Pdo (Process Data Object) Communication; Pdo Communication Cycle; Pdo Setting-Related Object - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3. PDO (PROCESS DATA OBJECT) COMMUNICATION
The PDO (process data object) communication can transfer command data and feedback data between a
master (controller) and slaves (servo amplifier) at a constant cycle. PDOs include RxPDOs, which are used
by the slaves to receive data from the controller, and TxPDOs, which are used by the slaves to send data to
the controller.
The variable PDO mapping function enables the PDO communication to transfer multiple PDOs in any array.

3.1 PDO communication cycle

The same cycle is applied to communication of RxPDOs and TxPDOs of the MR-J4-_TM_ servo amplifier.
The communication cycle can be changed via a network through rewriting the sub object Cycle time (Sub
index = 2) of SM output parameter (1C32h) with SDO download in the Pre Operational state.

3.2 PDO setting-related object

The following table lists the objects related to the PDO setting.
Index Sub Object
0
1
2
3
1C32h 4 RECORD
5
6
9
12
0
1
2
3
1C33h 4 RECORD
5
6
9
12
Note. No value can be written because Shift time (1C32: 3, 1C33: 3) is set automatically. Writing any value causes SDO Abort Code
(0609 0030h Value range of parameter exceeded).
Communication at a constant period
Master
(controller)
Data
Name
Type
SM output parameter U8
Synchronization type U16
Cycle time U32
Shift time U32
Synchronization types
U16
supported
Minimum cycle time U32
Calc and copy time U32
Delay time U32
Cycle time too small U16
SM input parameter U8
Synchronization type U16
Cycle time U32
Shift time U32
Synchronization types
U16
supported
Minimum cycle time U32
Calc and copy time U32
Delay time U32
Cycle time too small U16
3 - 1
Command data (RxPDO)
Status data (TxPDO)
Access Default
ro 12
rw 0
rw 250000
rw (Note) 222222
ro 0025h
ro 250000
ro 222722
ro 0
ro 0
ro 12
rw 0
ro 250000
rw (Note) 27778
ro 0025h
ro 250000
ro 306055
ro 0
ro 0
Slave
(servo amplifier)
Description
Refer to section 7.3.3 (4).
Refer to section 7.3.3 (5).