Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Command Interface SDO Request
5 – 2 MITSUBISHI ELECTRIC
5.1 SDO Request
The NMT Master Startup process uses SDOs. An error may be returned by the CIF (command interface)
if during command execution the NMT Master accesses the remote node at the same time.
5.1.1 CIF SDO read access
Execution procedure: CIF SDO read access
●
Write the command code 0004
H
for SDO read access to Un\G1000.
●
Write the Node number and the Index / Sub-index of the target Object Dictionary to Un\G1001
to Un\G1003.
●
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, X(n+1)7 will be turned ON.
●
If the access has been successful, Un\G1000 will contain "5" and Un\G1001 to Un\G1003 will
contain the node number, index and sub index for verification purposes. The length of the read
data (in byte) will be stored in Un\G1004. Un\G1005 to Un\G1066 will contain up to 124 data bytes.
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.
Result data structure in Un\G1005 to Un\G1066
Address
(Decimal)
Description
Transmit message Receive message
1000 Command 0004
H
: SDO read
앫
0005
H
: SDO read 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 Unused Data length (read back)
1005–1066 Unused Result data
Tab. 5-2: Buffer memory allocation for CIF SDO read access
Address
(Decimal)
Description Tab. 5-3:
Result 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