LSIS XGT Series User Manual

Chapter 6 Motion Function Blocks
6-113
6.6.4 Write SDO (LS_SDO)
Motion Function Block
LS_WriteSDO
Slave
Slave
Execute Done
UINTUINT
BOOL BOOL
UINT Index Busy BOOL
Error BOOL
ErrorID WORD
UINT SubIndex
UINT Length
DINT Value
Input-Output
UINT
Slave
Set the slave to be given a command. (1~64: slave 1~slave 64)
Input
BOOL
Execute
Give SDO writing command to the relevant slave in the rising Edge.
UINT
Index
Set the Index of slave Object to be written. (0x0000~0x9FFF)
UINT
SubIndex
Set the SubIndex of slave Object to be written. (0 ~ 255)
UINT
Length
Set the distance of slave Object to be written by Byte. (1 ~ 4)
DINT
Value
Set the value to be written in SDO.
Output
BOOL
Done
Indicate that SDO is successfully read.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.
(1) This motion function block is to write the SDO (CoE Object) value of the relevant slave, and it writes the value entered in
Value as the size of the Length in SDO of the position specified as Index and SubIndex of the slave specified in slave input.
(2) Index input can be set as below. When it is set to the value besides the set value, “error 0x1F12” occurs.
Value
Description
16#0000 ~ 16#0FFF
Data Type Description
16#1000 ~ 16#1FFF
Communication objects
16#2000 ~ 16#5FFF
Manufacturer Specific Profile Area
16#6000 ~ 16#9FFF
Standardized Device Profile Area
(3) The value between the range of 0~255 can be entered in SubIndex, and if the value outside the range is set, “error 0x1F12”
occurs.
(4) The value between the range of 1~4 can be entered in Length, which means 1~4 Byte. If the value outside the range is set,
"error 0x1F12” occurs.

LSIS XGT Series Specifications

General

Brand	LSIS
Model	XGT Series
Category	Controller
Language	English