32.23.1.3 SDOR, SDOW, DGMT, DGSL (CANopen Driver)

From the I/O Driver, the SDOR instruction runs the SDO command (read) defined in the source operand. After the I/O Driver completes the SDO command, execution results are set to the destination operand.
From the I/O Driver, the SDOW instruction runs the SDO command (write) defined in the source operand. After the I/O Driver completes the SDO command, execution results are set to the destination operand.
From the I/O Driver, the DGMT instruction reads the master diagnostic results. The I/O Driver then sets the read results to the destination operand.
From the I/O Driver, the DGSL instruction reads the slave diagnostic results defined in the source operand. The I/O Driver then sets the read results to the destination operand.
Instructions execute when they receive power. The instruction passes power for one scan after the instruction completes execution.

For more information regarding SDOR, SDOW, DGMT, and DGSL instructions (CANopen driver), refer to the following.
31.9 Controlling External I/O with CANopen

Restrictions

An error occurs if these instructions are not set up with the CANopen driver, or when operands are set up with invalid data types.
You can use up to 15 I/O Driver instructions, which includes other I/O Drivers.
These instructions can be used in the MAIN and SUB programs only. They cannot be used in INIT.
Instructions executed only at startup, such as MOVP, cannot be supported. to execute instructions only at startup, use PT instructions.