Mitsubishi Electric Melservo-Jet MR-JET-G, Руководство пользователя

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2 APPENDIX
2.1 CC-Link IE TSN
23
2
■
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 20 PDO mapping objects
■ 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 Object Name Data
Type Default Description
1D01h  VAR Watch dog counter DL U16  Watchdog counter (download)
1D02h

VAR Watch dog counter UL U16

Watchdog counter (upload)
Index Sub
Index Object Name Data
Type Access Default Description
1C00h 0 RECORD 1st PDO Config U8 ro 4 4: Number of entries
1 PDO Assignment U16 rw 1600h Set the address (Index) of PDO mapping
object.
2 PDO Enable U16 rw 1 Enable/disable the PDO that has been
set in [PDO Assignment (Obj. 1C00h:
01h)].
0: PDO disabled
1: PDO enabled
3 Error Handling U16 rw 0 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)
4 Memory Address U32 rw

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
1C01h 0 RECORD 2nd PDO Config U8 ro 4 4: Number of entries
1 PDO Assignment U16 rw 1A00h  Page 23 PDO configuration object
2 PDO Enable U16 rw 1  Page 23 PDO configuration object
3 Error Handling U16 rw 0

Page 23 PDO configuration object
4 Memory Address U32 rw
 
Page 23 PDO configuration object