Mitsubishi Electric MELSERVO-MR-J4 GF Series, Instruction Manual

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34
3 SLMP
3.4 CiA 402 read/write command
SDO Object SubID Block Upload (CiA 402 object sub ID
continuous read)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from the master station
(external device), they return a value of the object corresponding to the specified Index or consecutive Sub Index.
Request message (command and the following)
Response message
• At normal completion (end code and the following)
• At abnormal completion
The response message is the same as that of "At abnormal completion" in the following section.
 Page 29 Response message format
Item list
Command Sub command Index Sub Index Reserved Number of data value
L H L H L H
 
L H
20h 40h 05h 00h Refer to the following for details.

Page 34 Item list
End code Index Sub Index Reserved Number of data value Read data
L H L H   L H L or H (variable)
00h 00h Refer to the following for details.
 Page 34 Item list
Item Size Endian Description
Command 2 bytes Little 4020h
Sub command 2 bytes Little 0005h
Index 2 bytes Little Specify Index of the object. (

Page 252 OBJECT DICTIONARY)
For the response message, the value specified in the request message is
stored.
Sub Index 1 byte Little Specify Sub Index of the object. (  Page 252 OBJECT DICTIONARY)
For the response message, the value specified in the request message is
stored.
Reserved 1 byte

00h (fixed)
Number of data value 2 bytes Little Read data: 00h (fixed)
Read data Variable Little The response data of the object is stored.