Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 23

3. PROCESS DATA (CYCLIC DATA EXCHANGE)
(3) Telegram 102
Direction
Controller to Drive
Drive to Controller
Note. When changing a mapping, set the total size 48 bytes. Use Reserve (PNU = 0) to adjust mapping size. To change a data length
(Bit), set "0", "8", or "16" to subIndex for Reserve.
IO Data
number
1 Modes of operation
Reserved
2 Controlword
3 Control DI 1
4 Control DI 2
5 Control DI 3
6 Target torque
7 Torque slope
8
9 Target position
10
11 Target velocity
12
13 Velocity limit value
14
15 Profile velocity
16
17 Profile acceleration
18
19 Profile deceleration
20
21 Touch probe function
22 Reserved
23 Reserved
24 Reserved
1 Modes of operation display
Reserved
2 Statusword
3 Status DO 1
4 Status DO 2
5 Status DO 3
6 Torque actual value
7 Digital inputs
8
9 Position actual value
10
11 Velocity actual value
12
13 Following error actual value
14
15 Touch probe pos1 pos value
16
17 Touch probe pos1 neg value
18
19 Touch probe pos2 pos value
20
21 Touch probe pos2 neg value
22
23 Touch probe status
24 Reserved
Name
3 - 2
Data length
Remark
(Bit)
8 Refer to chapter 5/
chapter 6.
8
Map size: 48 bytes
16
(Note)
16
16
16
16
32
32
32
32
32
32
32
16
16
16
16
8 Refer to chapter 5/
chapter 6.
8
Map size: 48 bytes
16
(Note)
16
16
16
16
32
32
32
32
32
32
32
32
16
16