Mitsubishi Electric MELSEC iQ-R Series User Manual page 352

■Sending/receiving timing
The following shows sending/receiving timing of the servo transient transmission.
• Sending/receiving timing of read/write (Normal operation)
[Cd.160] Optional SDO transfer request 1
[Md.160] Optional SDO transfer result 1
[Cd.164] Optional SDO transfer data 1
(at reading)
[Md.164]
Optional SDO
transfer status 1
• Sending/receiving timing of read/write (Operation failure)
[Cd.160] Optional SDO transfer request 1
[Md.160] Optional SDO transfer result 1
[Cd.164] Optional SDO transfer data 1
(at reading)
[Md.164]
Optional SDO
transfer status 1
Precautions
The driver homing method obtains home position data of the driver by the transient transmission function. Therefore, if read/
write of the slave object is executed with transient transmission while driver homing is being carried out, the error "ABS
reference point read error" (error code: 1A75H) may occur.
9 COMMON FUNCTIONS
350
9.10 Servo Transient Transmission Function
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No request
(at writing)
Data valid bit
(b15)
Communicating
(b8)
Response object
size (b0 to b7)
(at reading)
No request
(at writing)
Data valid bit
(b15)
Communication error
detection (b9)
Communicating
(b8)
Response object size
(b0 to b7)
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Write/read request (self)
Write data
At reading
Write/read request (self)
Write data
No request
0
Read data
Read size
No request
Other than 0
Not updated
Not updated