Sdo Upload (Cia 402 Object Read); Sdo Download (Cia 402 Object Write) - Mitsubishi MR-JE series Instruction Manual

3. SLMP

3.4.1 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.
(1) Request message (command and the following)
Command Sub command
L H L
20h 40h 01h
(2) Response message
(a) At normal completion (end code and the following)
End code
L H L
00h 00h Refer to (3) in this section for details.
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Item
Command
Sub command
Index
Sub Index
Reserved
Number of data value
Read data

3.4.2 SDO Download (CiA 402 object write)

When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station
(external device), they write a specified value to the object corresponding to the specified Index or Sub
Index.
(1) Request message (command and the following)
Command Sub command
L H L
20h 40h 02h
(2) Response message
(a) At normal completion (end code and the following)
End code
L H L
00h 00h Refer to (3) in this section for details.
Index
H L
00h Refer to (3) in this section for details.
Sub
Index Reserved
Index
H -
Size Endian
2 bytes Little H4020
2 bytes Little H0001
2 bytes Little Specify Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
1 bytes Fixed to H00
2 bytes Little Read data: Fixed to H00
Variable Little The response data of the object is stored.
Index
H L
00h Refer to (3) in this section for details.
Sub
Index Reserved
Index
H -
Sub
Reserved
Index
H - -
Number of data
value
- L H
Sub
Reserved
Index
H - -
Number of data
value
- L H
3 - 5
Number of data
value
L H
Read data
L or H (variable)
Description
Number of data
Write data
value
L H L or H (variable)