Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, User Manual

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4 PDO (Process Data Object) COMMUNICATION
4.1 PDO communication cycle
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PDO (Process Data Object) COMMUNICATION
In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically
between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs.
An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave
station transmits status data to the controller.
The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a
time.
4.1
PDO communication cycle
RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier.
To change the communication cycle time, rewrite [Cycle Time (Obj. 1C32h: 02h)] with SDO download in the Pre-Operational
state via a network.
Master station
(Controller)
Constant cycle
Command data (RxPDO)
Status data (TxPDO)
Slave station
(Servo amplifier)