Cyclic Transmission - Mitsubishi Electric MR-J5W-G User Manual

Cyclic transmission

Cyclic transmission is a function that cyclically exchanges data between stations.
Cyclic transmission of motion mode
Cyclic transmission of the motion mode is a function that uses PDOs to cyclically exchange data between stations.
A PDO is an aggregate of objects such as [Modes of operation (Obj. 6060h)] and [Modes of operation display (Obj. 6061h)].
The placement of objects in a PDO is called PDO mapping, and the initial placement (default PDO mapping) is defined. The
PDO received by each station is called an RPDO, and the PDO transmitted by each station is called a TPDO. On multi-axis
servo amplifiers, PDOs are sent and received by each axis.
PDOs are transferred using the cyclic Ms frame (from the master station to the slave station) and the cyclic Ss frame (from the
slave station to the master station).
A conceptual figure of communication between a master station and slave stations (1-axis) is shown below.
Master station
(Controller)
Station 1 Axis 1 TPDO1
Station 2 Axis 2 TPDO1
Station 1 Axis 1 RPDO1
Station 2 Axis 2 RPDO1
A conceptual figure of communication between a master station and slave stations (multi-axis) is shown below.
Master station
(Controller)
Station 1 Axis 1 TPDO1
Station 1 Axis 2 TPDO2
Station 1 Axis 1 RPDO1
Station 1 Axis 2 RPDO2
2 APPENDIX
18
2.1 CC-Link IE TSN
Slave station 1
(1-axis servo amplifier)
RPDO1
RPDO2
TPDO1
TPDO2
Slave station 2
(1-axis servo amplifier)
RPDO1
RPDO2
TPDO1
TPDO2
Slave station 1
(Multi-axis servo amplifier)
RPDO1
RPDO2
TPDO1
TPDO2
: Ms (from the master to the slave)
: Ss (from the slave to the master)
: Ms (from the master to the slave)
: Ss (from the slave to the master)