Mitsubishi Electric MELSEC iQ-R Series User Manual page 215

TPDO mapping parameter
• Index: 1A00H to 1AFFH
• Subindex: 01H to 08H
Set the objects to be mapped to TPDO.
In the initial setting, unsigned integer 16-bit objects are mapped to TPDO. ( Page 197 TPDO mapping parameter initial
values)
Bit Item
b0 to b7 Length
b8 to b15 Subindex
b16 to b31 Index
For SDO communication, execute the following steps to change the TPDO mapping parameter.
Step Description
1 Disable the target TPDO.
2 Disable the TPDO mapping parameter.
3 Set the TPDO mapping parameter if required.
4 Enable the TPDO mapping parameter.
5 Enable the target TPDO.
*1 Change the number of valid object entries to 0.
*2 For the number of valid object entries, set the number of subindexes to be made valid.
Concise DCF
• Index: 1F22H
• Subindex: 01H to 7FH
Use the configuration manager to store the configuration file that is used to set parameters of NMT slaves.
The configuration file is saved in the object in the CDCF format. The subindex indicates the corresponding node ID.
A maximum of 60 CDCFs can be registered with the RJ71CN91. The maximum size of a file is 65531 bytes.
• To delete a subindex entry, write 0 with data length 1. During a write operation, a new CDCF cannot be
saved. If the flash ROM is in busy state, an SDO error (SDO abort code 06060000H) will occur. ( Page
29 SDO abort codes)
• If an SDO error (SDO abort code 06010002H) occurs in the RJ71CN91 during the SDO write to the
subindex, this subindex is already being used. Delete the subindex entry using the above procedure before
writing. ( Page 29 SDO abort codes)
• If an SDO error (SDO abort code 06070010H) occurs in the RJ71CN91 during the SDO write to the
subindex, the CDCF size is greater than 65531bytes or this subindex is already being used. Check the file
size and delete the subindex entry using the above procedure. ( Page 29 SDO abort codes)
• If the CANopen configuration software cannot auto transfer a CDCF normally, a flash ROM busy error will
occur. In this case, select and download the file. (If the NMT slave supports this function)
• All subindexes of Concise DCF (index 1F22H, subindex 01H to 7FH) can also be deleted by Restore default
parameters (index 1011H, subindex 01H). ( Page 208 Restore default parameters)
• The own node ID subindex setting is not supported.
• The CDCF is saved directly in the flash ROM. Store parameters (index 1010H, subindex 01H) need not be
operated. ( Page 207 Store parameters)
Description
Length of the mapped object (bits)
Subindex of the mapped object
Index of the mapped object
*1
*2
Object to be used
Subindex 01H of the TPDO
communication parameter
Subindex 00H of the TPDO mapping
parameter
Subindex 01H to 08H of the TPDO
mapping parameter
Subindex 00H of the TPDO mapping
parameter
Subindex 01H of the TPDO
communication parameter
Remarks



The subindexes become valid in
sequence, starting from subindex 01H.

APPX
Appendix 3 Object Dictionary
A
213