Pdo Mapping Settings; Setting Procedure - Mitsubishi Electric MELSEC iQ-R Series User Manual

If unavailable data is set, the error "Mapping Communication Error" (error code: 1A5F) will occur at the axis variable
initialization.
There are slave objects whose settings are necessary depending on the axis type. A valid setting value other than "no setting"
must be set to the applicable slave object. (If the setting is illegal, the error "Slave Object Setting Incorrect" (error code:
1A96H) will occur at the axis variable initialization.)
For slave objects whose settings are necessary, refer to the following.
Page 46 Slave object list
When "no setting" is set to the slave object setting, the axis cannot use functions/commands that need the applicable slave
object.
Data and information of the setting location are sent/received based on the data type of each slave object in the motion
operation processing.
Access
R: Slave → Motion system
W: Motion system → Slave

PDO mapping settings

Data (object) that sent/received between the controller and the slave in cyclic communication (PDO communication) must be
mapped in advance in order to control each function in the real drive axis.
For details of PDO mapping settings, refer to the following.
MELSEC iQ-R Motion Module User's Manual (Network)
Mapping is required for some objects to be connected as real drive axes in the motion system. The following objects must be
mapped. (If those are not mapped, the error "Necessary Slave Object Unset" (error code: 1AA8) will occur.)
Mapping
Output (RPDO)
Input (TPDO)

Setting procedure

This section describes the procedure to newly set a real drive axis by using the engineering tool.
1.
Add slave device settings to the network setting, and set IP address and PDO map information.
2.
Select adding axis in the axis setting of the motion system, and set axis information.
3.
Double-click the set axis and set the axis parameters.
4.
Select the slave object setting, and assign slave objects.
5.
Write the parameters in the motion system.
Data size
(Slave object) < (Setting location data)
(Setting location data)  (Slave object)
(Setting location data) < (Slave object)
(Slave object)  (Setting location data)
Required object name
Contorl word
Target position
Operation mode
Status word
Current position
Operation mode display
Description of the motion operation processing
Converts the setting location data to data size of a slave object
and imports it. Exceeded upper bit information is discarded.
Converts the setting location data to data type of the slave object
and imports it.
Stores a slave object value as it is to the the setting location data.
After it is stored, shorted upper bit does not change before and
after refreshing.
Converts a value to data size of the setting location data and
stores it. Exceeded upper bit information is discarded.
1.4 Axis Assignment
1
1 AXIS SETTING
45