LSIS XGT Series - Parameter Write;Read

Chapter 7 Program
7-22
7.3.8 Parameter Write/Read
Parameter read/write commands include “Parameter Write (MC_WriteParameter)” and Parameter Read (MC_ReadParameter)”
as well as “SDO Write (LS_WriteSDO)” and “SDO Read (LS_ReadSDO)”. “Parameter Write (MC_WriteParameter)” and
“Parameter Read (MC_ReadParameter)” are commands to write and read operation parameters of the axis or encoder
parameter, and “SDO Write (LS_WriteSDO)” and “SDO Read (LS_ReadSDO)” are commands to read or write SDO data of the
connected EtherCAT slaves.
If the slave of the connected EtherCAT is a servo drive, the SDO data becomes servo parameters. The following is an example
of the program to read or change the operating parameters and servo parameters using Read / Write commands servo drive and
the parameter when slave 2 is a servo drive and it is connected to 2 axes.
 Parameter Read
(1) Command condition
(2) Axis connection status
(3) Axis error/warning status
(4) Axis operation status
(5) 1Axis parameter read /
Slave2 SDO read command
(7) SDO read command input variables
- Command slave
- SDO Index number
- SDO SubIndex number
- SDO size
(8) Parameter/SDO read
command output variables
- Operation completed
- Function block in execution
- Error occurrence state
- Error number
- Read parameter value
/read SDO value
(6) Parameter read command
input variables
- Command axis
- Parameter number