Omron NJ501-1500 Reference Manual page 778

2 Instruction Descriptions
Function
The EC_CoESDORead instruction reads data from the CoE object of the node specified with slave
node address NodeAdr. The read data is stored in ReadDat. Then size of data that was stored is stored
in ReadSize. The value of ReadSize is valid only when the data was stored successfully.
The SDO parameter is specified with SdoObj.
The data type of SdoObj is structure _sSDO_ACCESS. The specifications are as follows:
Name
SdoObj
Index
Subindex
IsCompleteAc-
cess
After the read is completed, the instruction waits for the response for the time specified with timeout
time TimeOut. The response is stored in AbortCode. AbortCode is 0 for a normal response. A value is
stored in AbortCode only when the value of ErrorID is 16#1804 (SDO abort response).
The meaning and values of AbortCode depend on the slave. Refer to the manual for the slave.
The following figure shows a timing chart. A value is stored in AbortCode when Busy changes to FALSE
after the completion of instruction processing.
TRUE
Execute
FALSE
TRUE
Busy
FALSE
TRUE
Done
FALSE
AbortCode
Related System-defined Variables
Name
_EC_MBXSlaveTbl[i]
"i" is the node address.
Additional Information
• Refer to the NJ-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details on
EtherCAT communications.
• Refer to A-4 SDO Abort Codes on page A-47 for the SDO abort codes.
2-730
Meaning Description
SDO parame- SDO parameter
ter
Index Index number in the
object dictionary defined
in CoE
Subindex Subindex number in the
object dictionary defined
in CoE
Complete Specification of com-
access plete access of SDO
TRUE:Access data for
all subindexes
FALSE:Access data for
the specified
subindex
Task period
Cleared to 0. Updated to result.
Meaning
Message Communica- BOOL
tions Enabled Slave
Table
Data type
_sSDO_
ACCESS
UINT
USINT
BOOL
Data type
This variable indicates when communications are
possible for each slave.
TRUE: Communications are possible.
FALSE: Communications are not possible.
NJ-series Instructions Reference Manual (W502)
Valid range Unit Default
--- --- ---
1 to 65535
--- ---
Depends on
data type.
Description