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

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3 SLMP
3.4 CiA 402 read/write command
35
3
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.
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 Write data
L H L H L H   L H L or H (variable)
20h 40h 06h 00h Refer to the following for details.

Page 35 Item list
End code Index Sub Index Reserved Number of data value
L H L H
 
L H
00h 00h Refer to the following for details.

Page 35 Item list
Item Size Endian Description
Command 2 bytes Little 4020h
Sub command 2 bytes Little 0006h
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 Write data: Specify the size in hexadecimal. (Unit: byte)
Write data Variable Little Specify the write data of the object.