用kithara驱动控制IS620N伺服电机简单实例

pAppPtr->hSlave,                       // Slave handle
  KS_ECAT_SYNC_INPUT,                       // Sync Manager index or constant
  -1,                                       // PDO index (-1 for reset)
  0);                                     
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pAppPtr->hDataset,                        // Dataset handle
  pAppPtr->hSlave,                          // Slave handle
  0x1702,                                   // PDO index
  2,                                        // PDO subindex
  (void**)&pAppPtr->pVelocityApp,           // Address of App-pointer
  (void**)&pAppPtr->pVelocitySys,           // Address of Sys-pointer
  NULL,                                     // BitOffset
  NULL,                                     // BitLength
  0);                                       // Flags
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if (ksError != KS_OK) {
outputErr(ksError, "KS_getEcatDataObjAddress", "Could not get data object adddress");
  KS_closeDriver();
  return;
}