Sdo (Service Data Object) Communication; Sdo Communication-Related Service - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

4. SDO (SERVICE DATA OBJECT) COMMUNICATION

4. SDO (SERVICE DATA OBJECT) COMMUNICATION
The SDO (service data object) communication can transfer object data between a master (controller) and
slaves (servo amplifier) asynchronously.

4.1 SDO communication-related service

The MR-J4-_TM_ servo amplifier supports the following services relating to the SDO communication.
Service
SDO Download Expedited
SDO Download Normal
Download SDO Segment
SDO Upload Expedited
SDO Upload Normal (Note)
Upload SDO Segment
Abort SDO Transfer
Get OD List
Get Object Description
Get Entry Description
Emergency
Note. Complete Access is not supported.
Master
(controller)
Writes data of up to 4 bytes to a slave.
Writes data of the specified bytes to a slave.
Writes additional data when the object size is larger than the specified byte size.
Reads data of up to 4 bytes from a slave.
Reads data of the specified bytes from a slave.
Reads additional data when the object size is larger than the specified number of octets.
Sends SDO Abort Code when an error occurs in a service.
Reads a list of available object indexes.
Reads the detail of an index.
Reads the detail of Sub Index.
Notifies an alarm.
Object data
(SDO Download Expedited)
(SDO Download Normal)
(Download SDO Segment)
Object data
(SDO Upload Expedited)
(SDO Upload Normal)
(Upload SDO Segment)
(Abort SDO Transfer)
(Get OD List)
(Get Object Description)
(Get Entry Description)
(Emergency)
Description
4 - 1
Slave
(servo amplifier)