Omron NY532-5400 Reference Manual page 953

Function
The EC_CoESDOWrite instruction writes data to the CoE object of the node specified with slave node
address NodeAdr. The content of WriteDat is written to the object. The number of bytes of data to write
is specified with WriteSize. 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
IsCompleteAccess
After the write 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_MBXSlavTbl[i]
"i" is the node address.
Additional Information
• Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) or NY-
series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's Manual (Cat. No. W562)
for details on EtherCAT communications.
• Refer to A-4 SDO Abort Codes on page A-21 for the SDO abort codes.
NY-series Instructions Reference Manual (W560)
Meaning Description
SDO SDO parameter
parameter
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
Updated to result.
Cleared to 0.
Meaning Data type
Message Communica- BOOL
tions Enabled Slave
Table
2 Instruction Descriptions
Data type Valid range
_sSDO_
---
ACCESS
UINT
1 to 65535
USINT
BOOL
Depends on
data type.
Description
This variable indicates whether communications are
possible for each slave.
TRUE: Communications are possible.
FALSE: Communications are not possible.
Unit Default
--- ---
2
--- ---
2-901