Tpdo Mapping Table - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
7.2.1

TPDO mapping table

The assignment in this table is only for the default TPDO mapping setting (unsigned 16 bit objects). To
change the BFM assignment of the TPDO, the mapping parameter has to be changed in the Object
Dictionary.
→ For the CANopen
TPDO
TPDO 1
TPDO 2
TPDO 3
TPDO 4
TPDO 5
TPDO 6
TPDO 7
TPDO 8
TPDO 9
TPDO 10
TPDO 11
TPDO 12
TPDO 13
TPDO 14
TPDO 15
TPDO 16
TPDO 17
TPDO 18
TPDO 19
TPDO 20
TPDO 21
TPDO 22
TPDO 23
TPDO 24
TPDO 25
→ For the default TPDO mapping setting, refer to Subsection 7.1.1
→ For the TPDO communication and mapping parameter in the Object Dictionary,
®
configuration software, refer to the manual of the software to be used
Mode 0 Mapping
Mode A Mapping
(default)
COB ID
H0180 + node ID
H0280 + node ID
H0380 + node ID
H0480 + node ID
Disabled
These PDO can be activated by mode B mapping commands or SDO.
7.2 PDO Mapping/Binding of the Network for CANopen
→ For the SDO command in the CIF, refer to Section 10.2
Mode B Mapping
H0180 + node ID
H0280 + node ID
H0380 + node ID
H0480 + node ID
®
7 CANopen 405 Mode
®
405 Mode
refer to Subsection 5.6.5
Assigned BFM
#0 to #3
#11000 to #11003
#4 to #7
#11004 to #11007
#8 to #11
#11008 to #11011
#12 to #15
#11012 to #11015
#16 to #19
#11016 to #11019
#100 to #103
#11020 to #11023
#104 to #107
#11024 to #11027
#108 to #111
#11028 to #11031
#112 to #115
#11032 to #11035
#116 to #119
#11036 to #11039
#120 to #123
#11040 to #11043
#124 to #127
#11044 to #11047
#128 to #131
#11048 to #11051
#132 to #135
#11052 to #11055
#136 to #139
#11056 to #11059
#140 to #143
#11060 to #11063
#144 to #147
#11064 to #11067
#148 to #151
#11068 to #11071
#152 to #155
#11072 to #11075
#156 to #159
#11076 to #11079
#160 to #163
#11080 to #11083
#164 to #167
#11084 to #11087
#168 to #171
#11088 to #11091
#172 to #175
#11092 to #11095
#176 to #179
#11096 to #11099
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