Sdo - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.3

SDO

SDO is a function to directly access an object entry in the object dictionary of any CANopen node. The RJ71CN91 can read
and write data in the object dictionary of other CANopen nodes or own nodes.
(1) Object dictionary
(2) Object entry
: Request (Read/Write)
: Response
Use 'Command interface (CIF)' (Un\G1000 to Un\G1066) to run the SDO.
The following table lists the commands that can run with the SDO function. Each command is detailed below using examples
of the RJ71CN91 accessing other CANopen nodes.
Command
SDO read
SDO multi read
SDO write
SDO multi write
1 FUNCTIONS
28
1.3 SDO
(1)
(2)
(2)
(2)
(2)
(2)
Description
Reads data from any CANopen node.
Executes multiple SDO read operations in one command.
SDO read can be executed a maximum of eight times.
Writes data to any CANopen node.
Executes multiple SDO write operations in one command.
SDO write can be executed a maximum of eight times.
Data size
124 bytes maximum
8 bytes maximum for each SDO read
124 bytes maximum
8 bytes maximum for each SDO write