Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, User Manual

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5 SDO (Service Data Object) COMMUNICATION
5.1 SDO communication-related services
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5
SDO (Service Data Object) COMMUNICATION
In SDO (Service Data Object) communication, object data can be transmitted and received asynchronously between a master
station (controller) and a slave station (servo amplifier).
5.1
SDO communication-related services
The servo amplifier supports the following services related with SDO communication.
Services Description
SDO Download Expedited This service writes data of up to 4 bytes to the slave station.
SDO Download Normal This service writes data of the specified bytes to the slave station.
Download SDO Segment This service writes additional data when the object size is larger than the specified byte size.
SDO Upload Expedited This service reads data of up to 4 bytes from the slave station.
SDO Upload Normal This service reads data of the specified bytes from the slave station.
Upload SDO Segment This service reads additional data when the object size is larger than the specified number of octets.
Abort SDO Transfer This service notifies the SDO Abort Code when an error occurs in either of the services.
Get OD List This service reads a list of available object indexes.
Get Object Description This service reads the detail of indexes.
Get Entry Description This service reads the detail of Sub indexes.
Emergency This service notifies an alarm occurrence.
(SDO Download Expedited)
(SDO Download Normal)
(Download SDO Segment)
(SDO Upload Expedited)
(SDO Upload Normal)
(Upload SDO Segment)
(Abort SDO Transfer)
(Get OD List)
(Get Object Description)
(Get Entry Description)
(Emergency)
Master station
(Controller)
Slave station
(Servo amplifier)
Object data
Object data