Command; Cia 402 Read/Write Command - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

3.3

Command

The following table lists applicable commands.
Name Command
CiA 402 object read/write 4020h
NodeSearch 0E30h
IPAddressSet 0E31h
Model code read 0101h
3.4

CiA 402 read/write command

The MR-J4-_GF_(-RJ) servo amplifier supports the CiA 402 read/write command.
Service SLMP
Command
SDO Upload 4020h
SDO Download 4020h
SDO Object SubID Block 4020h
Upload
SDO Object SubID Block 4020h
Download
Sub command Description
0001h Reads data specified by using the CiA 402 object
from the servo amplifier to the external device.
0002h Writes data specified by using the CiA 402 object
from the external device to the servo amplifier.
0005h Reads data of consecutive sub commands specified
by using the CiA 402 object from the servo amplifier
to the external device.
0006h Writes data of consecutive sub commands specified
by using the CiA 402 object from the external device
to the servo amplifier.
0000h Detects the server device in the network.
0000h Sets the IP address of the server device in the
network.
0000h Reads the servo amplifier model.
Sub command
0001h
0002h
0005h
0006h
Description
Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.
Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.
Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.
Writes data of consecutive sub commands specified by using the CiA
402 object from the external device to the servo amplifier.
Detailed explanation
Page 32 SDO Upload
(CiA 402 object read)
Page 33 SDO Download
(CiA 402 object write)
Page 34 SDO Object
SubID Block Upload (CiA 402
object sub ID continuous
read)
Page 35 SDO Object
SubID Block Download (CiA
402 object sub ID continuous
write)
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

3 SLMP
31
3.3 Command
3