Mitsubishi Electric Melservo-Jet MR-JET-G, User Manual

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20
2 APPENDIX
2.1 CC-Link IE TSN
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PDO mapping objects
The placement of objects in a PDO can be changed with PDO mapping objects ([1st Receive PDO Mapping (Obj. 1600h)],
[1st Transmit PDO Mapping (Obj. 1A00h)], [2nd Receive PDO Mapping (Obj. 1601h)], and [2nd Transmit PDO Mapping (Obj.
1A01h)]).
The following table shows values for items such as the number of objects that can be mapped to the PDO and the initial size
of the PDO.
• PDO mapping objects between the master station and the servo amplifier
When changing the PDO mapping between the master station and the servo amplifier, use [1st Receive PDO Mapping] or
[2nd Receive PDO Mapping] for the RPDO and [1st Transmit PDO Mapping] or [2nd Transmit PDO Mapping] for the TPDO.
• Setting contents of PDO mapping objects
The setting contents of PDO mapping objects (Sub Index 1 or later) are as follows.
Bit 0 to Bit 7: Bit length of the object to be mapped
Bit 8 to Bit 15: Sub Index of the object to be mapped
Bit 16 to Bit 31: Index of the object to be mapped
If placing [Modes of operation (Obj. 6060h: 00h)] (bit length 8) at the start address of [1st Receive PDO Mapping (Obj.
1600h)], set "60600008h" to [Mapped Object 001 (Obj. 1600h: 01h)].
Item Value
RPDO maximum number of objects 32
TPDO maximum number of objects 32
RPDO initial size [byte] 36
TPDO initial size [byte] 42
RPDO maximum size [byte] 80
TPDO maximum size [byte] 80
Number of RPDO mapping settings 2 ([1st Receive PDO Mapping], [2nd Receive PDO Mapping])
Number of TPDO mapping settings 2 ([1st Transmit PDO Mapping], [2nd Transmit PDO Mapping])
Index Sub Object Name Data
Type Access Default Description
1600h 0 ARRAY 1st Receive PDO Mapping U8 rw 10h Number of entries
1 to 32 Mapped Object 1 to Mapped
Object 32 U32 rw  Refer to the following for default
mappings.
 Page 19 Default PDO mapping
1601h 0 ARRAY 2nd Receive PDO Mapping U8 rw 06h Number of entries
1 to 32 Mapped Object 1 to Mapped
Object 32 U32 rw

Refer to the following for default
mappings.

Page 19 Default PDO mapping
1A00h 0 ARRAY 1st Transmit PDO Mapping U8 rw 11h Number of entries
1 to 32 Mapped Object 1 to Mapped
Object 32 U32 rw  Refer to the following for default
mappings.
 Page 19 Default PDO mapping
1A01h 0 ARRAY 2nd Transmit PDO Mapping U8 rw 0Ah Number of entries
1 to 32 Mapped Object 1 to Mapped
Object 32 U32 rw

Refer to the following for default
mappings.

Page 19 Default PDO mapping
Index
Bit 31 Bit 16 Bit 15 Bit 8 Bit 0
Sub Index Bit length