Sdo Multi Write - Mitsubishi Electric MELSEC iQ-R Series User Manual

SDO multi write

The following is the procedure for executing the SDO multi write.
The following figure shows the first SDO multi write.
For buffer memory areas for the second and subsequent SDO multi write operations, refer to the following.
Page 38 Buffer memory area assignment
RCPU
Un\G1000
Set
Read
Un\G1064
Un\G1066
Control by the program
'Command execution request' (Y17)
'Command execution completed' (X17)
Un\G1000
(Command code/
Command execution
result code)
'Command interface
Un\G1001 to Un\G1008
(CIF)' (Un\G1000 to
(1st time SDO write)
Un\G1066)
·
Un\G1057 to Un\G1064
(8th time SDO write)
 Set the transmit message in 'Command interface (CIF)' (Un\G1000 to Un\G1066) via the program. Set any transmit message in Un\G1001 to Un\G1008.
( Page 38 Buffer memory area assignment)
 Turn on 'Command execution request' (Y17) via the program.
 FFFFH (CIF busy) is stored in Un\G1000 while the command is being processed.
 When the command execution is finished, 'Command execution completed' (X17) turns on.
 When the process is completed successfully, 0007H (SDO multi write succeeded) is stored in Un\G1000.
1st time SDO multi write received messages are stored in Un\G1001 to Un\G1008. ( Page 38 Buffer memory area assignment)
 When any of SDO write operations is completed with an error, 00F7H (SDO write failed) is stored in Un\G1000.
1st time SDO multi write received messages are stored in Un\G1001 to Un\G1008. ( Page 38 Buffer memory area assignment)
 When the process is completed with an error, 000FH (Error) is stored in Un\G1000.
The error message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 162 Command interface (CIF)
(Un\G1000 to Un\G1066))
 After the SDO multi write is completed, turn off 'Command execution request' (Y17) via the program. When 'Command execution request' (Y17) is turned off,
'Command execution completed' (X17) is also turned off.
RJ71CN91
CIF
Transmit/Receive
message
SET
Ò Ó
instruction
MOV/TO
instruction
ON
OFF
OFF
0006H (SDO multi write)
Transmit message
Transmit message
CANopen node
Object dictionary
Object entry
Ö × Ø
MOV/FROM
instruction
Õ
ON
Execution started
Execution
Ô
completed
FFFFH (CIF busy)
CANopen node
Object dictionary
Object entry
RST
Ù
instruction
OFF
OFF
Ö
0007H (SDO multi write succeeded)
×
00F7H (SDO write failed)
Ø
000FH (Error)
Ö
Receive message (Completed successfully)
×
Receive message (Completed successfully)
Receive message (Completed with an error)
Ø
Error message
Ö
Receive message (Completed successfully)
×
Receive message (Completed successfully)
Receive message (Completed with an error)
Ø
Error message
1 FUNCTIONS
1.3 SDO
1
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