Mitsubishi Electric MELSEC iQ-R Series User Manual page 213

RPDO mapping parameter
• Index: 1600H to 16FFH
• Subindex: 01H to 08H
Set the objects to be mapped to RPDO.
In the initial setting, unsigned integer 16-bit objects are mapped to RPDO. ( Page 191 RPDO mapping parameter initial
values)
Bit Item
b0 to b7 Length
b8 to b15 Subindex
b16 to b31 Index
For SDO communication, execute the following steps to change the RPDO mapping parameter.
Step Description
1 Disable the target RPDO.
2 Disable the RPDO mapping parameter.
3 Set the RPDO mapping parameter if required.
4 Enable the RPDO mapping parameter.
5 Enable the target RPDO.
*1 Change the number of valid object entries to 0.
*2 For the number of valid object entries, set the number of subindexes to be made valid.
Description
Length of the mapped object (bits)
Subindex of the mapped object
Index of the mapped object
*1
*2
Object to be used
Subindex 01H of the RPDO
communication parameter
Subindex 00H of the RPDO mapping
parameter
Subindex 01H to 08H of the RPDO
mapping parameter
Subindex 00H of the RPDO mapping
parameter
Subindex 01H of the RPDO
communication parameter
Remarks



The subindexes become valid in
sequence, starting from subindex 01H.

APPX
Appendix 3 Object Dictionary
A
211