Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Command Interface SDO Request
5 – 6 MITSUBISHI ELECTRIC
5.1.4 CIF Multi SDO write access
With the multi SDO write access command, up to 8 SDO write accesses can be made within one com-
mand. The maximum data length for each access is 8 bytes.
Execution procedure: CIF Multi SDO write access
●
Write the command code 0006
H
for multi SDO write access to Un\G1000.
●
Write the node number (0, 1–127), the Object Dictionary Index, the Sub-index, the data length (in
byte) and the data to be sent to the buffer memory.
●
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 display "7" and the following buffer memory
addresses 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.
If the final setting is located before Un\G1057 write FFFF
H
in the last buffer memory address (Node number).
Address
(Decimal)
Description
Transmit message Receive message
1000 Command 0006
H
: SDO Multi write
앫
0007
H
: SDO write success
앫
000F
H
: Error (Refer to section 5.4)
앫
00F7
H
: Error (refer to Node number and Result
data for details)
앫
FFFF
H
: CIF Busy
1001
Node number
���
앫
Success: Node number
���
(read back)
앫
Error:
– High Byte: 0F
H
– Low Byte: 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
Command parameter data (1 to 8 byte)
앫
Success: Unused
앫
Error: SDO access error code
1006
1007
1008
:
: :
:
:
:
1057
Node number
������
앫
Success: Node number
���
(read back)
앫
Error:
– High Byte: 0F
H
– Low Byte: Node number
���
(read back)
1058 Index Index (read back)
1059
앫
Low byte: Sub index
앫
High byte: reserved
Sub index (read back)
1060 Data length (in byte) Unused
1061
Command parameter data (1 to 8 byte)
앫
Success: Unused
앫
Error: SDO access error code
1062
1063
1064
1065–1066 Unused Unused
Tab. 5-8: Buffer memory allocation for CIF Multi SDO write access