Mitsubishi Electric MELSERVO-J4 Instruction Manual page 29

3. PDO (PROCESS DATA OBJECT) COMMUNICATION
(2) TxPDO default mapping
In the default mapping setting, status data of the MR-J4-_TM_ servo amplifier is sent to the master
(controller) with TxPDO in the following array. In the MR-J4-_TM_ servo amplifier, the mapping objects
of 1A00h to 1A03h can be used as the TxPDO default mapping table.
Map number
1st TxPDO map (1A00h)
2nd TxPDO map (1A01h)
3rd TxPDO map (1A02h)
4th TxPDO map (1A03h)
Mapping initial setting
Modes of operation display (6061h)
Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Position actual value (6064h)
Velocity actual value (606Ch)
Following error actual value (60F4h)
Torque actual value (6077h)
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh)
Touch probe pos1 neg value (60BBh)
Touch probe pos2 pos value (60BCh)
Touch probe pos2 neg value (60BDh)
Unassigned
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
Mapping for an application in which the modes
below are switched
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
The latched position by the touch probe function can
be monitored.
Map size: 41 bytes
3 - 4