Mitsubishi Electric MELSEC iQ-R Series User Manual page 662

*1 The mapping changes according to the settings of "[Pr.91] Optional data monitor: Data type setting 1" to "[Pr.94] Optional data monitor:
Data type setting 4" and "[Pr.591] Optional data monitor: Data type expansion setting 1" to "[Pr.594] Optional data monitor: Data type
expansion setting 4".
*2 It becomes GAP when a single axis servo amplifier (MR-J5-G) is used and the function is not used. In the case of multi-axis servo
amplifier (MR-J5W-G or MR-J5D-G (except for MR-J5D1-G)), it is not assigned.
• RPDO mapping
Entry No. Index
1 0x1D01
2 0x6060
3 0x0000
4 0x607A
5 0x60FF
6 0x6040
7 0x60E0
8 0x60E1
9 0x6071
10 0x2D20
11 0x2D01
12 0x2D02
13 0x2D03
14 0x2D04
15 0x2D05
Precautions
• When connecting the Motion module to the MR-J5(W)-G series, use the software version B2 or later for the servo amplifier.
If a software version earlier than B2 is used, connection may not be established correctly.
• Set "Network Synchronous Communication" to "Asynchronous". The setting value is ignored when "Synchronous" is set.
• When the parameter automatic setting is enabled in the network configuration settings on GX Works3, if the parameters are
changed for multiple stations simultaneously in the communication of MR Configurator 2, the changed parameters may not
be applied on the CPU module depending on the communication load status. Change one station at a time. Or, start MR
Configurator2 via GX Works3, change parameters, and write the project to the CPU module.
• Motion control cannot be performed unless the same IP address as the motion control station set in the network
configuration settings is set in "[Pr.141] IP address". Review the parameter settings.
• If an operation cycle over occurs in the Motion module during motor operation and the commands before the operation
cycle over and after a restoration greatly differ, the servo alarm [AL.035_Command frequency error] may be detected in
MR-J5(W)-G. Increase the operation cycle or review the program to decrease the load if necessary.
• In the "Encoder position during rotation" displayed when monitoring the current position history, the value equal to the
multiplied inverse number of the electronic gear ratio of the servo amplifier (the command unit) is displayed.
• Match the current network configuration setting to the actual system configuration. If there is a difference, the Motion
module may not be able to recognize slave stations correctly. When disabling any of the axes with the "control axis disable
switch function" of a multi-axis servo amplifier, configure the following settings for the disabled axis. Otherwise, the Motion
module may not be able to recognize slave stations correctly.
- Set "[Pr.141] IP address" and "[Pr.142] Multidrop number" to the IP address and multidrop number of the disabled axis.
- Set "[Pr.101] Virtual servo amplifier setting" to "1: Use as virtual servo amplifier".
APPX
660
Appendix 3 Devices Compatible with CC-Link IE TSN
Downloaded from ManualsNet.com
Sub Index Size [bit]
0x01 16
0x00 8
0x00 8
0x00 32
0x00 32
0x00 16
0x00 16
0x00 16
0x00 16
0x00 32
0x00 16
0x00 16
0x00 16
0x00 16
0x00 16
search engine
Entry name
Watchdog counter DL 1
Modes of operation
GAP
Target position
Target velocity
Controlword
Positive torque limit value
Negative torque limit value
Target torque
Velocity limit value
Control DI 1
Control DI 2
Control DI 3
Control DI 4
Control DI 5
Remarks
Basic function area (fixed)