Pdo Variable Mapping - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.4 PDO variable mapping

The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function, which can arrange objects in
any array for the data transferred with RxPDO or TxPDO.
The following table shows the specifications of the PDO variable mapping.
The following table lists the PDO mapping objects.
Index Sub Object
0
1600h RECORD
1 to 32
0
1601h RECORD
1 to 32
0
1602h RECORD
1 to 32
0
1603h RECORD
1 to 32
0
1A00h RECORD
1 to 32
0
1A01h RECORD
1 to 32
0
1A02h RECORD
1 to 32
0
1A03h RECORD
1 to 32
0
1C12h ARRAY
1
0
1C13h ARRAY
1
POINT
The PDO mapping can be changed only in the Pre Operational state.
Maximum number of
Communication
RxPDO
TxPDO
Name
Receive PDO Mapping
Mapped Object 001
to
Mapped Object 032
Receive PDO Mapping
Mapped Object 001
to
Mapped Object 032
Receive PDO Mapping
Mapped Object 001
to
Mapped Object 032
Receive PDO Mapping
Mapped Object 001
to
Mapped Object 032
Transmit PDO Mapping
Mapped Object 001
to
Mapped Object 032
Transmit PDO Mapping
Mapped Object 001
to
Mapped Object 032
Transmit PDO Mapping
Mapped Object 001
to
Mapped Object 032
Transmit PDO Mapping
Mapped Object 001
to
Mapped Object 032
Sync Manager 2 PDO
Assignment
PDO Mapping object
index of assigned
RxPDO
Sync Manager 3 PDO
Assignment
PDO Mapping object
index of assigned
TxPDO
Maximum size [byte]
objects
32
Data
Access Default
Type
U8 rw 12
60600008h
U32 rw to
00000000h
U8 rw 16
60600008h
U32 rw to
00000000h
U8 rw 10
60600008h
U32 rw to
00000000h
U8 rw 0
U32 rw
U8 rw 14
60610008h
U32 rw to
00000000h
U8 rw 19
60610008h
U32 rw to
00000000h
U8 rw 0
U32 rw
U8 rw 0
U32 rw
U8 ro 1
U16 rw 1600h
U8 ro 1
U16 rw 1A00h
3 - 4
Number of mapping
settings
4 (1600h to 1603h)
64
4 (1A00h to 1A03h)
Description
Refer to section 7.3.2 (1).
Refer to section 7.3.2 (2).
Refer to section 7.3.2 (3).
Refer to section 7.3.2 (4).
Refer to section 7.3.2 (5).
Refer to section 7.3.2 (6).
Refer to section 7.3.2 (7).
Refer to section 7.3.2 (8).
Refer to section 7.3.3 (2).
Refer to section 7.3.3 (3).