Mitsubishi Electric MR-J5-G User Manual page 30

• PDO mapping setting procedure
When a motion module is used as the motion control axis, the mapping is automatically changed on the motion module side.
Using [1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] as examples, the following
shows the procedure for setting objects one at a time.
This is a procedure to assign [Target velocity (Obj. 60FFh: 00h)] to [Mapped Object 005 (Obj. 1600h: 05h)].
Before the change:
Index
1600h
1600h
1600h
1600h
1600h
1600h
After the change:
Index
1600h
1600h
1600h
1600h
1600h
1600h
1.
Set the value of [1st Receive PDO Mapping (Obj. 1600h: 00h)] to "0h" in transient communication (SDO message). In
order to change Sub Index: 01h and later, the value must first be set to "0h".
Index
1600h
1600h
1600h
1600h
1600h
2.
Set the value of [Mapped Object 005 (Obj. 1600h: 05h)] to "60FF0020h" in transient communication (SDO message).
Index
1600h
1600h
1600h
1600h
1600h
1600h
3.
Set the value of [1st Receive PDO Mapping (Obj. 1600h: 00h)] to "5h" in transient communication (SDO message). If
there is an error in PDO mapping, an error code (SDO end code) is returned.
Index
1600h
1600h
1600h
1600h
1600h
1600h
4.
The mapping contents are not stored in the non-volatile memory. Perform PDO mapping for each network connection.
1 CC-Link IE TSN
28
1.4 APPENDIX
Sub Index Setting value
00h 4h
01h 1D010008h
02h 60600008h
03h 00000008h
04h 60400010h
05h 00000008h
Sub Index Setting value
00h 5h
01h 1D010008h
02h 60600008h
03h 00000008h
04h 60400010h
05h 60FF0020h
Sub Index Setting value
00h 0h
01h 1D010008h
02h 60600008h
03h 00000008h
04h 60400010h
Sub Index Setting value
00h 0h
01h 1D010008h
02h 60600008h
03h 00000008h
04h 60400010h
05h 60FF0020h
Sub Index Setting value
00h 5h
01h 1D010008h
02h 60600008h
03h 00000008h
04h 60400010h
05h 60FF0020h
Object contents
Number of entries
[Watchdog counter DL (Obj. 1D01h: 00h)]
[Modes of operation (Obj. 6060h: 00h)]
[GAP (Obj. 0000h: 00h)]
[Controlword (Obj. 6040h: 00h)]
[GAP (Obj. 0000h: 00h)]
Object contents
Number of entries
[Watchdog counter DL (Obj. 1D01h: 00h)]
[Modes of operation (Obj. 6060h: 00h)]
[GAP (Obj. 0000h: 00h)]
[Controlword (Obj. 6040h: 00h)]
[Target velocity (Obj. 60FFh: 00h)]
Object contents
Number of entries
[Watchdog counter DL (Obj. 1D01h: 00h)]
[Watchdog counter DL (Obj. 1D01h: 00h)]
[GAP (Obj. 0000h: 00h)]
[Controlword (Obj. 6040h: 00h)]
Object contents
Number of entries
[Watchdog counter DL (Obj. 1D01h: 00h)]
[Modes of operation (Obj. 6060h: 00h)]
[GAP (Obj. 0000h: 00h)]
[Controlword (Obj. 6040h: 00h)]
[Target velocity (Obj. 60FFh: 00h)]
Object contents
Number of entries
[Watchdog counter DL (Obj. 1D01h: 00h)]
[Modes of operation (Obj. 6060h: 00h)]
[GAP (Obj. 0000h: 00h)]
[Controlword (Obj. 6040h: 00h)]
[Target velocity (Obj. 60FFh: 00h)]