Mitsubishi MR-JE series, Instruction Manual

Page: 20 / 94

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2 - 3
Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and
home position return mode)
Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn)
(Note)
Device No.
Index Device
(Note)
Device No.
Index Device
RWwn00 6060 Control mode
Modes of
operation
RWrn00 6061
Control mode
display Modes of
operation display
RWwn01 6040 Control command Controlword RWrn01
RWwn02 2D01 Control input 1 Control DI 1 RWrn02 6041 Control status Statusword
RWwn03 2D02 Control input 2 Control DI 2 RWrn03
6064
Current position
(command unit) Position actual
value
RWwn04 2D03 Control input 3 Control DI 3 RWrn04
RWwn05
607A
Position command
(pp)
Target position
RWrn05
606C Current speed
Velocity actual
value
RWwn06 RWrn06
RWwn07
60FF
Speed command
(pv)
Target velocity
RWrn07
60F4 Droop pulses
Following error
actual value
RWwn08 RWrn08
RWwn09
2D20 Speed limit value (tq) Velocity limit value RWrn09 6077 Current torque
Torque actual
value
RWwn0A
RWwn0B 6071
Torque command
(tq)
Target torque
RWrn0A 2D11 Control output 1 Status DO 1
RWrn0B 2D12 Control output 2 Status DO 2
RWwn0C
6081
Command speed
(pp)
Profile velocity
RWrn0C 2D13 Control output 3 Status DO 3
RWwn0D RWrn0D 2A42 Alarm No. Current alarm 2
RWwn0E
6083
Acceleration time
constant (pp, pv)
Profile acceleration RWrn0E 60B9
Touch probe
function status
Touch probe status
RWwn0F
RWwn10
6084
Deceleration time
constant (pp, pv)
Profile deceleration
RWrn0F
60BA
Touch probe 1
Position latched at
the rising edge
Touch probe pos1
pos value
RWwn11 RWrn10
RWwn12
6087
Amount of torque
command change
(per second) (tq)
Torque slope
RWrn11
60BB
Touch probe 1
Position latched at
the falling edge
Touch probe pos1
neg value
RWwn13 RWrn12
RWwn14 60E0
Torque limit value
(forward) Positive torque
limit value
RWrn13
2C12 Input device status 1
External Input
signal display1
RWrn14
RWwn15 60E1
Torque limit value
(reverse) Negative torque
limit value
RWrn15
RWrn16
RWwn16 RWrn17
RWwn17 60B8
Touch probe
function setting Touch probe
function
RWrn18
RWrn19
RWwn18 60F2
Positioning
operation setting Positioning option
code
RWrn1A
RWrn1B
RWwn19 2D05 Control input 5 Control DI 5 RWrn1C
RWwn1A RWrn1D
RWwn1B RWrn1E
RWwn1C RWrn1F
RWwn1D
RWwn1E
RWwn1F
Note. "n" depends on the station No. setting.
2.4 Mapping data details of link device
Refer to chapter 7.