Chapter 6 Dedicated Instruction; Slmp Communication Instruction; Slmp Command For Accessing To Can Application Object - Mitsubishi Electric MELSEC iQ-F FX5 Series User Manual

6
DEDICATED INSTRUCTION
This section describes dedicated instructions that can be used in the Motion module.
For details on dedicated instructions, refer to the following.
MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)
6.1

SLMP communication instruction

The following table lists the dedicated instruction used to send an SLMP frame to an SLMP-compatible device in the same
network.
Instruction Description
SLMPSND Send an SLMP message to the SLMP-compatible device in the same network.
For details, refer to the following manual.
MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)
The SLMPSND instruction is available for the firmware version "1.001" or later.

SLMP command for accessing to CAN application object

The list of SLMP commands for accessing to CAN application objects is shown below.
Control Command
ReadObject 4020h
WriteObject 4020h
ObjectSubIDReadBlock 4020h
ObjectSubIDWriteBlock 4020h
For response data at abnormal response, refer to the following manual.
MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)
ReadObject
■Request data
Command
Subcommand
20H 40H 01H
*1 Read with the default size of objects by specifying 0 for the data read size.
■Response data (normal response)
Sub
Index
Index
Subcommand Description
0001h Read the value of objects specified by Index and Sub Index.
0002h Write the value of objects specified by Index and Sub Index.
0005h Read the object value of specified Index from specified Sub Index continuously.
0006h Write the object value of specified Index from specified Sub Index continuously.
Sub
Index
Index
00H
Read
data size
(1 byte unit)
00H
Data
read size
(*1)
00H
Read data
6 DEDICATED INSTRUCTION
6.1 SLMP communication instruction
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