Pdo Default Mapping - Mitsubishi Electric MELSERVO-J4 Instruction Manual

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.3 PDO default mapping

(1) RxPDO default mapping
In the default mapping setting, command data is sent from the master (controller) to slaves (servo
amplifier) with RxPDO in the following array. In the MR-J4-_TM_ servo amplifier, the mapping objects of
1600h to 1603h can be used as the RxPDO default mapping table.
Map number
1st RxPDO map (1600h)
2nd RxPDO map (1601h)
3rd RxPDO map (1602h)
4th RxPDO map (1603h)
Note1.The Velocity limit value (2D20h) is a speed limit value for the torque control. Be sure to set a correct value because setting 0 will
limit the speed to 0.
2.Positive torque limit value (60E0h)/Negative torque limit value (60E1h) are torque limit values of forward/reverse rotation.
Setting 0 will not generate torque. Be sure to set a correct value.
POINT
The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function,
which can select objects transferred in the PDO communication. Refer to section
3.4 for changing the PDO mapping.
Mapping initial setting
Modes of operation (6060h)
Controlword (6040h)
Control DI 1 (2D01h)
Control DI 2 (2D02h)
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Velocity limit value (2D20h) (Note1)
Target torque (6071h)
Positive torque limit value (60E0h) (Note2)
Negative torque limit value (60E1h) (Note2)
Touch probe function (60B8h)
Modes of operation (6060h)
Controlword (6040h)
Control DI 1 (2D01h)
Control DI 2 (2D02h)
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Velocity limit value (2D20h) (Note1)
Target torque (6071h)
Profile velocity (6081h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Torque slope (6087h)
Positive torque limit value (60E0h) (Note2)
Negative torque limit value (60E1h) (Note2)
Touch probe function (60B8h)
Unassigned
Unassigned
Expected application of the initial map
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
The following functions can be used together.
Speed limit function (in cst)
Torque limit function
Touch probe function
Map size: 29 bytes
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
The following functions can be used together.
Speed limit function (in cst)
Torque limit function
Touch probe function
Map size: 45 bytes
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