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Slave Object List - Mitsubishi Electric MELSEC iQ-R Series User Manual

Motion module.
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Slave object list

The following shows attributes of slave objects.
Attribute
Data Type
Access
PDO mapping
Default
The slave object lists are shown below.
Slave object name
Supported drive modes
Modes of operation
Modes of operation display
Controlword
Control DI 1
Control DI 2
Control DI 3
Control DI 4
Control DI 5
Control DI 6
Control DI 7
Statusword
Status DO 1
Status DO 2
Status DO 3
Status DO 4
Status DO 5
Status DO 6
Status DO 7
Target position
Target velocity
Target torque
Positive torque limit value
Negative torque limit value
Position actual value
Velocity actual value
Following error actual value
Torque actual value
Polarity
Encoder increments
Motor revolutions
SI unit velocity
1 AXIS SETTING
46
1.4 Axis Assignment
Description
Indicates slave object size.
Indicates whether the object can be read/written or not.
• RO: Only read is available.
• RW: Read and write are available.
When the axis type is real drive axis, it indicates whether the mapping to cyclic communication is enabled or not.
• No: Mapping to TxPDO and RxPDO is disabled.
• TxPDO: Mapping to TxPDO is enabled.
• RxPDO: Mapping to RxPDO is enabled.
Indicates the default value of the slave object for the real drive axis.
DataType
Access
U32
ro
I8
rw
I8
ro
U16
rw
U16
rw
U16
rw
U16
rw
U16
rw
U16
rw
U16
rw
U16
rw
U16
ro
U16
ro
U16
ro
U16
ro
U16
ro
U16
ro
U16
ro
U16
ro
I32
rw
I32
rw
I16
rw
U16
rw
U16
rw
I32
ro
I32
ro
I32
ro
I16
ro
U8
rw
U32
rw
U32
rw
U32
rw
PDO
Default
Description
mapping
No
65020020
Gets the control mode supported by the driver
device.
RxPDO
60600008
Requires switching the control mode to the driver
device.
TxPDO
60610008
Gets the control mode of the driver device.
RxPDO
60400010
Requires switching the status to the driver device.
RxPDO
2D010010
Sets the input device in driver device.
RxPDO
2D020010
Sets the input device in driver device.
RxPDO
2D030010
Sets the input device in driver device.
RxPDO
2D040010
Sets the input device in driver device.
RxPDO
2D050010
Sets the input device in driver device.
No
2D060010
Sets the input device in driver device.
No
2D070010
Sets the input device in driver device.
TxPDO
2D110010
Gets the status of the driver device.
TxPDO
2D120010
Sets the output device in driver device.
TxPDO
2D130010
Sets the output device in driver device.
TxPDO
2D140010
Sets the output device in driver device.
TxPDO
2D150010
Sets the output device in driver device.
TxPDO
2D160010
Sets the output device in driver device.
No
2D170010
Sets the output device in driver device.
No
2D110010
Sets the output device in driver device.
RxPDO
607A0020
The command position to output to the driver
device.
RxPDO
60FF0020
The set velocity to output to the driver device.
RxPDO
60710010
The command torque to output to the driver
device.
RxPDO
60E00010
Sets positive direction torque limit value in the
driver device.
RxPDO
60E10010
Sets negative direction torque limit value in the
driver device.
TxPDO
60640020
The current value of the driver device.
TxPDO
606C0020
The current speed of the driver device.
TxPDO
60F40020
The droop pulse of the driverdevice.
TxPDO
60770010
The the current torque of the driver device.
No
607E0008
Sets the rotation direction selection of driver
device
No
608F0120
Gets the encoder resolution of driver device.
No
608F0220
Gets the motor speed of the driver device
No
60A90020
Gets the SI unit velocity of the driver device

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