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Mitsubishi Electric MELSEC iQ-R Series User Manual page 38

Canopen module
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Buffer memory area assignment
This section describes 'Command interface (CIF)' (Un\G1000 to Un\G1066) assignment for SDO write.
The following table shows the transmit message assignment.
Address
Un\G1000
Un\G1001
Un\G1002
Un\G1003
Un\G1004
Un\G1005 to Un\G1066
The following table shows memory assignment for a receive message.
Address
Un\G1000
Un\G1001
Un\G1002
Un\G1003
Un\G1004 to Un\G1066
1 FUNCTIONS
36
1.3 SDO
Description
Transmit message
Command code
• 0002H: SDO write
Set the node ID.
• 0000H: Access the own node.
• 0001H to 007FH: Access the specified node.
Set the index.
• 0000H to FFFFH: Configurable indexes of the object dictionary ( Page 186 Object Dictionary)
Upper byte: Reserved
Lower byte: Set the subindex.
• 00H to FFH: Configurable subindexes of the object dictionary ( Page 186 Object Dictionary)
Set the data length (bytes).
• 1 to 124
Set data to transmit.
• Un\G1005: The lower byte in first, the upper byte in second
• Un\G1066: The lower byte in 123rd, the upper byte in 124th
Description
Receive message
Completed successfully
Command execution result code
• 0003H: SDO write succeeded
Node ID (value set by the transmit message)
Index (value set by the transmit message)
Sub-index (value set by the transmit message)
System area
Completed with an error
Command execution result code
• 000FH: Error
Page 162 Command interface (CIF) (Un\G1000 to
Un\G1066)

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