SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION
The SDO (service data object) communication can transfer object data between a master (upper side) and
slaves (driver) asynchronously.
Master
(controller)
Object data
(SDO Dow nload Expedited)
(SDO Dow nload Normal)
(Download SDO Segment)
Object data
(SDO Upload Expedited)
(SDO Upload Normal)
(Upload SDO Segment)
(Abort SDO Transfer)
(Get OD List)
(Get Object Description)
(Get Entry Description)
(Emergency)
Slave
(servo amplifier)
18.4.1 SDO communication-related service
The driver supports the following services relating to the SDO communication.
Service
Description
SDO Download Expedited
Writes data of up to 4 bytes to a slave.
SDO Download Normal
Writes data of the specified bytes to a slave.
Download SDO Segment
Writes additional data when the object size is larger than the specified byte size.
SDO Upload Expedited
Reads data of up to 4 bytes from a slave.
SDO Upload Normal (Note)
Reads data of the specified bytes from a slave.
Upload SDO Segment
Reads additional data when the object size is larger than the specified number of octets.
Abort SDO Transfer
Sends SDO Abort Code when an error occurs in a service.
Get OD List
Reads a list of available object indexes.
Get Object Description
Reads the detail of an index.
Get Entry Description
Reads the detail of Sub Index.
Emergency
Notifies an alarm.
Note.
Complete Access is not supported.
(Upper
Side)
(driver)

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English