Mitsubishi Electric MELSEC iQ-R Series User Manual page 661

Set the following values for the signal logic selection of the servo amplifier.
No. Name
PC79.0 DI status read selection
PD60.0 DI pin polarity selection
PT29.0 Device input polarity 1
When "[Pr.118] DOG signal selection" is set to "1: Servo amplifier", the DOG signal is returned at the timing of home position
return, and the detection accuracy of the DOG signal may vary compared to a case where the DOG signal is directly detected
by the servo amplifier due to communication.
If the detection position accuracy is poor, adjust servo parameters such as "Home position return position data (PT08)" and
"Movement amount after proximity dog (PT09)" to values that take into account the delay in the communication cycle.
In addition, the variety becomes larger when the communication cycle is long.
■PDO mapping for using MR-J5(W)-G
When operation is performed with the motion control station, the PDO mapping setting is not required because the Motion
module performs assignment automatically.
The following tables show the mapping patterns when operation is performed with the motion control station.
• TPDO mapping
Entry No. Index
1 0x1D02
2 0x6061
3 0x0000
4 0x6064
5 0x606C
6 0x60F4
7 0x6041
8 0x0000
9 0x6077
10 0x2D11
11 0x2D12
12 0x2D13
13 0x2D14
14 0x2D15
15 0x2A41
16 0x2D21
17 0x2D22
18 0x60FD
19 0x2B08
20 0x2B09
21 0x2B0A
22 0x0000
23 0x2D37
24 0x2D36
25 0x2D3C
26 0x60B9
27 0x60D1
28 0x60D2
Downloaded from ManualsNet.com
Sub Index Size [bit]
0x01 16
0x00 8
0x00 8
0x00 32
0x00 32
0x00 32
0x00 16
0x00 16
0x00 16
0x00 16
0x00 16
0x00 16
0x00 16
0x00 16
0x00 32
0x00 32
0x00 16
0x00 32
0x00 16
0x00 16
0x00 16
0x00 16
0x00 32
0x00 32
0x00 32
0x00 16
0x00 32
0x00 32
search engine
Default Setting value
value
0h Eh: The supported pin No. is shown below.
bit1: Returns the ON/OFF status of the DI1 pin.
bit2: Returns the ON/OFF status of the DI2 pin.
bit3: Returns the ON/OFF status of the DI3 pin.
0h 0h: The supported pin No. is shown below.
bit0: DI pin polarity selection 1 (Turns on with 24 V input)
bit1: DI pin polarity selection 2 (Turns on with 24 V input)
bit2: DI pin polarity selection 3 (Turns on with 24 V input)
0h 1h: Dog detection with ON status
Entry name
Watchdog counter UL 1
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
Digital inputs
Regenerative load ratio
Effective load ratio
Peak load ratio
GAP
Scale ABS counter
Scale cycle counter
Scale measurement encoder reception status
Touch probe status
Touch probe time stamp 1 positive value
Touch probe time stamp 1 negative value
Appendix 3 Devices Compatible with CC-Link IE TSN
Remarks
Basic function area (fixed)
Optional data monitor area
(When the optional data monitor
*1
setting is set to the default)
Synchronous encoder via servo
*2
amplifier area
High-accuracy mark detection
*2
area
APPX
659
A