Omron NJ101-10 Series, Руководство пользователя

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6-2 SDO Communications
SDO communications are performed by using EtherCAT communications instructions to access SDO
data in slaves when required.
6-2-1 EtherCAT Communications Instructions
You can perform the following SDO communications with EtherCAT communications instructions.
• Reading and writing SDO data
Reading and Writing SDO data
Function Instruction Description
CoE messages
(Read CoE SDO) EC_CoESDORead You set parameters to read data from the slave's object dic-
tionary (SDO data).
CoE messages
(Write CoE SDO) EC_CoESDOWrite You set parameters to write data to the slave's object diction-
ary (SDO data).
6-2-2
Sample Programming
This sample uses an EtherCAT communications instruction to read the software version of an OMRON
R88D-KN01L-ECT Servo Drive. The node address of the slave is 1.
The object index for the software version is 16#100A. The subindex is 0.
The read value is stored in STRING variable
VersionInfo .
Built-in EtherCAT port
SDO read
Remote slave node address 1
Object Dictionary Settings
Index: 16#100A
Subindex 0

LD
Internal
Variables
Variable Data type Initial value Comment
Trigger BOOL False Execution condition
SdoObject _sSDO_ACCESS (Index:=0, Subindex:=0,
IsCompleteAccess:=False) SDO parameter
VersionInfo STRING[256] ‘’ Read data
EC_CoESDORead_in-
stance EC_CoESDORead
External Vari-
ables
Variable Data type Constant Comment
_EC_MBXSlavTbl ARRAY[1..192] OF
BOOL
Message Communications Ena-
bled Slave Table
6 Process Data Communications and SDO Communications
6-19
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6-2
SDO Communications
6
6-2-1
EtherCA
T Communications Instructions