Mitsubishi Electric MELSERVO-MR-J4 GF Series, Инструкция по эксплуатации

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32
3 SLMP
3.4 CiA 402 read/write command
SDO Upload (CiA 402 object read)
When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station (external device),
they return a value of the object corresponding to the specified Index or 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
End code Sub command Index Sub Index Reserved Number of data value
L H L H L H
 
L H
20h 40h 01h 00h Refer to the following for details.

Page 32 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 32 Item list
Item Size Endian Description
Command 2 bytes Little 4020h
Sub command 2 bytes Little 0001h
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.