Sdo Read - Mitsubishi Electric MELSEC iQ-R Series User Manual

SDO read

The following is the procedure for executing the SDO read.
RCPU
Set
Read
Control by the program
'Command execution request' (Y17)
'Command execution completed' (X17)
Un\G1000
(Command code/
Command execution
result code)
'Command interface
(CIF)' (Un\G1000 to
Un\G1066)
Area other than
Un\G1000
 Set the transmit message in 'Command interface (CIF)' (Un\G1000 to Un\G1066) via the program. ( Page 31 Buffer memory area assignment)
 Turn on 'Command execution request' (Y17) via the program.
 FFFFH (CIF busy) is stored in Un\G1000 while the command is being processed.
 When the command execution is finished, 'Command execution completed' (X17) turns on.
 When the process is completed successfully, 0005H (SDO read succeeded) is stored in Un\G1000.
The receive message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 31 Buffer memory area
assignment)
Check Un\G1004, and Un\G1005 to Un\G1066 via the program, and retrieve data read by the SDO read.
 When the process is completed with an error, 000FH (Error) is stored in Un\G1000.
The error message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 162 Command interface (CIF)
(Un\G1000 to Un\G1066))
 After the SDO read is completed, turn off 'Command execution request' (Y17) via the program. When 'Command execution request' (Y17) is turned off,
'Command execution completed' (X17) is also turned off.
1 FUNCTIONS
30
1.3 SDO
RJ71CN91
CIF
Un\G1000
Transmit/Receive
message
Un\G1066
Ò Ó
MOV/TO
instruction
OFF
OFF
0004H (SDO read)
SET
instruction
ON
Execution started
Ô
FFFFH
(CIF busy)
Transmit message
CANopen node
Object dictionary
Object entry
Ö × Ø
MOV/FROM
instruction
Õ
ON
Execution
completed
Ö
0005H (SDO read succeeded)
×
000FH (Error)
Ö
Receive message
×
Error message
RST
instruction
OFF
OFF