Omron NJ501-1500

2-729
2 Instruction Descriptions
NJ-series Instructions Reference Manual (W502)
Communications Instructions
2
EC_CoESDORead
EC_CoESDORead
The EC_CoESDORead instruction reads a value from a CoE* object of a specified slave on an Ether-
CAT network.
* CoE stands for CAN Application Protocol over EtherCAT.
Instruction Name
FB/
FUN
Graphic expression ST expression
EC_CoESDOR
ead
Read EtherCAT
CoE SDO
FB EC_CoESDORead_instance(Execute,
NodeAdr, SdoObj, TimeOut, ReadDat,
Done, Busy, Error, ErrorID, AbortCode,
ReadSize);
Variables
Name Meaning I/O Description Valid range Unit Default
NodeAdr Slave node
address
Input
Node address of the slave to
access
1 to 192
--- ---
SdoObj SDO parame-
ter
SDO parameter ---
TimeOut Timeout time 0: 2.0s
1 to 65535: 0.1 to 6553.5 s
Depends on data
type.
0.1 s 0
(2.0 s)
AbortCode Abort code
Output
Response code for SDO
access specified by CoE
0: Normal end
Depends on data
type.
---
---
ReadSize Read data
size
Size of data stored in ReadDat
after the data is read
Bytes
ReadDat Read data In-out Read data buffer Depends on data
type.
--- ---
Boolean
Bit strings Integers
Real
numbers
Times, durations,
dates, and text strings
BOOL
BYTE
WORD
DWORD
LWORD
USINT
UINT
UDINT
ULINT
SINT
INT
DINT
LINT
REAL
LREAL
TIME
DATE
TOD
DT
STRING
NodeAdr OK
SdoObj Refer to Function for details on the structure _sSDO_ACCESS.
TimeOut OK
AbortCode OK
ReadSize OK
ReadDat
OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK OK
An enumeration, array, array element, structure, structure member, or union member can also be specified.
EC_CoESDORead
Execute Done
NodeAdr Busy
SdoObj Error
TimeOut ErrorID
ReadDat
AbortCode
ReadSize
EC_CoESDORead_instance