Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, Руководство пользователя

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4 PDO (Process Data Object) COMMUNICATION
4.4 Variable PDO mapping
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4
4.4
Variable PDO mapping
PDO mappings can be changed in the Pre-Operational state.
The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data
transmitted and received with RxPDO and TxPDO.
Variable PDO mapping specifications are shown in the following table.
The total bytes of objects that can be assigned to PDOs are limited depending on the communication cycle. The table below
shows the relations between the communication cycles and PDO sizes.
PDO mapping objects are shown in the following table.
Communication Maximum number of objects Maximum size [byte] Number of mapping settings
RxPDO 1-axis servo amplifier: 32
2-axis servo amplifier: 64
3-axis servo amplifier: 96 Refer to the following. 4 (1600h to 1603h/1610h to 1613h/
1620h to 1623h)
TxPDO 4 (1A00h to 1A03h/1A10h to 1A13h/
1A20h to 1A23h)
Communication cycle
[ms] 1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier
RxPDO [byte] TxPDO [byte] RxPDO [byte] TxPDO [byte] RxPDO [byte] TxPDO [byte]
0.125 64 64
   
0.25 64 64 108 120 120 120
0.5 to 8 64 64 108 120 144 162
Index Sub Object Name Data Type Access Description
1600h 0 RECORD 1st receive PDO Mapping U8 rw  MR-J5-G-N1 User's Manual (Object
Dictionary)
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1601h 0 RECORD 2nd receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1602h 0 RECORD 3rd receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1603h 0 RECORD 4th receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1A00h 0 RECORD 1st transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1A01h 0 RECORD 2nd Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1A02h 0 RECORD 3rd transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1A03h 0 RECORD 4th transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032 U32 rw
1C12h 0 ARRAY Sync Manager 2 PDO Assignment U8 rw
1 PDO Mapping object index of
assigned RxPDO U16 rw
2
3
1C13h 0 ARRAY Sync Manager 3 PDO Assignment U8 rw
1 PDO Mapping object index of
assigned TxPDO U16 rw
2
3