Cif Multi Sdo Read Access - Mitsubishi Electric MELSEC L-Series User Manual

SDO Request
5.1.2

CIF Multi SDO read access

With the multi SDO read access command, up to 8 SDO read accesses can be made within one com-
mand. The maximum data length for each access is 8 bytes.
Execution procedure: CIF Multi SDO read access
● At first write the Command code 8
the Sub index to the buffer memory.
● After writing all the necessary parameters turn ON Y(n+1)7 in order to trigger the command
execution. If the command execution is finished, X(n+1)7 will be turned ON.
● If the access has been successful Un\G1000 will display "9" and Un\G1001 to Un\G1064 will contain
the node number, index and sub index for verification purposes.
Buffer memory allocation
Address
(Decimal)
1000
1001
1002
1003
1004
1005
1006
1007
1008
:
:
1057
1058
1059
1060
1061
1062
1063
1064
1065–1066
Tab. 5-4:
Node number 0 is accessing the local ME3CAN1-L modules Object Dictionary, regardless of its real node address. This is
useful as the configuration of the local node can be programmed independently from the node address.
If the final setting is located before Un\G1057 write FFFF
MELSEC-L Series – CANopen€ Module ME3CAN1-L
Description
Transmit message
Command 0008 : SDO Multi read
H
Node number
Index
Low byte: Sub index
High byte: Reserved
Unused
Unused
:
:
Node number
Index
Low byte: Sub index
High byte: reserved
Unused
Unused
Unused
Buffer memory allocation for CIF Multi SDO read access
, the node number (0, 1–127), the Object Dictionary Index and
H
Receive message
0009
000F
00F9
FFFF
Success: Node number
Error:
– High Byte: 0F
– Low Byte: Node number
Index (read back)
Sub index (read back)
Success: Data length
Error: 0
Success: Result data
Error: SDO access error code
:
:
Success: Node number
Error:
– High Byte: 0F
– Low Byte: Node number
Index (read back)
Sub index (read back)
Success: Data length
Error: 0
Success: Result data
Error: SDO access error code
Unused
in the last buffer memory address (Node number).
H
Command Interface
: SDO read success
H
: Error (Refer to section 5.4)
H
: Error (refer to Node number and Result
H
data for details)
: CIF Busy
H
(read back)
H
(read back)
H
(read back)
H
(read back)
H
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