Mitsubishi Electric MELSERVO-JET MR-JET-G User Manual page 22

■PDO mapping objects
The placement of objects in a PDO can be changed with PDO mapping objects ([1st Receive PDO Mapping (Obj. 1600h)],
[1st Transmit PDO Mapping (Obj. 1A00h)], [2nd Receive PDO Mapping (Obj. 1601h)], and [2nd Transmit PDO Mapping (Obj.
1A01h)]).
The following table shows values for items such as the number of objects that can be mapped to the PDO and the initial size
of the PDO.
Item
RPDO maximum number of objects
TPDO maximum number of objects
RPDO initial size [byte]
TPDO initial size [byte]
RPDO maximum size [byte]
TPDO maximum size [byte]
Number of RPDO mapping settings
Number of TPDO mapping settings
• PDO mapping objects between the master station and the servo amplifier
When changing the PDO mapping between the master station and the servo amplifier, use [1st Receive PDO Mapping] or
[2nd Receive PDO Mapping] for the RPDO and [1st Transmit PDO Mapping] or [2nd Transmit PDO Mapping] for the TPDO.
Index Sub
1600h 0
1 to 32
1601h 0
1 to 32
1A00h 0
1 to 32
1A01h 0
1 to 32
• Setting contents of PDO mapping objects
The setting contents of PDO mapping objects (Sub Index 1 or later) are as follows.
Bit 31
Bit 0 to Bit 7: Bit length of the object to be mapped
Bit 8 to Bit 15: Sub Index of the object to be mapped
Bit 16 to Bit 31: Index of the object to be mapped
If placing [Modes of operation (Obj. 6060h: 00h)] (bit length 8) at the start address of [1st Receive PDO Mapping (Obj.
1600h)], set "60600008h" to [Mapped Object 001 (Obj. 1600h: 01h)].
2 APPENDIX
20
2.1 CC-Link IE TSN
Object Name
ARRAY 1st Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
ARRAY 2nd Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
ARRAY 1st Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
ARRAY 2nd Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
Bit 16 Bit 15
Index
Value
32
32
36
42
80
80
2 ([1st Receive PDO Mapping], [2nd Receive PDO Mapping])
2 ([1st Transmit PDO Mapping], [2nd Transmit PDO Mapping])
Data Access Default
Type
U8 rw 10h

U32 rw
U8 rw 06h

U32 rw
U8 rw 11h

U32 rw
U8 rw 0Ah

U32 rw
Bit 8
Sub Index
Description
Number of entries
Refer to the following for default
mappings.
Page 19 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 19 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 19 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 19 Default PDO mapping
Bit 0
Bit length