Cia 402 Read/Write Command - Mitsubishi Electric MR-JE-C Series Instruction Manual

2. CC-Link IE Field Network Basic/SLMP
2.4.3 Command
The following table lists applicable commands.
Name Command
CiA 402 object 4020h
read/write
NodeSearch 0E30h
IPAddressSet 0E31h
Model code read 0101h

2.4.4 CiA 402 read/write command

The MR-JE-_C servo amplifier supports the CiA 402 read/write command.
Service
SDO Upload
SDO Download
SDO Object SubID Block Upload
SDO Object SubID Block
Download
(1) SDO Upload (CiA 402 object read)
When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master
station (external device), they return a value of the object corresponding to the specified Index or Sub
Index.
(a) Request message (command and the following)
Command
L H
20h 40h
(b) Response message
1) At normal completion (end code and the following)
End code
L
00h
2) At abnormal completion
The response message is the same as that of section 2.4.2 (2) (b).
Sub
command
0001h Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.
0002h Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.
0005h Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.
0006h Writes data of consecutive sub commands specified by using the CiA
402 object from the external device to the servo amplifier.
0000h Detects the server device in the network.
0000h Sets the IP address of the server device in the network.
0000h Reads the servo amplifier model.
SLMP
Sub
Command
command
4020h 0001h
4020h 0002h
4020h 0005h
4020h 0006h
Sub command
L H
01h 00h Refer to (1) (c) in this section for details.
Index
H L H
00h Refer to (1) (c) in this section for details.
Description
Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.
Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.
Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.
Writes data of consecutive sub commands specified by using the CiA
402 object from the external device to the servo amplifier.
Sub
Index
Index
L H -
Sub Number of data
Reserved
Index
- - L
2 - 10
Description
Number of data
Reserved
value
- L H
Read data
value
H L or H (variable)
Detailed
explanation
Section
2.4.4 (1)
Section
2.4.4 (2)
Section
2.4.4 (3)
Section
2.4.4 (4)