Mitsubishi MR-JE series User Manual

3. SLMP
3 - 5
3.4.1 SDO Upload (CiA 402 object read)
When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station
(external device), they return a value of the object corresponding to the specified Index or Sub Index.
(1) Request message (command and the following)
Command Sub command Index
Sub
Index
Reserved
Number of data
value
L H L H L H - - L H
20h 40h 01h 00h Refer to (3) in this section for details.
(2) Response message
(a) At normal completion (end code and the following)
End code Index
Sub
Index
Reserved
Number of data
value
Read data
L H L H - - L H L or H (variable)
00h 00h Refer to (3) in this section for details.
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Item Size Endian Description
Command 2 bytes Little H4020
Sub command 2 bytes Little H0001
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Read data: Fixed to H00
Read data Variable Little The response data of the object is stored.
3.4.2 SDO Download (CiA 402 object write)
When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station
(external device), they write a specified value to the object corresponding to the specified Index or Sub
Index.
(1) Request message (command and the following)
Command Sub command Index
Sub
Index
Reserved
Number of data
value
Write data
L H L H L H - - L H L or H (variable)
20h 40h 02h 00h Refer to (3) in this section for details.
(2) Response message
(a) At normal completion (end code and the following)
End code Index
Sub
Index
Reserved
Number of data
value
L H L H - - L H
00h 00h Refer to (3) in this section for details.

Mitsubishi MR-JE series Specifications

General

Series	MR-JE
Safety Function	STO (Safe Torque Off)
Type	Servo Drive
Encoder Type	Incremental encoder, Absolute encoder
Positioning Function	Position control
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overload, Overspeed, Encoder error, Regenerative error
Ambient Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6 G) in X, Y, and Z directions