Mitsubishi Electric MR-J5-G User Manual page 24

■Default PDO mapping
Default PDO mapping is the initial placement of objects included in a PDO. When there is no request from the controller or the
engineering tool to change PDO mapping objects, the servo amplifier operates using default PDO mapping.
• RPDO, TPDO 1st mapping ([1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)])
PDO mapping for cyclic synchronous operation (csp/csv/cst/hm).
RPDO (from the master station to the servo amplifier)
Offset Address
0000h
0002h
0003h
0004h
0008h
000Ch
000Eh
0010h
0012h
0014h
0018h
001Ah
001Ch
001Eh
0020h
0022h

TPDO (from the servo amplifier to the master station)
Offset Address
0000h
0002h
0003h
0004h
0008h
000Ch
0010h
0012h
0014h
0016h
0018h
001Ah
001Ch
001Eh
0020h
0024h
0028h

1 CC-Link IE TSN
22
1.4 APPENDIX
Index
1D01h
6060h
0000h
607Ah
60FFh
6040h
60E0h
60E1h
6071h
2D20h
2D01h
2D02h
2D03h
2D04h
2D05h
0000h

Index
1D02h
6061h
0000h
6064h
606Ch
60F4h
6041h
0000h
6077h
2D11h
2D12h
2D13h
2D14h
2D15h
2A41h
2D21h
2D22h

Device name
Watch dog counter DL
Modes of operation
GAP
Target position
Target velocity
Controlword
Positive torque limit value
Negative torque limit value
Target torque
Velocity limit value
Control DI 1
Control DI 2
Control DI 3
Control DI 4
Control DI 5
GAP

Device name
Watch dog counter UL
Modes of operation display
GAP
Position actual value
Velocity actual value
Following error actual value
Statusword
GAP
Torque actual value
Status DO 1
Status DO 2
Status DO 3
Status DO 4
Status DO 5
Current alarm
Reserved
Reserved
