Mapping-Necessary Objects - Mitsubishi Electric MELSERVO-J4 Instruction Manual

3. PDO (PROCESS DATA OBJECT) COMMUNICATION
Index Sub Object
0
1A03h ARRAY
1 to 32
0
1C12h ARRAY
1
0
1C13h ARRAY
1

3.5 Mapping-necessary objects

The following table lists the objects which are required for each mode.
(1) RxPDO
Object name (Index)
Controlword (6040h)
Control DI 1 (2D01h) Gain switching
Control DI 2 (2D02h) Proportional control
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Target torque (6071h)
Profile velocity (6081h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Torque slope (6087h)
Velocity limit value (2D20h)
Positive torque limit value (60E0h)
Negative torque limit value (60E1h)
Touch probe function (60B8h)
Watch dog counter DL (2D23h)
Note. : Mapping required
: Mapping recommended
-: Mapping not required
Data
Name
Type
4th transmit PDO
U8
Mapping
Mapping entry 1
to U32
Mapping entry 32
Sync Manager 2 PDO
U8
Assignment
PDO Mapping object
index of assigned U16
RxPDO
Sync Manager 3 PDO
U8
Assignment
PDO Mapping object
index of assigned U16
TxPDO
csp
-
-
-
-
-
-
-
-
3 - 6
Access Default
rw 0
rw
ro 1
rw 1600h
ro 1
rw 1A00h
Mode (Note)
csv cst pp
-
- -
- - -
- -
- -
- -
- -
- -
- -
- - -
- -
-
Description
Refer to section 7.3.2 (8).
Refer to section 7.3.3 (2).
Refer to section 7.3.3 (3).
Function
(Note)
Touch
pv tq hm
probe
- -
- -
- - -
- - -
- -
- -
- - -
- -
- -
- -
- -
- - - -