Mitsubishi Electric MR-J5W-G User Manual page 30

■Watchdog counter
The watchdog counter can be used to detect application stop of the cyclic transmission station. When a watchdog counter
object is mapped to the RPDO of the servo amplifier, [AL. 086.2 Network communication error 2] is detected on the servo
amplifier side. When a watchdog counter object is mapped to the TPDO of the servo amplifier, 1 is added to the watchdog
counter on the servo amplifier at the end of each communication cycle, following which the current counter value is sent to the
servo amplifier.
The watchdog counter value is an unsigned integer from 0 to 32767 that returns to 0 upon exceeding 32767.
For details of PDO mapping, refer to the following.
Page 19 Default PDO mapping
Page 23 PDO mapping objects
Index Sub
Index
1D01h 

1D02h
■PDO configuration object
To enable the data exchange by PDO mapping, perform settings for the PDO (RPDO and TPDO) by using PDO configuration
objects ([1st PDO Config (Obj. 1C00h)] and [2nd PDO Config (Obj. 1C01h)]). In the factory setting, 1st PDO mapping objects
([1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)]) are assigned to [PDO Assignment
(Obj. 1C00h: 01h)].
Index Sub
Index
1C00h 0
1
2
3
4
1C01h 0
1
2
3
4
2 APPENDIX
28
2.1 CC-Link IE TSN
Object Name
VAR Watch dog counter DL
VAR Watch dog counter UL
Object Name
RECORD 1st PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
RECORD 2nd PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Data Type Default
U16 

U16
Data Access Default
Type
U8 ro 4
U16 rw Motion mode:
1600h
Motion mode
(high-speed):
1601h
U16 rw 1
U16 rw 0

U32 rw
U8 ro 4
U16 rw Motion mode:
1A00h
Motion mode
(high-speed):
1A01h
U16 rw 1
U16 rw 0
U32 rw 
Description
Watchdog counter (download)
Watchdog counter (upload)
Description
4: Number of entries
Set the address (Index) of PDO mapping
object.
Enable/disable the PDO that has been
set in [PDO Assignment (Obj. 1C00h:
01h)].
0: PDO disabled
1: PDO enabled
0: Receive error is detected.
1: Receive error is not detected.
2: Error detection starts after receipt of
the initial PDO. (Enabled only when the
object set in [PDO Assignment (Obj.
1C00h: 01h)] is the RPDO)
For PDO-receiving stations: the memory
address of the sub-payload (the address
in the memory space)
For PDO-sending stations: the address at
the start of the data to be stored in the
sub-payload
4: Number of entries
Page 28 PDO configuration object
Page 28 PDO configuration object
Page 28 PDO configuration object
Page 28 PDO configuration object