Panasonic AFP7MC16EC - 13.9 SDO;PDO Communication

13.9 SDO/PDO Communication
13-25
13.9 SDO/PDO Communication
13.9.1 SDO Communication
FP7 MC Unit can perform SDO communication and PDO communication using CoE
(CANopen over EtherCAT) protocol as a communication method with slave devices. SDO
(Service Data Object) communication is a function to perform data communication with slave
devices by user programs.
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UM 7C4B0
UM 7C4C0
UM 7C8BF
Master
[FP7 MC Unit]
Slave device
Station address no.ｘｘｘｘ
SDO communication
[header part] area
SDO communication [data part] area
16 words
1,024 words
• Data sent/received is stored in the SDO communication area (data part) of the unit memory,
and the communication is performed by controlling in the SDO communication area (header
part).
• When communicating with slave devices by SDO communication, the data size that can be
sent or received at a time is a maximum of 1,024 words (2,048 bytes).