Servo Transient Transmission Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

9.10
The "servo transient transmission function" reads and writes objects of a slave device with transient transmission. The
transient transmission is appropriate for communication of the data that does not need to be read or written at a fixed cycle
and the large data.
For the objects that can be read and written with the transient transmission, refer to the manual of the slave device.
With the servo transient transmission, up to four points can be set per axis and the setting can be changed at any time.
Control details
The following shows the parameters and data used in the "servo transient transmission function".
■Extended parameter
n: Axis No. - 1
Setting item
[Pr.512] Optional SDO 1
[Pr.513] Optional SDO 2
[Pr.514] Optional SDO 3
[Pr.515] Optional SDO 4
9 COMMON FUNCTIONS
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9.10 Servo Transient Transmission Function

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Servo Transient Transmission Function
Setting details/setting value
■Specify an object to which the servo transient transmission is
executed.
b31
b15
Sub index
At reading:
Reads an object using SDO Upload of SLMP. The writing object
size [byte] is ignored.
Size of the read object is stored in the response object of the
optional SDO transfer status.
At writing:
Writes an object using the Download command of SLMP. "0x01 to
0x7E" can be specified as the object size [byte]. When the object
size is out of the range, the size is regarded as "0x04".
Example)
To specify an UNSIGNED32 object with object index "6099H" and
subindex "02H", specify the following values.
Reading: "60990200H" (default size)
Writing: "60990204H" (size of 4 bytes)
Fetch cycle: At servo transient request
• The servo transient processing is a set of operations from a request send to a response reception. This
operation is performed in the order of setting Nos.
• For the index, subindex, and object size that can be specified, refer to the manual of the slave device. When
an object not supported by the slave device is specified, the processing is completed with an error.
search engine
b16
Index
b0
Object size
Initial Buffer memory address
value
Axis 1 to axis 16
0 460024+256n
460025+256n
0 460026+256n
460027+256n
0 460028+256n
460029+256n
0 460030+256n
460031+256n