Mitsubishi Electric MR-J5-G User Manual page 26

• RPDO, TPDO 3rd mapping ([3rd Receive PDO Mapping (Obj. 1602h)] and [3rd Transmit PDO Mapping (Obj. 1A02h)])
PDO mapping for profile mode operation (pp/pv/tq/hm).
RPDO (from the master station to the servo amplifier)
Offset Address
0000h
0001h
0002h
0004h
0008h
000Ch
0010h
0012h
0016h
001Ah
001Eh
0022h
0024h
0026h
0028h

TPDO (from the servo amplifier to the master station)
Offset Address
0000h
0001h
0002h
0004h
0008h
000Ch
0010h
0012h
0014h
0016h
0018h
001Ah

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1.4 APPENDIX
Index
6060h
0000h
6040h
607Ah
60FFh
2D20h
6071h
6081h
6083h
6084h
6087h
2D01h
2D02h
2D03h
2D04h

Index
6061h
0000h
6041h
6064h
606Ch
60F4h
6077h
2D11h
2D12h
2D13h
2D14h
2D15h

Device name
Modes of operation
GAP
Controlword
Target position
Target velocity
Velocity limit value
Target torque
Profile velocity
Profile acceleration
Profile deceleration
Torque slope
Control DI 1
Control DI 2
Control DI 3
Control DI 4

Device name
Modes of operation display
GAP
Statusword
Position actual value
Velocity actual value
Following error actual value
Torque actual value
Status DO 1
Status DO 2
Status DO 3
Status DO 4
Status DO 5
