Chapter 4 Pdo (Process Data Object) Communication; Pdo Communication Cycle - Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 User Manual

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PDO (Process Data Object) COMMUNICATION
In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically
between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs.
An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave
station transmits status data to the controller with TxPDOs.
Constant cycle
Command data (RxPDO)
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Master station Slave station
(controller) (servo amplifier)
Status data (TxPDO)
The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a
time.
4.1

PDO communication cycle

RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier.
To change the communication cycle time, rewrite [Cycle Time (Obj. 1C32h: 02h)] with SDO download in the Pre-Operational
state via a network.
4 PDO (Process Data Object) COMMUNICATION
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4.1 PDO communication cycle