Sdo Object Subid Block Download (Cia 402 Object Sub Id Continuous Write) - Mitsubishi Electric MR-J4-_GF Instruction Manual

3. SLMP

3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write)

When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from
the master station (external device), they write a specified value to the object corresponding to the specified
Index or consecutive Sub Index.
(1) Request message (command and the following)
Command Sub command
L H L
20h 40h 06h
(2) Response message
(a) At normal completion (end code and the following)
End code
L H
00h 00h
(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
Write data
Index
H L
00h Refer to (3) in this section for details.
Index
Index
L H
Refer to (3) in this section for details.
Size Endian
2 bytes Little 4020h
2 bytes Little 0006h
2 bytes Little Specify Index of the object. (Refer to chapter 10.)
For the response message, the value specified in the request message is
stored.
1 byte Little Specify Sub Index of the object. (Refer to chapter 10.)
For the response message, the value specified in the request message is
stored.
1 byte 00h (fixed)
2 bytes Little Write data: Specify the size in hexadecimal.
Variable Little Specify the write data of the object.
Sub
Reserved
Index
H - -
Sub Number of data
Reserved
- - L
3 - 7
Number of data
value
L H
value
H
Description
Write data
L or H (variable)