Mitsubishi MR-JE series, Instruction Manual

Page: 28 / 94

3. SLMP
3 - 7
3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from
the master station (external device), they write a specified value to the object corresponding to the specified
Index or consecutive Sub Index.
(1) Request message (command and the following)
Command Sub command Index
Sub
Index
Reserved
Number of data
value
Write data
L H L H L H - - L H L or H (variable)
20h 40h 06h 00h Refer to (3) in this section for details.
(2) Response message
(a) At normal completion (end code and the following)
End code Index
Sub
Index
Reserved
Number of data
value
L H L H - - L H
00h 00h Refer to (3) in this section for details.
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Item Size Endian Description
Command 2 bytes Little H4020
Sub command 2 bytes Little H0006
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.
Write data Variable Little Specify the write data of the object.