Variable Pdo Mapping - Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1 User Manual

4.4

Variable PDO mapping

PDO mappings can be changed in the Pre-Operational state.
The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data
transmitted and received with RxPDO and TxPDO.
Variable PDO mapping specifications are shown in the following table.
Communication
RxPDO
TxPDO
The total bytes of objects that can be assigned to PDOs are limited depending on the communication cycle. The table below
shows the relations between the communication cycles and PDO sizes.
Communication cycle 1-axis servo amplifier
[ms]
RxPDO [byte]
0.125 64
0.25 64
0.5 to 8 64
PDO mapping objects are shown in the following table.
Index Sub Object
1600h 0 RECORD
1 to 32
1601h 0 RECORD
1 to 32
1602h 0 RECORD
1 to 32
1603h 0 RECORD
1 to 32
1A00h 0 RECORD
1 to 32
1A01h 0 RECORD
1 to 32
1A02h 0 RECORD
1 to 32
1A03h 0 RECORD
1 to 32
1C12h 0 ARRAY
1
2
3
1C13h 0 ARRAY
1
2
3
Maximum number of objects
1-axis servo amplifier: 32
2-axis servo amplifier: 64
3-axis servo amplifier: 96
2-axis servo amplifier
TxPDO [byte] RxPDO [byte]

64
64 108
64 108
Name
1st receive PDO Mapping
Mapped Object 001 to Mapped
Object 032
2nd receive PDO Mapping
Mapped Object 001 to Mapped
Object 032
3rd receive PDO Mapping
Mapped Object 001 to Mapped
Object 032
4th receive PDO Mapping
Mapped Object 001 to Mapped
Object 032
1st transmit PDO Mapping
Mapped Object 001 to Mapped
Object 032
2nd Transmit PDO Mapping
Mapped Object 001 to Mapped
Object 032
3rd transmit PDO Mapping
Mapped Object 001 to Mapped
Object 032
4th 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]
Refer to the following.
TxPDO [byte]

120
120
Data Type Access Description
MR-J5-G-N1 User's Manual (Object
U8 rw
Dictionary)
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U32 rw
U8 rw
U16 rw
U8 rw
U16 rw
4 PDO (Process Data Object) COMMUNICATION
Number of mapping settings
4 (1600h to 1603h/1610h to 1613h/
1620h to 1623h)
4 (1A00h to 1A03h/1A10h to 1A13h/
1A20h to 1A23h)
3-axis servo amplifier
RxPDO [byte] TxPDO [byte]
 
120 120
144 162
4.4 Variable PDO mapping
4
17