Chapter 4 Pdo (Process Data Object) Communication; Pdo Communication Cycle; Pdo Setting-Related Objects - Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual

4
PDO (Process Data Object) COMMUNICATION
In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically
between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs.
An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave
station transmits status data to the controller with TxPDOs.
Master station
(controller)
The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a
time.
4.1

PDO communication cycle

RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier.
To change the communication cycle time, rewrite [Cycle Time (Obj. 1C32h: 02h)] with SDO download in the Pre-Operational
state via a network.
4.2

PDO setting-related objects

Objects related to PDO settings are shown in the following table.
Index Sub
1C32h 0
1
2
4
5
6
9
11
12
13
32
1C33h 0
1
2
4
5
6
9
11
12
13
32
4 PDO (Process Data Object) COMMUNICATION
14
4.1 PDO communication cycle
Constant cycle
Command data (RxPDO)
Status data (TxPDO)
Object Name
RECORD SM output parameter
Synchronization Type
Cycle time
Synchronization types supported
Minimum cycle time
Calc and copy time
Delay time
SM-Event Missed
Cycle time too small
Shift Time Too Short
Sync Error
RECORD SM input parameter
Synchronization type
Cycle time
Synchronization types supported
Minimum cycle time
Calc and copy time
Delay time
SM-Event Missed
Cycle time too small
Shift Time Too Short
Sync Error
Slave station
(servo amplifier)
Data Type
U8
U16
U32
U16
U32
U32
U32
U16
U16
U16
BOOL
U8
U16
U32
U16
U32
U32
U32
U16
U16
U16
BOOL
Access Description
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(Object Dictionary)
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