2-727
2 Instruction Descriptions
NJ-series Instructions Reference Manual (W502)
Communications Instructions
2
EC_CoESDOWrite
The EC_CoESDOWrite instruction writes data to the CoE object of the node specified with slave node
address NodeAdr. The content of WriteDat is written to the object. The number of bytes of data to write
is specified with WriteSize. The SDO parameter is specified with SdoObj.
The data type of SdoObj is structure _sSDO_ACCESS. The specifications are as follows:
After the write is completed, the instruction waits for the response for the time specified with timeout
time TimeOut. The response is stored in AbortCode. AbortCode is 0 for a normal response. A value is
stored in AbortCode only when the value of ErrorID is 16#1804 (SDO abort response).
The meaning and values of AbortCode depend on the slave. Refer to the manual for the slave.
The following figure shows a timing chart. A value is stored in AbortCode when Busy changes to FALSE
after the completion of instruction processing.
• Refer to the NJ-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details on
EtherCAT communications.
• Refer to A-4 SDO Abort Codes on page A-47 for the SDO abort codes.
Function
Name Meaning Description Data type Valid range Unit Default
SdoObj SDO
parameter
SDO parameter _sSDO_
ACCESS
--- --- ---
Index Index Index number in the
object dictionary defined
in CoE
UINT
1 to 65535
--- ---
Subindex Subindex Subindex number in the
object dictionary defined
in CoE
USINT
Depends on
data type.
IsCompleteAccess Complete
access
Specification of com-
plete access of SDO
TRUE: Access data for
all subindexes
FALSE: Access data for
the specified subindex
BOOL
Related System-defined Variables
Name Meaning Data type Description
_EC_MBXSlavTbl[i]
“i” is the node address.
Message Communica-
tions Enabled Slave
Ta bl e
BOOL This variable indicates when communications are
possible for each slave.
TRUE: Communications are possible.
FALSE: Communications are not possible.
Additional Information
TRUE
FALSE
Task period
TRUE
FALSE
TRUE
FALSE
Execute
Busy
Done
AbortCode
Cleared to 0.
Updated to result.
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