Cif Sdo Write Access - Mitsubishi Electric MELSEC L-Series User Manual

Command Interface
5.1.3

CIF SDO write access

Execution procedure: CIF SDO write access
● Write the command code 0002
● Write the Node number and the Index/Sub-index of the target Object Dictionary to Un\G1001 to
Un\G1003.
● Write the data length (in bytes) to be written, to Un\G1004, and the data to be written, to
Un\G1005 and Un\G1066.
● 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, the X(n+1)7 will be turned ON.
● If the access has been successful, Un\G1000 will display "3" and Un\G1001 to Un\G1003 will
contain the node number, index and sub index for verification purposes.
Buffer memory allocation
Address
(Decimal)
1000
1001
1002
1003
1004
1005–1066
Tab. 5-5:
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.
Command parameter data structure in Un\G1005 to Un\G1066
Address
(Decimal)
1005
1006
1007
1008
:
:
1065
1066
5 – 4
H
Description
Transmit message
Command 0002 : SDO write
H
Node number
Index
Low byte: Sub index
High byte: Reserved
Data length (in byte)
Command parameter data
Buffer memory allocation for CIF SDO write access
Description
High Byte
2nd data byte 1st data byte
4th data byte 3rd data byte
6th data byte 5th data byte
8th data byte 7th data byte
:
:
122nd data byte 121st data byte
124th data byte 123rd data byte
for SDO write access to Un\G1000.
Receive message
0003
000F
FFFF
Node number
Index (read back)
Sub index (read back)
Unused
Unused
Tab. 5-6:
Low Byte Command parameter data structure
:
:
SDO Request
: SDO write success
H
: Error (Refer to section 5.4)
H
: CIF Busy
H
(read back)
MITSUBISHI ELECTRIC