Rpdo Mapping Table - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
7.2.2

RPDO mapping table

The assignment in this table is only for the default RPDO mapping setting (unsigned 16 bit objects). To
change the BFM assignment of the RPDO, the mapping parameter has to be changed in the Object
Dictionary.
→ For the CANopen
RPDO
RPDO 1
RPDO 2
RPDO 3
RPDO 4
RPDO 5
RPDO 6
RPDO 7
RPDO 8
RPDO 9
RPDO 10
RPDO 11
RPDO 12
RPDO 13
RPDO 14
RPDO 15
RPDO 16
RPDO 17
RPDO 18
RPDO 19
RPDO 20
RPDO 21
RPDO 22
RPDO 23
RPDO 24
132
→ For the default RPDO mapping setting, refer to Subsection 7.1.2
→ For the RPDO communication and mapping parameter in the Object Dictionary,
®
configuration software, refer to the manual of the software to be used
Mode 0 Mapping
Mode A Mapping
(default)
H0200 + node ID H0181
H0300 + node ID H0281
H0400 + node ID H0381
H0500 + node ID H0481
H0182
H0282
H0382
H0482
H0183
H0283
H0383
H0483
H0184
Disabled
H0284
These PDO can be
activated by mode B
mapping commands or
H0384
SDO.
H0484
H0185
H0285
H0385
H0485
H0186
H0286
H0386
H0486
7.2 PDO Mapping/Binding of the Network for CANopen
→ For the SDO command in the CIF, refer to Section 10.2
Mode B Mapping
COB ID
Node 1 data
Node 2 data
Node 3 data
Disabled
Can be defined by mode B
mapping command
parameter or SDO.
Node 4 data
Node 5 data
Node 6 data
®
7 CANopen 405 Mode
®
405 Mode
refer to Subsection 5.6.5
Assigned BFM
#0 to #3
#10000 to #10003
#4 to #7
#10004 to #10007
#8 to #11
#10008 to #10011
#12 to #15
#10012 to #10015
#16 to #19
#10016 to #10019
#100 to #103
#10020 to #10023
#104 to #107
#10024 to #10027
#108 to #111
#10028 to #10031
#112 to #115
#10032 to #10035
#116 to #119
#10036 to #10039
#120 to #123
#10040 to #10043
#124 to #127
#10044 to #10047
#128 to #131
#10048 to #10051
#132 to #135
#10052 to #10055
#136 to #139
#10056 to #10059
#140 to #143
#10060 to #10063
#144 to #147
#10064 to #10067
#148 to #151
#10068 to #10071
#152 to #155
#10072 to #10075
#156 to #159
#10076 to #10079
#160 to #163
#10080 to #10083
#164 to #167
#10084 to #10087
#168 to #171
#10088 to #10091
#172 to #175
#10092 to #10095