Tpdo - Mitsubishi Electric MELSEC iQ-R Series User Manual

TPDO

This section describes the flow of sending data from 'TPDO' (Un\G13000 to Un\G14023) of the buffer memory.
Buffer memory
Un\G13000
Data
Data
Data
Data
Data
Un\G14023
Setting method
Use the engineering tool to map each TPDO in 'TPDO' (Un\G13000 to Un\G14023) and set the CAN-ID of each TPDO. (
Page 88 TPDO details window)
The following is the mapping of send data when multiple objects are mapped to one TPDO.
For the RJ71CN91, a maximum of eight objects (total of 64 bits) can be mapped to one TPDO.
Object
(data length = 8 bits)
Mapping No.1
8 bits
Transmit data by TPDO 1st byte
While the RJ71CN91 is operating, each TPDO can be stopped, configured, started via the program or by other nodes by
changing the object dictionary corresponding to the parameters.
RJ71CN91
Object dictionary
A000H
Object
Object
Object
Object
Object
A242H
Map up to 8 objects
Object
(data length = 16 bits)
Mapping No.2
16 bits
2nd byte 3rd byte
Up to 64 bits (8 bytes)
TPDO1
CAN-ID = 181
TPDO2
CAN-ID = 182
CANopen
network
TPDO3
CAN-ID = 183
TPDO4
CAN-ID = 184
Object
(data length = L bits)
Mapping No.n
L bits
m-th byte
1
1 FUNCTIONS
41
1.4 PDO