NetworkIndexSet()

void NetworkIndexSet	(	RSINetworkIndexType	indexType,
		uint32_t	newIndex )

Description:

Redirects where the axis reads/writes a specific signal type in the global PDO array. Use this to:

• Route motion commands to non-standard PDO entries (e.g., send velocity to a custom torque PDO)
• Configure axes with proprietary drives that don't follow DS402 conventions
• Swap feedback sources (e.g., use auxiliary encoder as primary position feedback)
• Send firmware-calculated outputs (position, velocity, torque) to any network PDO

The firmware writes calculated motion values to the configured PDO index each cycle, allowing flexible routing of control signals without modifying ENI files or drive configurations.

Parameters

indexType	The axis signal type to remap (position demand, velocity demand, target torque, etc.)
newIndex	The target PDO Network index to read from or write to.

Sample Code:

// Example 1: Swap primary and auxiliary encoder feedback
uint32_t primaryIndex = axis->NetworkIndexGet(RSINetworkIndexType::NetworkIndexTypePOSITION_ACTUAL_INDEX);
uint32_t auxIndex = axis->NetworkIndexGet(RSINetworkIndexType::NetworkIndexTypeAUX_POSITION_FEEDBACK_INDEX);
axis->NetworkIndexSet(RSINetworkIndexType::NetworkIndexTypePOSITION_ACTUAL_INDEX, auxIndex);
axis->NetworkIndexSet(RSINetworkIndexType::NetworkIndexTypeAUX_POSITION_FEEDBACK_INDEX, primaryIndex);
 
// Example 2: Route velocity demand to a custom torque feedforward PDO (index 73)
// Firmware will write velocity values to PDO[73] instead of the default velocity demand PDO
axis->NetworkIndexSet(RSINetworkIndexType::NetworkIndexTypeVELOCITY_DEMAND_INDEX, 73);
 
// Example 3: Send calculated torque output to a 32-bit PDO for extended range
// Default torque PDO is 16-bit, but PDO index 42 is configured as 32-bit
axis->NetworkIndexSet(RSINetworkIndexType::NetworkIndexTypeTARGET_TORQUE_INDEX, 42);

See also

NetworkIndexGet, MotionController::NetworkOutputSentValueGet, MotionController::NetworkInputValueGet, RSINetworkIndexType