer Reset buffer

GetLastErrorInfo Get the last command that received

GetLastHeartBeatMessage Get last heart beat message

GetLastSentMessage Get last sent message

GetLastReceivedMessage Get last received message

GetLastTPDOMessage Get last TPDO message

Write Write command to the drive

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ExecuteCommand Write command to the drive and read response from the drive

ReadSDOInt8 Read SDO data of char data

ReadSDOUInt8 Read SDO data of unsigned char data

ReadSDOInt16 Read SDO data of short data

ReadSDOUInt16 Read SDO data of unsigned short data

ReadSDOInt32 Read SDO data of int data

WriteSDOUInt32 Read SDO data of unsigned int data

SetToPreoperationalMode Set to preoperational mode

SetToOperationalMode Set to operational mode

SetRPDOMapping Set RPDO mapping settings

SetTPDOMapping Set TPDO mapping settings

RestorePDOMappingSettings Restore PDO mapping settings to factory default settings

WriteRPDO Write RPDO when drive is in operational mode

SaveParameters Save parameters to flash

3.1.3 SDO APIs

SDO APIs provide the operation for SDO. When you call these APIs, the drive must be in either
Pre-Operational or Operational mode.
Table 3.3 SDO API List
API Name Index Sub Description
ReadPositionGain 5000h 0 Read Position Gain

WritePositionGain 5000h 0 Write Position Gain

ReadPositionDeriGain 5001h 0 Read Position Deri Gain

WritePositionDeriGain 5001h 0 Write Position Deri Gain

ReadPositionDeriFilter 5002h 0 Read Position Deri Filter

WritePositionDeriFilter 5002h 0 Write Position Deri Filter

ReadVelocityGain 5003h 0 Read Velocity Gain

WriteVelocityGain 5003h 0 Write Velocity Gain

ReadVelocityIntegGain 5004h 0 Read Velocity Integ Gain

WriteVelocityIntegGain 5004h 0 Write Velocity Integ Gain

ReadAccFeedForward 5005h 0 Read Acc FeedForward

WriteAccFeedForward 5005h 0 Write Acc FeedForward

ReadPIDFilter 5006h 0 Read PID Filter

WritePIDFilter 5006h 0 Write PID Filter

ReadNotchFilter 5007h 0 Read Notch Filter

~500Eh

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WriteNotchFilter 5007h 0 Write Notch Filter

~500Eh

ReadPositionError 500Fh 0 Read Position Error

WritePositionError 500Fh 0 Write Position Error

ReadVelocityMax 5010h 0 Read Velocity Max

WriteVelocityMax 5010h 0 Write Velocity Max

ReadSmoothFilter 5011h 0 Read Smooth Filter

WriteSmoothFilter 5011h 0 Write Smooth Filter

ReadDriverTemp 5012h 0 Read Driver Temp

ReadErrorCode 603Fh 0 Read Error Code

ReadErrorCodeUpper 700Fh 0 Read Higher 16 Bit of ErrorCode

WriteControlWord 6040h 0 Write Control Word

ReadStatusWord 6041h 0 Read Status Word

ReadQuickStopOptionCode 605Ah 0 Read Quick Stop Option Code

WriteQuickStopOptionCode 605Ah 0 Write Quick Stop Option Code

WriteModesofOperation 6060h 0 Write Modes of Operation

ReadModesofOperation 6061h 0 Read Modes of Operation

ReadPositionTargetValueCalculated 6064h 0 Read Position Target Value Calculated

ReadFollowingErrorWindow 6065h 0 Read Following Error Window

WriteFollowingErrorWindow 6065h 0 Write Following Error Window

ReadVelocityTargetValueCalculated 606Ch 0 Read Velocity Target Value Calculated

ReadTargetTorque 6071h 0 Read Target Torque

WriteTargetTorque 6071h 0 Write Target Torque

ReadMaxRunningCurrent 6073h 0 Read Max Running Current

WriteMaxRunningCurrent 6073h 0 Write Max Running Current

ReadTorqueDemandValue 6074h 0 Read Torque Demand Value

ReadCurrentActualValue 6078h 0 Read Torque Actual Value

ReadTargetPosition 607Ah 0 Read Target Position

WriteTargetPosition 607Ah 0 Write Target Position

ReadHomingOffset 607Ch 0 Read Homing Offset

WriteHomingOffset 607Ch 0 Write Homing Offset

ReadPolarity 607Eh 0 Read Polarity

WritePolarity 607Eh 0 Write Polarity

ReadMaxProfileSpeed 607Fh 0 Read Max Profile Speed

WriteMaxProfileSpeed 607Fh 0 Write Max Profile Speed

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ReadProfileVelocity 6081h 0 Read Profile Velocity

WriteProfileVelocity 6081h 0 Write Profile Velocity

ReadProfileAcceleration 6083h 0 Read Profile Acceleration

WriteProfileAcceleration 6083h 0 Write Profile Acceleration

ReadProfileDeceleration 6084h 0 Read Profile Deceleration

WriteProfileDeceleration 6084h 0 Write Profile Deceleration

ReadQuickStopDeceleration 6085h 0 Read Quick Stop Deceleration

WriteQuickStopDeceleration 6085h 0 Write Quick Stop Deceleration

ReadTorqueSlop 6087h 0 Read Torque Slop

WriteTorqueSlop 6087h 0 Write Torque Slop

ReadHomingMethod 6098h 0 Read Homing Method

WriteHomingMethod 6098h 0 Write Homing Method

ReadHomingSpeedSearchSwitch 6099h 1 Read Homing Speed Search Switch

WriteHomingSpeedSearchSwitch 6099h 1 Write Homing Speed Search Switch

ReadHomingSpeedSearchIndex 6099h 2 Read Homing Speed Search Index

WriteHomingSpeedSearchIndex 6099h 2 Write Homing Speed Search Index

ReadHomingAcceleration 609Ah 0 Read Homing Acceleration

WriteHomingAcceleration 609Ah 0 Write Homing Acceleration

ReadDriveOutputs 60FEh 1 Read Drive Outputs

WriteDriveOutputs 60FEh 1 Write Drive Outputs

ReadTargetVelocity 60FFh 0 Read Target Velocity

WriteTargetVelocity 60FFh 0 Write Target Velocity

ReadSupportedDriveModes 6502h 0 Read Supported Drive Modes

ReadHomingSwitch 7001h 0 Read Homing Switch

WriteHomingSwitch 7001h 0 Write Homing Switch

ReadIdleCurrent 7002h 0 Read Idle Current

WriteIdleCurrent 7002h 0 Write Idle Current

ReadDisplayDriveInputs 7003h 0 Read Display Drive Inputs

ReadTorqueConstant 7005h 0 Read Torque Constant

WriteTorqueConstant 7005h 0 Write Torque Constant

WriteDSPClearAlarm 7006h 0 Write DSP Clear Alarm

ReadQSegment 7007h 0 Read Q Segment

WriteQSegment 7007h 0 Write Q Segment

ReadActualVelocity 7009h 0 Read Actual Velocity

ReadActualPosition 700Ah 0 Read Actual Position

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ReadDSPStatusCode 700Bh 0 Read DSP Status Code

WriteClearPosition 700Ch 0 Write Clear Position

ReadAccelerationCurrent 700Dh 0 Read Acceleration Current

WriteAccelerationCurrent 700Dh 0 Write Acceleration Current

ReadAnalogInput1 700Eh 0 Read Analog Input1

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3.1.4 Advanced APIs

Advanced APIs are the advanced operations to control the drive. Normally when using advanced
API, the DLL will send a series of commands to the drive.
Fig. 3.4 Advanced API List
API Name Description
WriteProfileParam Write Profile Param

SwitchControlWord Switch Control Word

DriveEnable Drive Enable

Stop Stop

AlarmReset Alarm Reset

RelMove Relative Move

AbsMove Absolute Move

MultipleAbsMoveWithStopping Multiple Absolute Move With Stopping

MultipleAbsMoveContinuous Multiple Absolute Move Continuous

ExecuteNormalQProgram Execute Normal Q Program

ExecuteSyncQProgram Execute Sync Q Program

Homing Homing

LaunchVelocityMode Launch Velocity Mode

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3.2 API Descriptions

3.2.1 Structure & Enumeration Definition

1. Error Message structure

Almost all the APIs will return Boolean value. If it return “TRUE”, it means the drive executes
correctly. Otherwise it means there is at least one problem when executing. In this case, you can
call GetLastErrorInfo immediately to get the error information. This function will return a structure
named ERROR_INFO. The definition of ERROR_INFO structure is as following:
typedef struct _ERROR_INFO

int ErrorCode;

char* Command;

char* ErrorMessage;

} ERROR_INFO, *PERROR_INFO;

Table 3.5 Error Message Structure

Field Description

ErrorCode Error code number

Command The command that leads to the error

ErrorMessage Detailed error message

2. CAN Message structure

When you read or write a CAN command, the command is definied in a structure named
CANMESSAGE. The definition of CANMESSAGE structure is as following:

typedef struct _CANMESSAGE{

long id;
UINT dlc;
BYTE msg[8];
UINT flag;
ULONG timeStamp;
} CANMESSAGE, *PCANMESSAGE;

Table 3.6 CAN Message Structure

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Field Description

id Cob ID

dlc Data length

msg Data array

flag flag

timeStamp Time Stamp

3. PDO Message structure

When received PDO message, you can use GetLastTPDOMessage to read the PDO information.
The PDO information is in a structure named PDOMESSAGE. The definition of PDOMESSAGE
structure is as following:

typedef struct _PDOMESSAGE{

public:
BYTE NodeID;
BYTE No;
BYTE Len;
BYTE msg[8];
} PDOMESSAGE, *PTDPMESSAGE;

Table 3.7 PDO Message Structure

Field Description

NodeID Drive Node ID

No PDO No

0:PDO 1

1:PDO 2

2:PDO 3

3:PDO 4

Len Length of PDO data

msg PDO data

4. PDO Mapping structure

You can use the SetRPDOMapping and SetTPDOMapping API to set the RPDO and TPDO
mapping. The mapping information is definied in a structure named PDOMAPPING. The definition
of PDO structure is as following:
PDOMAPPING Structure Definition:

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typedef struct _PDOMAPPING

{
int Index;
BYTE SubIndex;
BYTE BitCounts;
} PDOMAPPING, *PPDOMAPPING;

Table 3.8 PDO Mapping Structure

Field Description

Index OD index

SubIndex OD sub-index

BitCounts OD bit counts

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4 API Reference

4.1 Events
void OnHeartBeatReceived (void* pCallBack);

Description Trigger when received heart beat message

Arguments Definition Range/List

pCallBack Pointer of callback function

Return value None

This event is trigged when the DLL received heart beat message from the drive. You need call
GetLastHeartBeatMessage API to get detailed command data.

void OnDataSend(void* pCallBack);

Description Trigger when send data to drive

Arguments Definition Range/List

pCallBack Pointer of callback function

Return value None

This event is trigged when the DLL send message to the drive. You need to call
GetLastSentMessage API to get detailed command data.

void OnDataReceive(void* pCallBack);

Description Trigger when received data from drive

Arguments

pCallBack Pointer of callback function

Return value None

This event is trigged when the DLL received message from the drive. You need to call
GetLastReceivedMessage API to get detailed command data.

void OnTPDOReceive(void* pCallBack);

Description Trigger when received TPDO data from drive

Arguments

pCallBack Pointer of callback function

Return value None

This event is trigged when the DLL TPDO message from the drive. You need to call
GetLastTPDOMessage API to get detailed command data.

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4.2 Basic APIs

BOOL Open(int nAdapter, int nBaudRate, BYTE nChannel);

Description Open CANopen communication

Arguments Definition Range/List

nAdapter Adapter 0~2:

0=Kvaser

1=PEAK

2=ZLG

nBaudRate Communication Baud Rate 0~7:

0=1Mbps

1=800kbps

2=500kbps

3=250kbps

4=125kbps

5=50kbps

6=20kbps

7=12.5kbps

nChannel Channel See Channel types

Return value return TRUE if open successfully, otherwise return FALSE.

The argument nChannel appoints the type of adapter. For example, if you use the PCI CAN of
Kvaser, the nChannel is 9(HWTYPE_PCICAN = 9). The following is the type list of Kvaser, PEAK
and ZLG adapter.
1. Kvaser
/// <summary>
/// PEAKDeviceType
/// </summary>
public enum KvaserDeviceType
{
/// <summary>
/// Unknown or undefined
/// </summary>
HWTYPE_NONE = 0,
/// <summary>
/// The virtual CAN bus
/// </summary>
HWTYPE_VIRTUAL = 1,
/// <summary>

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/// LAPcan Family

/// </summary>
HWTYPE_LAPCAN = 2,
/// <summary>
/// CANpari (obsolete).
/// </summary>
HWTYPE_CANPARI = 3,
/// <summary>
/// PCcan Family
/// </summary>
HWTYPE_PCCAN = 8,
/// <summary>
/// PCIcan Family
/// </summary>
HWTYPE_PCICAN = 9,
/// <summary>
/// USBcan (obsolete).
/// </summary>
HWTYPE_USBCAN = 11,
/// <summary>
/// PCIcan II family
/// </summary>
HWTYPE_PCICAN_II = 40,
/// <summary>
/// USBcan II, USBcan Rugged, Kvaser Memorator
/// </summary>
HWTYPE_USBCAN_II = 42,
/// <summary>
/// Simulated CAN bus for Kvaser Creator (obsolete).
/// </summary>
HWTYPE_SIMULATED = 44,
/// <summary>
/// Kvaser Acquisitor (obsolete).
/// </summary>
HWTYPE_ACQUISITOR = 46,
/// <summary>
/// Kvaser Leaf Family
/// </summary>
HWTYPE_LEAF = 48,
/// <summary>
/// Kvaser PC104+
/// </summary>
HWTYPE_PC104_PLUS = 50,
/// <summary>
/// Kvaser PCIcanx II

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/// </summary>
HWTYPE_PCICANX_II = 52,
/// <summary>
/// Kvaser Memorator Professional family
/// </summary>
HWTYPE_MEMORATOR_II = 54,
/// <summary>
/// Kvaser Memorator Professional family
/// </summary>
HWTYPE_MEMORATOR_PRO = 54,
/// <summary>
/// Kvaser USBcan Professional
/// </summary>
HWTYPE_USBCAN_PRO = 56,
/// <summary>
/// Obsolete name, use canHWTYPE_BLACKBIRD instead
/// </summary>
HWTYPE_IRIS = 58,
/// <summary>
/// Kvaser BlackBird
/// </summary>
HWTYPE_BLACKBIRD = 58,
/// <summary>
/// Kvaser Memorator Light
/// </summary>
HWTYPE_MEMORATOR_LIGHT = 60,
/// <summary>
/// Obsolete name, use canHWTYPE_EAGLE instead
/// </summary>
HWTYPE_MINIHYDRA = 62,
/// <summary>
/// Kvaser Eagle family
/// </summary>
HWTYPE_EAGLE = 62,
/// <summary>
/// Obsolete name, use canHWTYPE_BLACKBIRD_V2 instead
/// </summary>
HWTYPE_BAGEL = 64,
/// <summary>
/// Kvaser BlackBird v2
/// </summary>
HWTYPE_BLACKBIRD_V2 = 64,
/// <summary>
/// Kvaser Mini PCI Express
/// </summary>

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HWTYPE_MINIPCIE = 66,
/// <summary>
/// USBcan Pro HS/K-Line
/// </summary>
HWTYPE_USBCAN_KLINE = 68,
/// <summary>
/// Kvaser Ethercan
/// </summary>
HWTYPE_ETHERCAN = 70,
/// <summary>
/// Kvaser USBcan Light
/// </summary>
HWTYPE_USBCAN_LIGHT = 72,
/// <summary>
/// Kvaser USBcan Pro 5xHS and variants
/// </summary>
HWTYPE_USBCAN_PRO2 = 74,
/// <summary>
/// Kvaser PCIEcan 4xHS and variants
/// </summary>
HWTYPE_PCIE_V2 = 76,
/// <summary>
/// Kvaser Memorator Pro 5xHS and variants
/// </summary>
HWTYPE_MEMORATOR_PRO2 = 78,
/// <summary>
/// Kvaser Leaf Pro HS v2 and variants
/// </summary>
HWTYPE_LEAF2 = 80,
/// <summary>
/// Kvaser Memorator (2nd generation)
/// </summary>
HWTYPE_MEMORATOR_V2 = 82,
}

2. PEAK
/// <summary>
/// PEAKDeviceType
/// </summary>
public enum PEAKDeviceType
{
/// <summary>
/// Undefined/default value for a PCAN bus
/// </summary>
PCAN_NONEBUS = 0x00,

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/// <summary>
/// PCAN-ISA interface, channel 1
/// </summary>
PCAN_ISABUS1 = 0x21,
/// <summary>
/// PCAN-ISA interface, channel 2
/// </summary>
PCAN_ISABUS2 = 0x22,
/// <summary>
/// PCAN-ISA interface, channel 3
/// </summary>
PCAN_ISABUS3 = 0x23,
/// <summary>
/// PCAN-ISA interface, channel 4
/// </summary>
PCAN_ISABUS4 = 0x24,
/// <summary>
/// PCAN-ISA interface, channel 5
/// </summary>
PCAN_ISABUS5 = 0x25,
/// <summary>
/// PCAN-ISA interface, channel 6
/// </summary>
PCAN_ISABUS6 = 0x26,
/// <summary>
/// PCAN-ISA interface, channel 7
/// </summary>
PCAN_ISABUS7 = 0x27,
/// <summary>
/// PCAN-ISA interface, channel 8
/// </summary>
PCAN_ISABUS8 = 0x28,

/// <summary>
/// PPCAN-Dongle/LPT interface, channel 1
/// </summary>
PCAN_DNGBUS1 = 0x31,

/// <summary>
/// PCAN-PCI interface, channel 1
/// </summary>
PCAN_PCIBUS1 = 0x41,
/// <summary>
/// PCAN-PCI interface, channel 2

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/// </summary>
PCAN_PCIBUS2 = 0x42,
/// <summary>
/// PCAN-PCI interface, channel 3
/// </summary>
PCAN_PCIBUS3 = 0x43,
/// <summary>
/// PCAN-PCI interface, channel 4
/// </summary>
PCAN_PCIBUS4 = 0x44,
/// <summary>
/// PCAN-PCI interface, channel 5
/// </summary>
PCAN_PCIBUS5 = 0x45,
/// <summary>
/// PCAN-PCI interface, channel 6
/// </summary>
PCAN_PCIBUS6 = 0x46,
/// <summary>
/// PCAN-PCI interface, channel 7
/// </summary>
PCAN_PCIBUS7 = 0x47,
/// <summary>
/// PCAN-PCI interface, channel 8
/// </summary>
PCAN_PCIBUS8 = 0x48,

/// <summary>
/// PCAN-USB interface, channel 1
/// </summary>
PCAN_USBBUS1 = 0x51,
/// <summary>
/// PCAN-USB interface, channel 2
/// </summary>
PCAN_USBBUS2 = 0x52,
/// <summary>
/// PCAN-USB interface, channel 3
/// </summary>
PCAN_USBBUS3 = 0x53,
/// <summary>
/// PCAN-USB interface, channel 4
/// </summary>
PCAN_USBBUS4 = 0x54,
/// <summary>
/// PCAN-USB interface, channel 5

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/// </summary>
PCAN_USBBUS5 = 0x55,
/// <summary>
/// PCAN-USB interface, channel 6
/// </summary>
PCAN_USBBUS6 = 0x56,
/// <summary>
/// PCAN-USB interface, channel 7
/// </summary>
PCAN_USBBUS7 = 0x57,
/// <summary>
/// PCAN-USB interface, channel 8
/// </summary>
PCAN_USBBUS8 = 0x58,

/// <summary>
/// PCAN-PC Card interface, channel 1
/// </summary>
PCAN_PCCBUS1 = 0x61,
/// <summary>
/// PCAN-PC Card interface, channel 2
/// </summary>
PCAN_PCCBUS2 = 0x62,
}

3. ZLG
/// <summary>
/// ZLGDeviceType
/// </summary>
public enum ZLGDeviceType
{
PCI5121 = 1,
PCI9810 = 2,
USBCAN1 = 3,
USBCAN2 = 4,
USBCAN2A = 4,
PCI9820 = 5,
CAN232 = 6,
PCI5110 = 7,
CANLITE = 8,
ISA9620 = 9,
ISA5420 = 10,
PC104CAN = 11,
CANETUDP = 12,

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CANETE = 12,
DNP9810 = 13,
PCI9840 = 14,
PC104CAN2 = 15,
PCI9820I = 16,
CANETTCP = 17,
PEC9920 = 18,
PCIE_9220 = 18,
PCI5010U = 19,
USBCAN_E_U = 20,
USBCAN_2E_U = 21,
PCI5020U = 22,
EG20T_CAN = 23,
PCIE9221 = 24,
WIFICAN_TCP = 25,
WIFICAN_UDP = 26,
PCIe9120 = 27,
PCIe9110 = 28,
PCIe9140 = 29,
}

BOOL Close();

Description Close CANopen communication

Arguments Definition Range/List

None.

Return value return TRUE if close successfully, otherwise return FALSE.

BOOL IsOpen();

Description Get the communicatino is open or not

Arguments Definition Range/List

None.

Return value return TRUE if it is open, otherwise return FALSE.

void SetExecuteTimeOut(BYTE nTimeOut);

Description Set Execute Time Out in millisecond.

Arguments Definition Range/List

nTimeOut Execute time out in millisecond 5~255(Default 6)

Return value None.

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BYTE GetExecuteTimeOut();

Description Get Execute Time Out in millisecond.

Arguments Definition Range/List

None.

Return value Execute time out in millisecond

void SetExecuteRetryTimes(BYTE nRetryTimes);

Description Set Execute Retry Times

Arguments Definition Range/List

nRetryTimes Execute retry times 1~10(Default 0)

Return value None.

BYTE GetExecuteRetryTimes();

Description Get Execute Time Out.

Arguments Definition Range/List

None.

Return value Execute retry times

BOOL ResetBuffer();

Description Reset the input buffer.

Arguments Definition Range/List

None.

Return value return TRUE if reset successfully, otherwise return FALSE.

void GetLastErrorInfo(ERROR_INFO* pErrorInfo);

Description Description

Arguments Arguments Range/List

pErrorInfo Pointer to Error Info Structure

Return value None.

void GetLastHeartBeatMessage(CANMESSAGE* CANMessage);

Description Get last heart beat message

Arguments Definition Range/List

pSendCanMessage Pointer to CAN message structure

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Return value None.

void GetLastSentMessage(CANMESSAGE* CANMessage);

Description Get last sent message

Arguments Definition Range/List

pSendCanMessage Pointer to CAN message structure

Return value None.

void GetLastReceivedMessage(CANMESSAGE* CANMessage);

Description Get last received message

Arguments Definition Range/List

pSendCanMessage Pointer to CAN message structure

Return value None.

void GetLastTPDOMessage(PDOMESSAGE* CANMessage);

Description Get last TPDO message

Arguments Definition Range/List

pSendCanMessage Pointer to PDO message structure

Return value None.

void GetLastTPDOMessageByNodeID(BYTE nNodeID, BYTE nPDONo, PDOMESSAGE* CANMessage);

Description Get last TPDO message

Arguments Definition Range/List

nNodeID Node ID 1~127

nPDONo PDO No 0~3

0: RPDO1

1: RPDO2

2: RPDO3

3: RPDO4

pSendCanMessage Pointer to PDO message structure

Return value None.

BOOL Write(CANMESSAGE pSendCanMessage);

Description Write one CAN message to drive

Arguments Definition Range/List

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pSendCanMessage CAN message structure

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ExecuteCommand(CANMESSAGE sSendCanMessage, CANMESSAGE* pReceivedCanMessage, int

nCanFunction, BOOL bMatchNodeID, BYTE nNodeID, BOOL bMatchIndex, int nIndex, BOOL bMatchFirstByte,
BYTE nFirstByte);

Description Send a CAN message to drive and read matched CAN message from the drive.

If there is no matched message, it will keep reading until execute time is out

Arguments Definition Range/List

sSendCanMessage CAN message to send to the drive

pReceivedCanMessage Pointer to response message structure

nCanFunction Matched CAN function

bMatchNodeID Match Node ID or not TRUE: Match Node ID

FALSE: Does not match Node ID

nNodeID Matched Node ID, it is ignored if bMatchNodeID is 1~127

FALSE

bMatchIndex Expected OD Index TRUE: Match OD Index

FALSE: Does not match OD

Index

nIndex Matched OD Index, it is ignored if bMatchIndex is

FALSE

bMatchFirstByte Point first byte of the CAN message or not TRUE: Match first byte of data

FALSE: Does not match first byte

of data

nFirstByte Matched First byte, it is ignored if bMatchFirstByte

is FALSE

Return value return TRUE if execute successfully, otherwise return FALSE.

BOOL ReadSDOInt8(BYTE nNodeID, int nIndex, BYTE nSubIndex, char* nData);

Description Read SDO data of 8-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if read successfully, otherwise return FALSE.

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BOOL ReadSDOUInt8(BYTE nNodeID, int nIndex, BYTE nSubIndex, BYTE* nData);

Description Read SDO data of unsigned 8-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadSDOInt16(BYTE nNodeID, int nIndex, BYTE nSubIndex, short* nData);

Description Read SDO data of 16-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadSDOUInt16(BYTE nNodeID, int nIndex, BYTE nSubIndex, USHORT* nData);

Description Read SDO data of unsigned 16-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadSDOInt32(BYTE nNodeID, int nIndex, BYTE nSubIndex, int* nData);

Description Read SDO data of 32-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

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Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadSDOUInt32(BYTE nNodeID, int nIndex, BYTE nSubIndex, UINT* nData);

Description Read SDO data of unsigned 32-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteSDOInt8(BYTE nNodeID, int nIndex, BYTE nSubIndex, char* nData);

Description Write SDO data of 8-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteSDOUInt8(BYTE nNodeID, int nIndex, BYTE nSubIndex, BYTE* nData);

Description Write SDO data of unsigned 8-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteSDOInt16(BYTE nNodeID, int nIndex, BYTE nSubIndex, short* nData);

Description Write SDO data of 16-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

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nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteSDOUInt16(BYTE nNodeID, int nIndex, BYTE nSubIndex, USHORT* nData);

Description Write SDO data of unsigned 16-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteSDOInt32(BYTE nNodeID, int nIndex, BYTE nSubIndex, int* nData);

Description Write SDO data of 32-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteSDOUInt32(BYTE nNodeID, int nIndex, BYTE nSubIndex, UINT* nData);

Description Write SDO data of unsigned 32-bit integer type

Arguments Definition Range/List

nNodeID Drive Node ID

nIndex OD Index

nSubIndex OD Sub-index

nData Pointer to SDO Data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL SetToPreoperationalMode(BYTE nNodeID);

Description Set the drive to pre-operational mode

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if set successfully, otherwise return FALSE.

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BOOL SetToOperationalMode(BYTE nNodeID);

Description Set the drive to ooperational mode

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if set successfully, otherwise return FALSE.

BOOL SetRPDOMapping(BYTE nNodeID, BYTE nRPDONo, int nLen, PDOMAPPING* pPDOMapping);

Description Set RPDO Mapping

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nRPDONo RPDO number 0~3

0: RPDO1

1: RPDO2

2: RPDO3

3: RPDO4

nLen The length of PDOMAPPING array 1~8

pPDOMapping Pointer to the RPDO Mapping array

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL SetTPDOMapping(BYTE nNodeID, BYTE nRPDONo, int nLen, PDOMAPPING* pPDOMapping);

Description Set TPDO Mapping

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nRPDONo RPDO number 0~3

0: RPDO1

1: RPDO2

2: RPDO3

3: RPDO4

nLen The length of PDOMAPPING array 1~8

pPDOMapping Pointer to the TPDO Mapping array

Return value return TRUE if write successfully, otherwise return FALSE.

The following is the sample code that how to set PDO mapping:
C++
// This is a sample to show how to set PDO Mapping
BOOL SetPDOMappingSettingsSample()

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{
BOOL ret = TRUE;
byte nNodeID = 1;
byte nRPDONo; // (0~3) 1 means RPDO 2
byte nTPDONo; // (0~3) 1 means TPDO 2
int nLen = 2;

// RPDO 1
nLen = 1;
nRPDONo = 0;
PDOMAPPING RPdoMappingArr1[1];
RPdoMappingArr1[0].Index = 0x6040;
RPdoMappingArr1[0].SubIndex = 0;
RPdoMappingArr1[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, RPdoMappingArr1);
if (ret == FALSE)
{
printf("SetRPDOMapping failed\r\n");
return FALSE;
}

// RPDO 2
nLen = 2;
nRPDONo = 1;
PDOMAPPING RPdoMappingArr2[2];
RPdoMappingArr2[0].Index = 0x6040;
RPdoMappingArr2[0].SubIndex = 0;
RPdoMappingArr2[0].BitCounts = 0x10;
RPdoMappingArr2[1].Index = 0x607A;
RPdoMappingArr2[1].SubIndex = 0;
RPdoMappingArr2[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, RPdoMappingArr2);
if (ret == FALSE)
{
printf("SetRPDOMapping failed\r\n");
return FALSE;
}

// RPDO 3
nLen = 2;
nRPDONo = 2;
PDOMAPPING RPdoMappingArr3[2];
RPdoMappingArr3[0].Index = 0x6040;
RPdoMappingArr3[0].SubIndex = 0;
RPdoMappingArr3[0].BitCounts = 0x10;
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RPdoMappingArr3[1].Index = 0x60FF;
RPdoMappingArr3[1].SubIndex = 0;
RPdoMappingArr3[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, RPdoMappingArr3);
if (ret == FALSE)
{
printf("SetRPDOMapping failed\r\n");
return FALSE;
}

// RPDO 4
nLen = 1;
nRPDONo = 3;
PDOMAPPING RPdoMappingArr4[1];
RPdoMappingArr4[0].Index = 0x60FE;
RPdoMappingArr4[0].SubIndex = 0x01;
RPdoMappingArr4[0].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, RPdoMappingArr4);
if (ret == FALSE)
{
printf("SetRPDOMapping failed\r\n");
return FALSE;
}

// TPDO 1
nLen = 1;
nTPDONo = 0;
PDOMAPPING TPdoMappingArr1[1];
TPdoMappingArr1[0].Index = 0x6041;
TPdoMappingArr1[0].SubIndex = 0;
TPdoMappingArr1[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, TPdoMappingArr1);
if (ret == FALSE)
{
printf("SetTPDOMapping failed\r\n");
return FALSE;
}

// TPDO 2
nLen = 2;
nTPDONo = 1;
PDOMAPPING TPdoMappingArr2[2];
TPdoMappingArr2[0].Index = 0x6041;
TPdoMappingArr2[0].SubIndex = 0;
TPdoMappingArr2[0].BitCounts = 0x10;
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TPdoMappingArr2[1].Index = 0x700A;
TPdoMappingArr2[1].SubIndex = 0;
TPdoMappingArr2[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, TPdoMappingArr2);
if (ret == FALSE)
{
printf("SetTPDOMapping failed\r\n");
return FALSE;
}

// TPDO 3
nLen = 2;
nTPDONo = 2;
PDOMAPPING TPdoMappingArr3[2];
TPdoMappingArr3[0].Index = 0x6041;
TPdoMappingArr3[0].SubIndex = 0;
TPdoMappingArr3[0].BitCounts = 0x10;
TPdoMappingArr3[1].Index = 0x7009;
TPdoMappingArr3[1].SubIndex = 0;
TPdoMappingArr3[1].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, TPdoMappingArr3);
if (ret == FALSE)
{
printf("SetTPDOMapping failed\r\n");
return FALSE;
}

// TPDO 4
nLen = 1;
nTPDONo = 3;
PDOMAPPING TPdoMappingArr4[1];
TPdoMappingArr4[0].Index = 0x7003;
TPdoMappingArr4[0].SubIndex = 0;
TPdoMappingArr4[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, TPdoMappingArr4);
if (ret == FALSE)
{
printf("SetTPDOMapping failed\r\n");
return FALSE;
}
}

C#
/// <summary>

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/// This procedure shows how to set RPDO and TPDO mapping
/// </summary>
private void SetPDOMappingSettingsSample()
{
bool ret = true;
byte nNodeID = 1;
byte nRPDONo; // (0~3) 1 means RPDO 2
byte nTPDONo; // (0~3) 1 means TPDO 2
int nLen = 2;

PDOMapping[] PdoMappingArr;

// RPDO 1
nLen = 1;
nRPDONo = 0;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x6040;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetRPDOMapping failed\r\n"));
}

// RPDO 2
nLen = 2;
nRPDONo = 1;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x6040;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
PdoMappingArr[1].Index = 0x607A;
PdoMappingArr[1].SubIndex = 0;
PdoMappingArr[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetRPDOMapping failed\r\n"));
}

// RPDO 3
nLen = 2;
nRPDONo = 2;
PdoMappingArr = new PDOMapping[nLen];
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PdoMappingArr[0].Index = 0x6040;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
PdoMappingArr[1].Index = 0x60FF;
PdoMappingArr[1].SubIndex = 0;
PdoMappingArr[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetRPDOMapping failed\r\n"));
}

// RPDO 4
nLen = 1;
nRPDONo = 3;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x60FE;
PdoMappingArr[0].SubIndex = 0x01;
PdoMappingArr[0].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetRPDOMapping failed\r\n"));
}

// TPDO 1
nLen = 1;
nTPDONo = 0;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x6041;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetTPDOMapping failed\r\n"));
}

// TPDO 2
nLen = 2;
nTPDONo = 1;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x6041;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
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PdoMappingArr[1].Index = 0x700A;
PdoMappingArr[1].SubIndex = 0;
PdoMappingArr[1].BitCounts = 0x20;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetTPDOMapping failed\r\n"));
}

// TPDO 3
nLen = 2;
nTPDONo = 2;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x6041;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
PdoMappingArr[1].Index = 0x7009;
PdoMappingArr[1].SubIndex = 0;
PdoMappingArr[1].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetTPDOMapping failed\r\n"));
}

// TPDO 4
nLen = 1;
nTPDONo = 3;
PdoMappingArr = new PDOMapping[nLen];
PdoMappingArr[0].Index = 0x7003;
PdoMappingArr[0].SubIndex = 0;
PdoMappingArr[0].BitCounts = 0x10;
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr);
if (ret == false)
{
txt_CommandHistory.AppendText(string.Format("SetTPDOMapping failed\r\n"));
}
}

VB.NET
''' <summary>
''' This procedure shows how to set RPDO and TPDO mapping
''' </summary>
Private Sub SetPDOMappingSettingsSample()

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Dim ret As Boolean = True

Dim nNodeID As Byte = 1
Dim nRPDONo As Byte ' (0~3) 1 means RPDO 2
Dim nTPDONo As Byte ' (0~3) 1 means TPDO 2
Dim nLen As Integer = 2

Dim PdoMappingArr() As PDOMapping

' RPDO 1
nLen = 1
nRPDONo = 0
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6040
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetRPDOMapping failed" & vbCrLf))
End If

' RPDO 2
nLen = 2
nRPDONo = 1
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6040
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
PdoMappingArr(1).Index = &H607A
PdoMappingArr(1).SubIndex = 0
PdoMappingArr(1).BitCounts = &H20
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetRPDOMapping failed" & vbCrLf))
End If

' RPDO 3
nLen = 2
nRPDONo = 2
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6040
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
PdoMappingArr(1).Index = &H60FF
PdoMappingArr(1).SubIndex = 0
PdoMappingArr(1).BitCounts = &H20
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ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr)

If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetRPDOMapping failed" & vbCrLf))
End If

' RPDO 4
nLen = 1
nRPDONo = 3
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H60FE
PdoMappingArr(0).SubIndex = &H1
PdoMappingArr(0).BitCounts = &H20
ret = m_CANopenLibHelper.SetRPDOMapping(nNodeID, nRPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetRPDOMapping failed" & vbCrLf))
End If

' TPDO 1
nLen = 1
nTPDONo = 0
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6041
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetTPDOMapping failed" & vbCrLf))
End If

' TPDO 2
nLen = 2
nTPDONo = 1
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6041
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
PdoMappingArr(1).Index = &H700A
PdoMappingArr(1).SubIndex = 0
PdoMappingArr(1).BitCounts = &H20
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetTPDOMapping failed" & vbCrLf))
End If

' TPDO 3
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nLen = 2
nTPDONo = 2
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H6041
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
PdoMappingArr(1).Index = &H7009
PdoMappingArr(1).SubIndex = 0
PdoMappingArr(1).BitCounts = &H10
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetTPDOMapping failed" & vbCrLf))
End If

' TPDO 4
nLen = 1
nTPDONo = 3
PdoMappingArr = New PDOMapping(nLen - 1){}
PdoMappingArr(0).Index = &H7003
PdoMappingArr(0).SubIndex = 0
PdoMappingArr(0).BitCounts = &H10
ret = m_CANopenLibHelper.SetTPDOMapping(nNodeID, nTPDONo, nLen, PdoMappingArr)
If ret = False Then
txt_CommandHistory.AppendText(String.Format("SetTPDOMapping failed" & vbCrLf))
End If
End Sub

BOOL RestorePDOMappingSettings(BYTE nNodeID);

Description Restore RPDO & TPDO Mapping settings to factory default settings.

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if restore successfully, otherwise return FALSE.

BOOL WriteRPDO(BYTE nNodeID, BYTE nRPDONo, int nLen, BYTE* pData);

Description Write RPDO data to the drive

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nRPDONo RPDO number 0~3

0: RPDO1

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1: RPDO2

2: RPDO3

3: RPDO4

nLen The length of pData 1~8

pData Pointer to the RPDO data

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL SaveParameters(BYTE nNodeID);

Description Write an save command to the drive to save the parameters.

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if save successfully, otherwise return FALSE.

4.3 SDO APIs

BOOL ReadPositionGain(BYTE nNodeID, USHORT* nPositionGain);

Description Read Position Gain

Index, Sub-Index 5000h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionGain Pointer to Position Gain value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePositionGain(BYTE nNodeID, USHORT nPositionGain);

Description Write Position Gain

Index, Sub-Index 5000h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionGain Position Gain value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPositionDeriGain(BYTE nNodeID, USHORT* nPositionDeriGain);

Description Read Position Derivative Gain

Index, Sub-Index 5001h, 0

Arguments Definition Range/List

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nNodeID Drive Node ID 1~127

nPositionDeriGain Pointer to Position Derivative Gain value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePositionDeriGain(BYTE nNodeID, USHORT nPositionDeriGain);

Description Write Position Derivative Gain

Index, Sub-Index 5001h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionDeriGain Position Deri Derivative Gain value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPositionDeriFilter(BYTE nNodeID, USHORT* nPositionDeriFilter);

Description Read Position Derivative Filter

Index, Sub-Index 5002h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionDeriFilter Pointer to Position Derivative Filter value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePositionDeriFilter(BYTE nNodeID, USHORT nPositionDeriFilter);

Description Write Position Derivative Filter

Index, Sub-Index 5002h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionDeriFilter Position Deri Derivative Filter value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadVelocityGain(BYTE nNodeID, USHORT* nVelocityGain);

Description Read velocity gain

Index, Sub-Index 5003h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityGain Pointer to velocity gain value

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Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteVelocityGain(BYTE nNodeID, USHORT nVelocityGain);

Description Write velocity gain

Index, Sub-Index 5003h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityGain Velocity gain value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadVelocityIntegGain(BYTE nNodeID, USHORT* nVelocityIntegGain);

Description Read velocity integral gain

Index, Sub-Index 5004h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityIntegGain Pointer to velocity integral gain value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteVelocityIntegGain(BYTE nNodeID, USHORT nVelocityIntegGain);

Description Write Velocity Integral Gain

Index, Sub-Index 5004h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityIntegGain Velocity Integral Gain value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadAccFeedForward(BYTE nNodeID, USHORT* nAccFeedForward);

Description Read Acceleration/Deceleration feed forward

Index, Sub-Index 5005h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nAccFeedForward Pointer to Acceleration/Deceleration feed forward

Return value return TRUE if read successfully, otherwise return FALSE.

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BOOL WriteAccFeedForward(BYTE nNodeID, USHORT nVelocityGain);

Description Write Acceleration/Deceleration feed forward

Index, Sub-Index 5005h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nAccFeedForward Acceleration/Deceleration feed forward

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPIDFilter(BYTE nNodeID, USHORT* nPIDFilter);

Description Read PID filter

Index, Sub-Index 5006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPIDFilter Pointer to PID Filter value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePIDFilter(BYTE nNodeID, USHORT nPIDFilter);

Description Write PID filter

Index, Sub-Index 5006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPIDFilter PID Filter value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadNotchFilter(BYTE nNodeID, int nIndex, short* nNotchFilter);

Description Read Notch filter

Index, Sub-Index 5007h~500Eh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nIndex Notch Filter Index 0~7

0: 5007h

1: 5008h

2: 5009h

3: 500Ah

4: 500Bh

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5: 500Ch

6: 500Dh

7: 500Eh

nNotchFilter Pointer to Notch Filter value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteNotchFilter(BYTE nNodeID, int nIndex, short nNotchFilter);

Description Write Notch Filter

Index, Sub-Index 5007h~500Eh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nIndex Notch Filter Index 0~7

0: 5007h

1: 5008h

2: 5009h

3: 500Ah

4: 500Bh

5: 500Ch

6: 500Dh

7: 500Eh

nNotchFilter Notch Filter value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPositionError(BYTE nNodeID, USHORT* nPositionError);

Description Read Position Error

Index, Sub-Index 500Fh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nPositionError Pointer to Position Error value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePositionError(BYTE nNodeID, USHORT nPositionError);

Description Write Position Error

Index, Sub-Index 5010h, 0

Arguments Definition Range/List

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nNodeID Drive Node ID 1~127

nPositionError Position Error value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadVelocityMax(BYTE nNodeID, double* nVelocityMax);

Description Read maximum velocity in rev/sec

Index, Sub-Index 5010h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityMax Pointer to Velocity Max value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteVelocityMax(BYTE nNodeID, double nVelocityMax);

Description Write maximum velocity in rev/sec

Index, Sub-Index 5003h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nVelocityMax Velocity Max value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadSmoothFilter(BYTE nNodeID, USHORT* nSmoothFilter);

Description Read Smooth Filter

Index, Sub-Index 5011h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nSmoothFilter Pointer to Smooth Filter value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteSmoothFilter(BYTE nNodeID, USHORT nSmoothFilter);

Description Write Smooth Filter

Index, Sub-Index 5011h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nSmoothFilter Smooth Filter value

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Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadDriverTemp(BYTE nNodeID, short* nDriverTemp);

Description Read drive temperature in 0.1 centigrade

Index, Sub-Index 5011h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDriverTemp Pointer to driver’s temperature

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadErrorCode(BYTE nNodeID, USHORT* nErrorCode);

Description Read Error Code

Index, Sub-Index 603Fh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nErrorCode Pointer to Error Code

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadErrorCodeUpper(BYTE nNodeID, USHORT* nErrorCode);

Description Read higher 16 bit of error code for SS and M2 drive.

Index, Sub-Index 700Fh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nErrorCode Pointer to Error Code

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteControlWord(BYTE nNodeID, USHORT nControlWord);

Description Write Control Word

Index, Sub-Index 6040h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nControlWord Control Word

Return value return TRUE if write successfully, otherwise return FALSE.

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BOOL ReadStatusWord(BYTE nNodeID, USHORT* nStatusWord);

Description Read Status Word

Index, Sub-Index 6041h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nStatusWord Pointer to Status Word

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadQuickStopOptionCode(BYTE nNodeID, short* nQuickStopOptionCode);

Description Read Quick Stop Option Code

Index, Sub-Index 605Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nQuickStopOptionCode Pointer to Quick Stop Option Code

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteQuickStopOptionCode(BYTE nNodeID, short nQuickStopOptionCode);

Description Write Quick Stop Option Code

Index, Sub-Index 605Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nQuickStopOptionCode Quick Stop Option Code

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadModeofOperation(BYTE nNodeID, char* nModeofOperation);

Description Read Mode of Operation

Index, Sub-Index 6060h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nModeofOperation Pointer to Mode of Operation value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteModeofOperation(BYTE nNodeID, char nModeofOperation);

Description Write Mode of Operation

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Index, Sub-Index 6060h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nModeofOperation Mode of Operation value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPositionTargetValueCalculated(BYTE nNodeID, int* pPositionTargetValueCalculated);

Description Read Position Target Value Calculated

Index, Sub-Index 6064h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

pPositionTargetValueCalculated Pointer to Position Target Value Calculated

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadFollowingErrorWindow(BYTE nNodeID, UINT* nFollowingErrorWindow);

Description Read Following Error Window

Index, Sub-Index 6065h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nFollowingErrorWindow Pointer to Following Error Window value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteFollowingErrorWindow(BYTE nNodeID, UINT nFollowingErrorWindow);

Description Write Following Error Window

Index, Sub-Index 6065h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nFollowingErrorWindow Following Error Window value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadVelocityTargetValueCalculated(BYTE nNodeID, double* dVelocityTargetValueCalculated);

Description Read calculated target velocity in rev/sec

Index, Sub-Index 606Ch, 0

Arguments Definition Range/List

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nNodeID Drive Node ID 1~127

dVelocityTargetValueCalculated Pointer to Velocity Target Value Calculated

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadTargetTorque(BYTE nNodeID, short* nTargetTorque);

Description Read Target Torque in mNm

Index, Sub-Index 6071h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTargetTorque Pointer to Target Torque value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteTargetTorque(BYTE nNodeID, short nTargetTorque);

Description Write target torque in mNm

Index, Sub-Index 6071h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTargetTorque Target torque value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadMaxRunningCurrent(BYTE nNodeID, double* nMaxRunningCurrent);

Description Read Max Running Current

Index, Sub-Index 6073h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nMaxRunningCurrent Pointer to Max Running Current value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteMaxRunningCurrent(BYTE nNodeID, double nMaxRunningCurrent);

Description Write Max Running Current

Index, Sub-Index 6073h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nMaxRunningCurrent Max Running Current value

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Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadTorqueDemandValue(BYTE nNodeID, double* dTorqueDemandValue);

Description Read demand torque in Nm.

Index, Sub-Index 6074h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTorqueDemandValue Pointer to demand torque

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadCurrentActualValue(BYTE nNodeID, double* dCurrentActualValue);

Description Read actual current in Amps

Index, Sub-Index 6078h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dCurrentActualValue Pointer to actual current

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadTargetPosition(BYTE nNodeID, int* nTargetPosition);

Description Read target position

Index, Sub-Index 607Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTargetPosition Pointer to target position value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteTargetPosition(BYTE nNodeID, int nTargetPosition);

Description Write target position

Index, Sub-Index 607Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTargetPosition Target position value

Return value return TRUE if write successfully, otherwise return FALSE.

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BOOL ReadHomingOffset(BYTE nNodeID, int* nHomingOffset);

Description Read homing offset

Index, Sub-Index 607Ch, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingOffset Pointer to homing offset

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingOffset(BYTE nNodeID, int nHomingOffset);

Description Write homing offset

Index, Sub-Index 607Ch, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingOffset Homing offset

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadPolarity(BYTE nNodeID, BYTE* pPolarity);

Description Read polarity

Index, Sub-Index 607Eh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

pPolarity Pointer to polarity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WritePolarity(BYTE nNodeID, BYTE pPolarity);

Description Write polarity

Index, Sub-Index 607Eh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

pPolarity Polarity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadMaxProfileSpeed(BYTE nNodeID, double* dMaxProfileSpeed);

Description Read max profile speed

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Index, Sub-Index 607Fh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dMaxProfileSpeed Pointer to max profile speed 0.025~133.333, depends on

supported max velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteMaxProfileSpeed(BYTE nNodeID, double dMaxProfileSpeed);

Description Write Smax profile speed

Index, Sub-Index 607Fh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dMaxProfileSpeed Max profile speed value 0.025~133.333, depends on

supported max velocity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadProfileVelocity(BYTE nNodeID, double* dProfileVelocity);

Description Read profile velocity

Index, Sub-Index 6081h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileVelocity Pointer to Profile velocity value 0.025~133.333, depends on

supported max velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteProfileVelocity(BYTE nNodeID, double dProfileVelocity);

Description Write profile velocity

Index, Sub-Index 6081h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileVelocity Profile velocity value 0.025~133.333, depends on

supported max velocity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadProfileAcceleration(BYTE nNodeID, double* dProfileAcceleration);

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Description Read profile acceleration

Index, Sub-Index 6083h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileAcceleration Point to profile acceleration 0.167~5461.167

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteProfileAcceleration(BYTE nNodeID, double dProfileAcceleration);

Description Write profile acceleration

Index, Sub-Index 6083h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileAcceleration Profile Acceleration 0.167~5461.167

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadProfileDeceleration(BYTE nNodeID, double* dProfileDeceleration);

Description Read profile deceleration

Index, Sub-Index 6084h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileDeceleration Point to profile deceleration 0.167~5461.167

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteProfileDeceleration(BYTE nNodeID, double dProfileDeceleration);

Description Write profile deceleration

Index, Sub-Index 6084h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dProfileDeceleration Profile Deceleration 0.167~5461.167

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadQuickStopDeceleration(BYTE nNodeID, double* dQuickStopDeceleration);

Description Read quick stop deceleration

Index, Sub-Index 6085h, 0

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Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dQuickStopDeceleration Point to quick stop deceleration 0.167~5461.167

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteQuickStopDeceleration(BYTE nNodeID, double dQuickStopDeceleration);

Description Write quick stop deceleration

Index, Sub-Index 6085h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dQuickStopDeceleration Quick stop Deceleration 0.167~5461.167

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadTorqueSlop(BYTE nNodeID, UINT* nTorqueSlop);

Description Read torque slop

Index, Sub-Index 6087h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTorqueSlop Pointer to torque slop

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteTorqueSlop(BYTE nNodeID, UINT nTorqueSlop);

Description Write torque slop

Index, Sub-Index 6087h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTorqueSlop Torque slop

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadHomingMethod(BYTE nNodeID, BYTE* nHomingMethod);

Description Read homging method

Index, Sub-Index 6098h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

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nHomingMethod Point to homing method

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingMethod(BYTE nNodeID, BYTE nHomingMethod);

Description Write homing method

Index, Sub-Index 6098h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingMethod Homing method

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadHomingSpeedSearchSwitch(BYTE nNodeID, double* dSpeed);

Description Read homing speed when search switch

Index, Sub-Index 6099h, 1

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dSpeed Pointer to homing speed when search switch 0.025~133.333, depends on

supported max velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingSpeedSearchSwitch(BYTE nNodeID, double dSpeed);

Description Write homing speed when searching switch

Index, Sub-Index 6099h, 1

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dSpeed Homing speed when search switch 0.025~133.333, depends on

supported max velocity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadHomingSpeedSearchIndex(BYTE nNodeID, double* dSpeed);

Description Read homing speed when search index

Index, Sub-Index 6099h, 2

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dSpeed Pointer to homing speed when search index 0.025~133.333, depends on

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supported max velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingSpeedSearchIndex(BYTE nNodeID, double dSpeed);

Description Write homing speed when search index

Index, Sub-Index 6099h, 2

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dSpeed Homing speed when search index 0.025~133.333, depends on

supported max velocity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadHomingAcceleration(BYTE nNodeID, double* dHomingAcceleration);

Description Read homing acceleration

Index, Sub-Index 609Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dHomingAcceleration Pointer to homing acceleration 0.167~5461.167

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingAcceleration(BYTE nNodeID, double dHomingAcceleration);

Description Write homing acceleration

Index, Sub-Index 609Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dHomingAcceleration Homing acceleration 0.167~5461.167

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadDriveOutputs(BYTE nNodeID, UINT* nDriveOutputs);

Description Read drive outputs

Index, Sub-Index 60FEh, 1

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDriveOutputs Point to drive output

Return value return TRUE if read successfully, otherwise return FALSE.

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BOOL WriteDriveOutputs(BYTE nNodeID, UINT nDriveOutputs);

Description Write drive outputs

Index, Sub-Index 60FEh, 1

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDriveOutputs Drive output

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadTargetVelocity(BYTE nNodeID, double* dTargetVelocity);

Description Read target velocity

Index, Sub-Index 60FFh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dTargetVelocity Pointer to target velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteTargetVelocity(BYTE nNodeID, double dTargetVelocity);

Description Write target velocity

Index, Sub-Index 60FFh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dTargetVelocity Target velocity

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadSupportedDriveModes(BYTE nNodeID, UINT* nModes);

Description Read supported drive modes

Index, Sub-Index 6502h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nModes Pointer to supported modes

Return value return TRUE if read successfully, otherwise return FALSE.

Supported modes data structure:

Bit number Description
0 Profile Position Mode

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1 Velocity Mode
2 Profile Velocity Mode
3 Profile Torque Mode
4 reserved
5 Homing Mode
6 Interpolated Position Mode
7 reserved
8 reserved
9 reserved
10…15 reserved
16…31 Manufacturer sepcific

BOOL ReadHomingSwitch(BYTE nNodeID, BYTE* nHomingSwitch);

Description Read homing switch

Index, Sub-Index 7001h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingSwitch Point to Homing switch

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteHomingSwitch(BYTE nNodeID, BYTE* nHomingSwitch);

Description Write homing switch

Index, Sub-Index 7001h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingSwitch Homing switch

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadIdleCurrent(BYTE nNodeID, double* dIdleCurrent);

Description Read idle current in Amps

Index, Sub-Index 7002h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dIdleCurrent Point to Idle current in Amps

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteIdleCurrent(BYTE nNodeID, double* dIdleCurrent);

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Description Write idle current

Index, Sub-Index 7002h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dIdleCurrent Idle current

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadDisplayDriveInputs(BYTE nNodeID, USHORT* nDisplayDriveInputs);

Description Read information of driver’s digital inputs

Index, Sub-Index 7003h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDisplayDriveInputs Information of driver’s digital inputs Bit0: input 1

Bit1: input 2

Bit2: input 3

Bit3: input 4

Bit4: input 5

Bit5: input 6

Bit6: input 7

Bit7: input 8

Bit8-15: reserved

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadTorqueConstant(BYTE nNodeID, USHORT* nTorqueConstant);

Description Read torque constant in mNm.

Index, Sub-Index 7005h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nTorqueConstant Pointer to torque constant value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteTorqueConstant(BYTE nNodeID, USHORT nTorqueConstant);

Description Write torque constant in mNm.

Index, Sub-Index 7005h, 0

Arguments Definition Range/List

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nNodeID Drive Node ID 1~127

nTorqueConstant Torque constant value

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL WriteDSPClearAlarm(BYTE nNodeID);

Description Write clear DSL alarm

Index, Sub-Index 7006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadQSegment(BYTE nNodeID, BYTE* nQSegment);

Description Read Q segment

Index, Sub-Index 7007h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nQSegment Point to Q Segment 1~12 or 1~10 (for M Series)

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteQSegment(BYTE nNodeID, BYTE nQSegment);

Description Read Q segment

Index, Sub-Index 7007h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nQSegment Q Segment 1~12 or 1~10 (for M Series)

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadActualVelocity(BYTE nNodeID, double* dActualVelocity);

Description Read actual velocity

Index, Sub-Index 7009h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dActualVelocity Actual velocity

Return value return TRUE if read successfully, otherwise return FALSE.

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BOOL ReadActualPosition(BYTE nNodeID, int* nActualPosition);

Description Read actual velocity

Index, Sub-Index 700Ah, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nActualPosition Pointer to actual velocity

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL ReadDSPStatusCode(BYTE nNodeID, USHORT* nStatusCode);

Description Write PID Filter

Index, Sub-Index 700Bh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nStatusCode Status code

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteClearPosition(BYTE nNodeID);

Description Clear position

Index, Sub-Index 700Ch, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadAccelerationCurrent(BYTE nNodeID, double* dAccelerationCurrent);

Description Read acceleration current

Index, Sub-Index 700Dh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dAccelerationCurrent Acceleration Current

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteAccelerationCurrent(BYTE nNodeID, double dAccelerationCurrent);

Description Write acceleration current

Index, Sub-Index 700Dh, 0

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Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dAccelerationCurrent Acceleration Current

Return value return TRUE if write successfully, otherwise return FALSE.

BOOL ReadAnalogInput1(BYTE nNodeID, USHORT* nAnalogInput1);

Description Write PID Filter

Index, Sub-Index 700Eh, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nAnalogInput1 Analog input value

Return value return TRUE if read successfully, otherwise return FALSE.

BOOL WriteProfileParam(BYTE nNodeID, int* nMode, int* nDistance, double* dVelocity, double* dAccel, double*

dDecel);

Description Write profile parameters

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nMode Mode, NULL to ignore this argument

nDistance Distance, NULL to ignore this argument

dVelocity Velocity, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if write successfully, otherwise return FALSE.

4.4 Advanced APIs

BOOL SwitchControlWord(BYTE nNodeID, USHORT nControlWord1, USHORT nControlWord2);

Description Switch control word

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nControlWord1 Previous control word

nControlWord2 New control word

Return value return TRUE if switch successfully, otherwise return FALSE.

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BOOL DriveEnable(BYTE nNodeID, BOOL bEnable);

Description Enable drive or disable drive

Index, Sub-Index 5006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

bEnable Enable option TRUE: Enable

FALSE: Disable

Return value return TRUE if execute successfully, otherwise return FALSE.

BOOL Stop(BYTE nNodeID);

Description Stop moving

Index, Sub-Index 5006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if stop successfully, otherwise return FALSE.

BOOL AlarmReset(BYTE nNodeID);

Description Reset alarm

Index, Sub-Index 5006h, 0

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

Return value return TRUE if reset successfully, otherwise return FALSE.

BOOL RelMove(BYTE nNodeID, int nDistance, double* dVelocity, double* dAccel, double* dDecel);

Description Launch relative move

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDistance Move Distance -2147483647~2147483647

dVelocity Velocity, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if execute command successfully, otherwise return FALSE.

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BOOL AbsMove(BYTE nNodeID, int nDistance, double* dVelocity, double* dAccel, double* dDecel);

Description Launch absolute move

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDistance Move Distance -2147483647~2147483647

dVelocity Velocity, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if execute successfully, otherwise return FALSE.

BOOL MultipleAbsMoveWithStopping(BYTE nNodeID, int nDistance1, int nDistance2, double* dVelocity1, double*

dVelocity2, double* dAccel, double* dDecel);

Description Launch Point to Point Move with stopping

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDistance1 Move Distance 1 -2147483647~2147483647

nDistance2 Move Distance 2 -2147483647~2147483647

dVelocity1 Velocity 1, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dVelocity2 Velocity 2, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if execute command successfully, otherwise return FALSE.

BOOL MultipleAbsMoveContinuous(BYTE nNodeID, int nDistance1, int nDistance2, double* dVelocity1, double*

dVelocity2, double* dAccel, double* dDecel);

Description Launch Point to Point Move continuous

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nDistance1 Move Distance 1 -2147483647~2147483647

nDistance2 Move Distance 2 -2147483647~2147483647

dVelocity1 Velocity 1, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

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dVelocity2 Velocity 2, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if execute command successfully, otherwise return FALSE.

BOOL ExecuteNormalQProgram(BYTE nNodeID, BYTE nSegment);

Description Execute Q program in normal mode

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nSegment Segment M Server Series:1~10

Other:1~12

Return value return TRUE if send command successfully, otherwise return FALSE.

BOOL ExecuteSyncQProgram(BYTE nNodeID, BYTE nSegment, UINT nSyncPulse);

Description Execute Q program in Sync mode

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nSegment Segment M Server Series:1~10

Other:1~12

nSyncPulse Sync Pulse

Return value return TRUE if execute command successfully, otherwise return FALSE.

BOOL Homing(BYTE nNodeID, int nHomingMethod, double* nHomingVelocity, double* dIndexVelocity, double*

nHomingAccel, int* nHomingOffset, int* nHomingSwitch);

Description Launch feed to double sensor move with mask distance

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

nHomingMethod Homing Method

nHomingVelocity Homing Velocity, NULL to ignore this argument

dIndexVelocity Index Velocity, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

nHomingAccel Homing Acceleration, NULL to ignore this argument 0.167~5461.167

nHomingOffset Homing Offset, NULL to ignore this argument -2147483647~2147483647

nHomingSwitch Homing Switch, NULL to ignore this argument 0.167~5461.167

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Return value return TRUE if execute command successfully, otherwise return FALSE.

BOOL LaunchVelocityMode(BYTE nNodeID, double* dVelocity, double* dAccel, double* dDecel);

Description Launch velocity mode

Arguments Definition Range/List

nNodeID Drive Node ID 1~127

dVelocity Velocity, NULL to ignore this argument 0.025~133.333, depends on

supported max velocity

dAccel Acceleration, NULL to ignore this argument 0.167~5461.167

dDecel Deceleration, NULL to ignore this argument 0.167~5461.167

Return value return TRUE if execute successfully, otherwise return FALSE.

5 FAQ

5.1 How to solve "LoaderLock was detected" when adapter is ZLG?

If the adapter is ZLG, when you run the sample code using Visual Studio 2010, an "LoadLock
was detected" dialog will be poped. See below picture:

Please open the menu: Debug -> Exceptions:

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Unchecked "Managed Debugging Assistants" -> "LoaderLock" and try again.

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