Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 219

FX -CAN User's Manual
3U
55
When the previous command is completed, issue a SDO Read command
SDOReadRequest
StartSDORead
56
Use the SDO read command to read index 1400, sub-index 1 from node address 3 (it reads the CAN-ID of the first RPDO of the MELSEC_STlite node)
ReadNodeAddress
ReadSubIndex
StartSDORead
57
If a SDO Read command is completed, reset its execution signal
SDOReadCompleted
58
If a SDO Read command error occurs, increase the command error counter
SDOReadError
59
If a SDO Read command is completed, increase the command complete counter
SDOReadCompleted
SDOReadError
AND
K3
H1400
H1
SDOReadCommand
SDORead
0 HeadAddress ReadCompleted
NodeAddress ReadDataLength
ReadIndex Index
Subindex
ReadCommand
RST
EN ENO
d StartSDORead
INCP
EN ENO
d SDOReadErrorCounter
AND
MOV
EN ENO
s d ReadNodeAddress
MOV
EN ENO
s d ReadIndex
MOV
EN ENO
s d ReadSubIndex
SET
EN ENO
d StartSDORead
RST
EN ENO
d SDOReadRequest
SDOReadCompleted
ReadDataLength
ReadData
ReadData[0]
ReadError SDOReadError
ReadErrorCode SDOReadErrorCode
INCP
EN ENO
d SDOReadOKCounter
13 Program Example
13.3 Program
11
12
13
14
213