Mitsubishi Electric MELSEC iQ-R Series User Manual page 50

Slave object name
Sync ABS counter
Sync cycle counter
Scale measurement encoder reception
status
Scale cycle counter
Scale ABS counter
• Whether or not the setting is required for each axis type
Whether the slave object is available in each axis type or not is as shown below depending on the slave object setting and the
PDO mapping setting.
: Setting possible ... It can be set in the slave object setting of the engineering tool. For a slave object whose PDO mapping
attribute is TxPDO or RxPDO in the real drive axis, be sure to set the setting value of the slave object setting to the PDO
mapping setting. When the setting is valid, the axis holds the applicable slave object.
: Setting not possible ... It cannot be set in the slave object setting of the engineering tool. The axis does not hold the
applicable slave object.
: Unnecessary ... It cannot be set in the slave object setting of the engineering tool. However, since it is emulated in the
motion system, the axis holds the applicable slave object.
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
1 AXIS SETTING
48
1.4 Axis Assignment
DataType Access PDO
mapping
I16 ro TxPDO
U32 ro TxPDO
U32 ro No
U32 ro No
I16 ro No
Real drive axis
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Default Description
2D220010 Gets the encoder multiple revolution counter from
the driver device.
2D210020 Gets the encoder multiple revolution counter from
the driver device.
2D3C0020 Gets the encoder position within one revolution
from the driver device.
2D360020 Gets the position within one revolution of the
scale measurement encoder from the driver
device.
2D370010 Gets the multiple revolution counter of the scale
measurement encoder from the driver device.
Virtual drive axis
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Virtual linked axis
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