Sdo Multi Read - Mitsubishi Electric MELSEC iQ-R Series User Manual

SDO multi read

The following is the procedure for executing the SDO multi read.
The following figure shows the first SDO multi read.
For buffer memory areas for the second and subsequent SDO multi read operations, refer to the following.
Page 33 Buffer memory area assignment
RCPU
Set
Read
Control by the program
'Command execution request' (Y17)
'Command execution completed' (X17)
Un\G1000
(Command code/
Command execution
result code)
'Command interface
Un\G1001 to Un\G1008
(CIF)' (Un\G1000 to (1st time SDO read)
Un\G1066)
Un\G1057 to Un\G1064
(8th time SDO read)
 Set the transmit message in 'Command interface (CIF)' (Un\G1000 to Un\G1066) via the program. Set any transmit message in Un\G1001 to Un\G1008.
( Page 33 Buffer memory area assignment)
 Turn on 'Command execution request' (Y17) via the program.
 FFFFH (CIF busy) is stored in Un\G1000 while the command is being processed.
 When the command execution is finished, 'Command execution completed' (X17) turns on.
 When the process is completed successfully, 0009H (SDO multi read succeeded) is stored in Un\G1000.
1st time SDO read received messages are stored in Un\G1001 to Un\G1008. ( Page 33 Buffer memory area assignment)
Every time an SDO read is completed, Un\G1004, and Un\G1005 to Un\G1008 are checked via the program, and data read is retrieved by the SDO read.
 When any of SDO read operations is completed with an error, 00F9H (SDO read failed) is stored in Un\G1000.
1st time SDO read received messages are stored in Un\G1001 to Un\G1008. ( Page 33 Buffer memory area assignment)
Every time an SDO read is completed, when it is completed successfully, Un\G1004, and Un\G1005 to Un\G1008 are checked via the program, and data read
is retrieved by the SDO read. Retrieve the error message when the process is completed with an error.
 When the process is completed with an error, 000FH (Error) is stored in Un\G1000.
The error message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 162 Command interface (CIF)
(Un\G1000 to Un\G1066))
 After the SDO multi read is completed, turn off 'Command execution request' (Y17) via the program. When 'Command execution request' (Y17) is turned off,
'Command execution completed' (X17) is also turned off.
1 FUNCTIONS
32
1.3 SDO
RJ71CN91
CIF
Un\G1000
Transmit/Receive
message
Un\G1064
Un\G1066
Ò
MOV/TO
instruction
OFF
OFF
0008H (SDO multi read)
·
CANopen node
Object dictionary
Object entry
SET
Ó
instruction
ON
Execution started
Ô
FFFFH (CIF busy)
Transmit message
Transmit message
CANopen node
Object dictionary
Object entry
Ù
Ö × Ø
MOV/FROM
instruction
Õ
ON
Execution
completed
Ö
0009H (SDO multi read succeeded)
×
00F9H (SDO read failed)
Ø
000FH (Error)
Ö
Receive message (Completed successfully)
×
Receive message (Completed successfully)
Receive message (Completed with an error)
Ø
Error message
Ö
Receive message (Completed successfully)
×
Receive message (Completed successfully)
Receive message (Completed with an error)
Ø
Error message
RST
instruction
OFF
OFF