Sending An Sdo Command - Delta AH500 Manual

AH 5 00 Mo d u le Ma n ua l

15.5.2 Sending an SDO Command

1. Function block
The AH10COPM-5A module which functions as a master station in a slot on the main backplane
used can send an SDO command by means of the function block CANopen_SDO in ISPSoft.
2. Input pins/Output pins
Name Function
SID Slot number
The function
block is
executed when
there is a
Execute
transition in the
Execute input
pin's signal from
low to high.
NodeID Node address
Service Service type
ODIndex Index
ODSubIndex Subindex
Length of the
WriteLength data which is
written
Data which is
DataWrite
written
1 5 - 2 4
Input pin
Setting
Data type
value
WORD K0~K11
BOOL True/False
WORD K1~K127
1: Reading
WORD
2: Writing
WORD -
WORD -
K1~K8
WORD
(Unit: Byte)
DWORD[2] -
Time when a value is valid
The value of the SID input pin
is valid when there is a
transition in the Execute input
pin's signal from low to high.
-
-
-
-
-
The value of the WriteLength
input pin is valid when there
is a transition in the Execute
input pin's signal from low to
high.
The value of the DataWrite
input pin is valid when there
is a transition in the Execute
input pin's signal from low to
high.