Sdo Communications; Ethercat Communications Instructions; Sample Programming - Omron Sysmac NJ Series User Manual

6-2

SDO Communications

SDO communications are performed by using EtherCAT communications instructions to access SDO
data in slaves when required.
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EtherCAT Communications Instructions

You can perform the following SDO communications with EtherCAT communications instructions.
• Reading and writing SDO data
Reading and Writing SDO data
Function
CoE messages
(Read CoE SDO)
CoE messages
(Write CoE SDO)
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Sample Programming

This sample uses an EtherCAT communications instruction to read the software version of an OMRON
R88D-KN01L-ECT Servo Drive. The node address of the slave is 1.
The object index for the software version is 16#100A. The subindex is 0.
The read value is stored in STRING variable VersionInfo.
Built-in EtherCAT port
 LD
Internal
Variables
External Vari-
ables
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Instruction
EC_CoESDORead
EC_CoESDOWrite
SDO read
Variable
Trigger BOOL
SdoObject _sSDO_ACCESS
VersionInfo STRING[256]
EC_CoESDORead_in- EC_CoESDORead
stance
Variable
_EC_MBXSlavTbl ARRAY[1..192] OF
BOOL
You set parameters to read data from the slave's object dic-
tionary (SDO data).
You set parameters to write data to the slave's object diction-
ary (SDO data).
Remote slave node address 1
Object Dictionary Settings
Index: 16#100A
Subindex 0
Data type Initial value
False
(Index:=0, Subindex:=0,
IsCompleteAccess:=False)
''
Data type Constant
Description
Comment
Execution condition
SDO parameter
Read data
Comment
Message Communications Ena-
bled Slave Table
6
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