Mitsubishi Electric MELSEC iQ-F FX5 Series User Manual page 38

The PDO (RPDO) output from the master station and PDO (TPDO) input from the device station are assigned as follows.
• Motion control station: Motion control area
• Standard station: RWr/RWw of the common area
The PDO of the standard station can be controlled from link refresh (label/device).
The PDO of the Motion control station is controlled by the motion part, and cannot be controlled from the CPU module.
CPU module
Device/Label
Setting method
Set "Batch Setting of PDO Mapping" and "PDO Mapping Setting" in "Network Configuration Settings" of "Basic Settings".
(Page 117 PDO mapping setting)
Precautions
■PDO mapping settings
When a device that supports the CANopen profile is added as a standard station to "Network Configuration Settings" of the
Motion module, configure "PDO Mapping Setting".
If PDO mapping setting is not configured, GX Works3 will detect the following errors.
When MR-J5-G is added as the device station
• **Error** RPDO of module MR-J5-G PDO mapping setting is not set. Please set PDO mapping parameter in PDO mapping setting screen or batch setting of
PDO mapping. MR-J5-G NV_E02731
• **Error** TPDO of module MR-J5-G PDO mapping setting is not set. Please set PDO mapping parameter in PDO mapping setting screen or batch setting of
PDO mapping. MR-J5-G NV_E02732
■Multi-axis servo amplifier
When a multi-axis servo amplifier to the network configuration setting is added, a single device station can use up to 8 axes.
■Error code
If the PDO mapping settings are incorrect, the slave device "PDO mapping setting error" at the initial communication and the
data link does not start.
For the error causes, check the response code (SDO Abort Code) (saved in the detail information of the event history) and
take corrective actions.
(Page 167 Response Code (SDO Abort Code))
3 FUNCTIONS
36
3.2 Cyclic Transmission
Motion module
Link device
Common area
RWr20
RWr2F
Link refresh
RWw10
RWw1F
Motion control
area
Receive
memory
memory
CANopen supported slave device
(Non-motion control station)
RWr
Communication cycle
RWw
Communication cycle
CANopen supported slave device
(Motion control station)
Communication cycle
Send
Communication cycle
PDO
TPDO
RPDO
PDO
TPDO
RPDO