Mitsubishi Electric MR-J5-G User Manual page 29

• 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] to [4th
Receive PDO Mapping] for the RPDO and [1st Transmit PDO Mapping] to [4th Transmit PDO Mapping] for the TPDO.
Index Sub Object
1600h 0 ARRAY
1 to 32
1601h 0 ARRAY
1 to 32
1602h 0 ARRAY
1 to 32
1603h 0 ARRAY
1 to 32
1A00h 0 ARRAY
1 to 32
1A01h 0 ARRAY
1 to 32
1A02h 0 ARRAY
1 to 32
1A03h 0 ARRAY
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
Index
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)].
Name
1st Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
2nd Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
3rd Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
4th Receive PDO Mapping
Mapped Object 1 to Mapped
Object 32
1st Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
2nd Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
3rd Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
4th Transmit PDO Mapping
Mapped Object 1 to Mapped
Object 32
Bit 16 Bit 15
Sub Index
Data Access Default
Type
U8 rw 10h

U32 rw
U8 rw 06h

U32 rw
U8 rw 0Fh

U32 rw
U8 rw 0Bh

U32 rw
U8 rw 11h

U32 rw
U8 rw 0Ah

U32 rw
U8 rw 0Ch

U32 rw
U8 rw 11h

U32 rw
Bit 8
Bit length
Description
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Number of entries
Refer to the following for default
mappings.
Page 22 Default PDO mapping
Bit 0
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1.4 APPENDIX
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