Rpdo (Un\G10000-Un\G11023), Tpdo (Un\G13000-Un\G14023) - Mitsubishi Electric MELSEC L-Series User Manual

Detailed Description of the Module
3.5.19 RPDO (Un\G10000–Un\G11023), TPDO (Un\G13000–Un\G14023)
For data transfer, the buffer memory addresses Un\G10000 to Un\G11023 are used for Receive Pro-
cess Data Objects (RPDO) and Un\G13000 to Un\G14023 are used for Transmit Process Data Objects
(TPDO).
To ensure that the CANopen€ data are handled in a consistent way, it is necessary to use the data
exchange by Yn1 before reading PDO data and after writing PDO data. The data exchange control sig-
nal ensures, by internal buffer exchange, which transmit data from the PLC will be transmitted within
the same corresponding PDO at the same time (Refer to section 3.3.2).
NOTE The data will only be exchanged when the ME3CAN1-L is in Operational state.
Direct receive buffer memory access to the CiA€-405 Object
Use a FROM or MOV instruction to read data from the following locations.
The default RPDO mapping is assigned to unsigned 16 bit objects. To change this setting please use
the SDO command in the CIF (command interface, refer to sections 4.6.5 and 5.1) or a CANopen€ net-
work configuration software.
NOTE If data are written with an SDO into the Object Dictionary to one of the buffer memory
corresponding Index/Sub-index only the last written data are visible in the buffer memory. The
data of the corresponding Indexes/Sub-indexes are not synchronized to each other.
● Signed and unsigned 8 bit object
Tab. 3-22: Direct receive buffer memory access for unsigned and signed 8 bit objects
3 – 26
Index (Hexadecimal)
Unsigned 8 bit object
A4C0
A4C1
A4C2
A4C3
Buffer Memory Details: CANopen€ Mode
Signed 8 bit object
A480
A481
A482
A483
Sub-index Buffer memory address
(Hex.) (Decimal)
01 lower 8 bit
10000
02 higher 8 bit
03 lower 8 bit
10001
04 higher 8 bit
: :
FD lower 8 bit
10126
FE higher 8 bit
01 lower 8 bit
10127
02 higher 8 bit
: :
FD lower 8 bit
10253
FE higher 8 bit
01 lower 8 bit
10254
02 higher 8 bit
: :
FD lower 8 bit
10380
FE higher 8 bit
01 lower 8 bit
10381
02 higher 8 bit
: :
FD lower 8 bit
10507
FE higher 8 bit
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