Mitsubishi Electric MELSEC iQ-R Series User Manual page 351

■Axis control data
n: Axis No. - 1
Setting item
[Cd.160] Optional SDO transfer request 1
[Cd.161] Optional SDO transfer request 2
[Cd.162] Optional SDO transfer request 3
[Cd.163] Optional SDO transfer request 4
[Cd.164] Optional SDO transfer data 1
[Cd.165] Optional SDO transfer data 2
[Cd.166] Optional SDO transfer data 3
[Cd.167] Optional SDO transfer data 4
■Axis monitor data
n: Axis No. - 1
Storage item
[Md.160] Optional SDO transfer result 1
[Md.161] Optional SDO transfer result 2
[Md.162] Optional SDO transfer result 3
[Md.163] Optional SDO transfer result 4
[Md.164] Optional SDO transfer status 1
[Md.165] Optional SDO transfer status 2
[Md.166] Optional SDO transfer status 3
[Md.167] Optional SDO transfer status 4
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Setting details/setting value
Requests the servo transient transmission.
• Changes to values are not accepted during processing.
• The setting value is automatically cleared to "0" when the
processing is completed.
1: Self read request
11: Self write request
Others: No request
Fetch cycle: Main cycle
Stores data of up to 8 bytes (4 words) according to the specified
object.
• When an object is read, a read value is stored when
communication is normally completed. When an error occurs,
the value is not updated.
• To write an object, specify data to be written. Do not change
the setting until the processing is completed.
Fetch cycle: At command request
Storage details/storage value
Stores a response code (SDO Abort code) of a slave device for the
transient request. For details of the code, refer to "Response Code
(SDO Abort Code)" of the following manual.
MELSEC iQ-R Motion Module User's Manual (Network)
When a response code cannot be acquired because of a
communication error or other causes, "0" is stored.
Refresh cycle: At command request
Stores the processing status of the transient request.
• b7 to 0: Response object size (byte) Stores the size of objects
that the slave device has responded when the processing is
completed.
• b8: Communicating Turns ON during the transient transmission.
• b9: Communication error detection Turns ON when an error is
detected with the transient transmission. It remains ON until the
transient transmission is normally completed. Error causes are
as follows. - Normal error - Receiving an error response from a
slave device (SDO Abort code) (Example: When the index,
subindex, or size specified with "[Pr.512] Optional SDO 1" to
"[Pr.515] Optional SDO 4" is incorrect)
• b10: Not used
• b15: Data valid bit Turns ON when a read request is normally
completed. Turns OFF when a read error is detected.
Refresh cycle: At command request
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Initial Buffer memory address
value
Axis 1 to axis 16
0 534796+2048n
0 534797+2048n
0 534798+2048n
0 534799+2048n
0 534800+2048n

534862+2048n
0 534864+2048n

534926+2048n
0 534928+2048n

534990+2048n
0 534992+2048n

535054+2048n
Initial Buffer memory address
value
Axis 1 to axis 16
0 468192+2048n
468193+2048n
0 468194+2048n
468195+2048n
0 468196+2048n
468197+2048n
0 468198+2048n
468199+2048n
0 468200+2048n
0 468201+2048n
0 468202+2048n
0 468203+2048n
9 COMMON FUNCTIONS
9.10 Servo Transient Transmission Function
9
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