Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Command Interface SDO Request
5 – 4 MITSUBISHI ELECTRIC
5.1.3 CIF SDO write access
Execution procedure: CIF SDO write access
●
Write the command code 0002
H
for SDO write access to Un\G1000.
●
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
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)
Description
Transmit message Receive message
1000 Command 0002
H
: SDO write
앫
0003
H
: SDO write success
앫
000F
H
: Error (Refer to section 5.4)
앫
FFFF
H
: CIF Busy
1001
Node number
���
Node number
���
(read back)
1002 Index Index (read back)
1003
앫
Low byte: Sub index
앫
High byte: Reserved
Sub index (read back)
1004 Data length (in byte) Unused
1005–1066 Command parameter data Unused
Tab. 5-5: Buffer memory allocation for CIF SDO write access
Address
(Decimal)
Description Tab. 5-6:
Command parameter data structure High Byte Low Byte
1005 2nd data byte 1st data byte
1006 4th data byte 3rd data byte
1007 6th data byte 5th data byte
1008 8th data byte 7th data byte
:
: :
: :
:
1065 122nd data byte 121st data byte
1066 124th data byte 123rd data byte