Chapter 6 Motion Function Blocks
6.6.3 Read SDO (LS_ReadSDO)
LS_ReadSDO
Slave
Slave
Execute Done
UINTUINT
BOOL BOOL
UINT Index
Busy BOOL
Error BOOL
ErrorID WORD
UINT SubIndex
UINT Length
DINTValue
Set the slave to be given a command. (1~64: slave 1~slave 64)
Give SDO reading command to the relevant slave in the rising Edge.
Set the Index of slaver Object to be read. (0x0000~0x9FFF)
Set the SubIndex of slave Object to be read. (0 ~ 255)
Set the distance of slave Object to be read by Byte. (1 ~ 4)
Indicate that SDO is successfully read.
Indicate that the execution of motion function block is not completed.
Indicate whether an error occurs or not.
Output the number of error occurred while motion function block is running.
(1) This motion function block is to read the SDO (CoE Object) value of servo drive in the relevant axis, and reads the SDO
value of the position specified in Index and SubIndex of the axis specified by Axis input as much as the size of Length and
indicates it on Value output.
(2) Value output is eliminated to 0 when motion function block is running, and it is output as the read value when the running is
completed (Done output is On).
(3) Index input can be set as below. If the value is set outside the range, "error 0x1F12” occurs.
Manufacturer Specific Profile Area
Standardized Device Profile Area
(4) The value between 0~255 can be entered in SubIndex, and if the value is set outside the range, "error 0x1F12” occurs.
(5) The value between 1~4 can be set in Length, which means 1~4 Byte. If the value is set outside the range, “error 0x1F12”
occurs.
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