Sdo/Pdo Communication; Sdo Communication - Panasonic AFP7MC16EC User Manual

13.9 SDO/PDO Communication

13.9.1 SDO Communication

FP7 MC Unit can perform SDO communication and PDO communication using CoE
(CANopen over EtherCAT) protocol as a communication method with slave devices. SDO
(Service Data Object) communication is a function to perform data communication with slave
devices by user programs.
Master
[FP7 MC Unit]
UM 7C4B0
UM 7C4C0
UM 7C8BF
• Data sent/received is stored in the SDO communication area (data part) of the unit memory,
and the communication is performed by controlling in the SDO communication area (header
part).
• When communicating with slave devices by SDO communication, the data size that can be
sent or received at a time is a maximum of 1,024 words (2,048 bytes).
Read [ 0x0001 ]
Write [ 0x0081 ]
SDO communication
16 words
[header part] area
SDO communication [data part] area
1,024 words
13.9 SDO/PDO Communication
Slave device
Station address no. ｘｘｘｘ
13-25