Sdo Request; Cif Sdo Read Access - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
10.2

SDO Request

Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF command if
the NMT Startup Master accesses the remote Node at the same time.

10.2.1 CIF SDO read access

Description of CIF SDO read access is shown below.
The local FX
3U
Execution procedure: CIF SDO read access
1) Write the Node number and the Index / Sub-index of the target Object Dictionary to BFM #1001 to #1003.
2) Write the command code H0004 for SDO read access to BFM #1000.
When the command code H0004 is written to BFM #1000, the command is executed.
3) When the executed command is successful, H0005 is written to BFM #1000.
4) When H0005 is read from BFM #1000, the specified byte length (BFM #1004) of the result data from BFM
#1005 is read. A maximum of 124 bytes of result data is stored in BFM #1005 to #1066.
BFM No.
BFM #1000
BFM #1001
BFM #1002
BFM #1003
BFM #1004
BFM #1005 to #1066 Result data
Result Data Structure in BFM #1005 to #1066
BFM No.
BFM #1005
BFM #1006
BFM #1007
BFM #1008
BFM #1065
BFM #1066
180
-CAN can be specified by its actual node number or by using "0".
→ If H000F or HFFFF is read from BFM #1000, refer to Section 10.9
FROM (Read Access)
H0005: SDO read success
H000F: Error
HFFFF: CIF Busy
Node number (read back)
Index (read back)
Sub-index (read back)
Data length
Description
High Byte
2nd data byte 1st data byte
4th data byte 3rd data byte
6th data byte 5th data byte
8th data byte 7th data byte
122nd data byte 121st data byte
124th data byte 123rd data byte
Description
Command H0004: SDO read
Node number
Index
Sub-index
Unused
Unused
Low Byte
10 Command Interface
10.2 SDO Request
TO (Write Access)