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5
SDO (Service Data Object) COMMUNICATION
In SDO (Service Data Object) communication, object data can be transmitted and received asynchronously between a master
station (controller) and a slave station (servo amplifier).
(SDO Download Expedited)
(SDO Download Normal)
(Download SDO Segment)
Master station
(Controller)
(SDO Upload Expedited)
(SDO Upload Normal)
(Upload SDO Segment)
(Abort SDO Transfer)
(Get OD List)
(Get Object Description)
(Get Entry Description)
(Emergency)
5.1
SDO communication-related services
The servo amplifier supports the following services related with SDO communication.
Services
SDO Download Expedited
SDO Download Normal
Download SDO Segment
SDO Upload Expedited
SDO Upload Normal
Upload SDO Segment
Abort SDO Transfer
Get OD List
Get Object Description
Get Entry Description
Emergency
Object data
Slave station
(Servo amplifier)
Object data
Description
This service writes data of up to 4 bytes to the slave station.
This service writes data of the specified bytes to the slave station.
This service writes additional data when the object size is larger than the specified byte size.
This service reads data of up to 4 bytes from the slave station.
This service reads data of the specified bytes from the slave station.
This service reads additional data when the object size is larger than the specified number of octets.
This service notifies the SDO Abort Code when an error occurs in either of the services.
This service reads a list of available object indexes.
This service reads the detail of indexes.
This service reads the detail of Sub indexes.
This service notifies an alarm occurrence.
5 SDO (Service Data Object) COMMUNICATION
5.1 SDO communication-related services
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