2-731
2 Instruction Descriptions
NJ-series Instructions Reference Manual (W502)
Communications Instructions
2
EC_CoESDORead
• Execution of this instruction is continued until processing is completed even if the value of Execute
changes to FALSE or the execution time exceeds the task period. The value of Done changes to
TRUE when processing is completed. Use this to confirm normal completion of processing.
• Refer to Using this Section on page 2-2 for a timing chart for Execute, Done, Busy, and Error.
• This instruction can be used only for the NJ-series EtherCAT ports.
• An error occurs in the following cases. Error will change to TRUE.
• The EtherCAT master is not in a state that allows message communications.
• The slave specified with NodeAdr does not exist.
• The slave specified with NodeAdr is not in a state that allows communications.
• The slave returns an error response.
• The read data size is larger than the size of ReadDat.
This sample uses an EtherCAT SDO message to read the software version of an OMRON V1.02 R88D-
KN01L-ECT Servo Drive. The node address of the slave is 1.
The object index for the software version is 16#100A. The subindex is 0. The read value is stored in
STRING variable VersionInfo.
Precautions for Correct Use
Sample Programming
Built-in EtherCAT port
SDO read
Remote slave node address 1
Object Dictionary Settings
Index: 16#100A
Subindex 0
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