Mitsubishi Electric FX3U-CAN, Руководство пользователя

Страница: 186 / 228

10 Command Interface
10.2 SDO Request
180
FX
3U
-CAN User's Manual
10.2 SDO Request
Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF command if
the NMT Startup Master accesses the remote Node at the same time.
10.2.1 CIF SDO read access
Description of CIF SDO read access is shown below.
The local FX
3U
-CAN can be specified by its actual node number or by using "0".
Execution procedure: CIF SDO read access
1) Write the Node number and the Index / Sub-index of the target Object Dictionary to BFM #1001 to #1003.
2) Write the command code H0004 for SDO read access to BFM #1000.
When the command code H0004 is written to BFM #1000, the command is executed.
3) When the executed command is successful, H0005 is written to BFM #1000.
→
If H000F or HFFFF is read from BFM #1000, refer to Section 10.9
4) When H0005 is read from BFM #1000, the specified byte length (BFM #1004) of the result data from BFM
#1005 is read. A maximum of 124 bytes of result data is stored in BFM #1005 to #1066.
Result Data Structure in BFM #1005 to #1066
BFM No.
Description
FROM (Read Access) TO (Write Access)
BFM #1000
H0005: SDO read success
H000F: Error
HFFFF: CIF Busy
Command H0004: SDO read
BFM #1001 Node number (read back) Node number
BFM #1002 Index (read back) Index
BFM #1003 Sub-index (read back) Sub-index
BFM #1004 Data length Unused
BFM #1005 to #1066 Result data Unused
BFM No.
Description
High Byte Low Byte
BFM #1005 2nd data byte 1st data byte
BFM #1006 4th data byte 3rd data byte
BFM #1007 6th data byte 5th data byte
BFM #1008 8th data byte 7th data byte
....
.
....
.
....
.
BFM #1065 122nd data byte 121st data byte
BFM #1066 124th data byte 123rd data byte