Data is read from the object dictionary of the specified node.
Double-click the inserted instruction and the following dialog box appears.
Do not run two or more SDO instructions (SDOR, SDOW) at the same time. (You can only run one SDO instruction at a time.)
Operand Settings
S1
Specify index of the object.
S2
Specify sub-index of the object.
S3
Specify node ID.
S4
Specify length (byte number) of SDO access.
S5
Specify where to store read data and abort code.
For the lower 16 bits, if you specify an array element in the system variable #L_IOMasterDrv[0] to [255], the location becomes the start address from which the number of bytes specified in parameter S4 is written into the variable.
For the higher 16 bits, if you specify an array element in the system variable #L_IOMasterDrv[0] to [255] with the most significant bit ON, the abort code is written in the specified variable.
D1
Specify the variable where error codes are stored if an instruction does not act as expected.
Error Code
0
Normal
1
Error in operand number
111
Error in set up value for operand S4 or S5
120
Error in SDO communication or error in set up value for operand S1, S2, or S3
123
Timeout error
140
SDO protocol error
141
SDO send overflow
142
SDO master setting error
143
SDO access error
144
SDO receive timeout
145
SDO operand error
146
SDO master status error
147
SDO master status stopped
148
SDO abort error
Example
S4=20, S5=3
Abort Code
0503 0000h
Toggle bit was not changed.
0504 0000h
SDO protocol timeout
0504 0001h
Invalid or unknown Client/Server command
0504 0002h
Invalid block size (block mode)
0504 0003h
Invalid sequence number (block mode)
0504 0004h
CRC error (block mode)
0504 0005h
Insufficient memory
0601 0000h
Access to unsupported objects
0601 0001h
Read access to write-only objects
0601 0002h
Write access to read-only objects
0602 0000h
Object does not exist in the object dictionary
0604 0041h
Cannot map PDO objects
0604 0042h
The number and length of objects to map exceed the PDO length
0604 0043h
Incompatibility of general parameters
0604 0047h
General internal incompatibility of the device
0606 0000h
Access failure due to a hardware error
0607 0010h
Data type mismatch. Length of the service parameter does not match.
0607 0012h
Data type mismatch. Length of the service parameter is too long.
0607 0013h
Data type mismatch. Length of the service parameter is too short.
0609 0011h
Sub index does not exist
0609 0030h
Parameter value out of range (for write access)
0609 0031h
Written parameter value is too large.
0609 0032h
Written parameter value is too small.
0609 0036h
Maximum value is less than minimum value
060A 0023h
Resource cannot be used
0800 0000h
General error
0800 0020h
Data cannot be transferred or stored by the application
0800 0021h
Due to local control, data cannot be stored or transferred to the application
0800 0022h
Data cannot be transferred or stored by the application in the current device state.
0800 0023h
Dynamic creation of the object dictionary failed or the object dictionary does not exist
0800 0024h
Valid data does not exist