Mitsubishi Electric MELSEC iQ-R Series User Manual page 45

Data transmission timing
The TPDO transmission condition or timing varies depending on the PDO transmission setting. ( Page 88 TPDO details
window)
The following describes each setting and timing of transmission.
■When the transmission type is SYNC
When TPDO transmission data is changed, the TPDO sends data when it receives the next SYNC message.
Note that the TPDO does not send data if the transmission data is not changed even when objects are refreshed or updated
by 'Data exchange request' (Y1).
Object
TPDO
Network
: Data is exchanged (with values changed).
: Data is exchanged (with values not changed).
: SYNC message
: Data transmission
■When the transmission type is SYNC (every SYNCn times)
The TPDO sends data every time it receives SYNC messages the number of times specified in the PDO transmission setting.
TPDO
Network
: SYNC message
: Data transmission
■When the transmission type is Event-driven
The TPDO sends data when the TPDO transmission data is changed. Note that the TPDO does not send data if the
transmission data is not changed even when objects are refreshed or 'Data exchange request' (Y1) is turned on.
The transmission condition and timing vary depending on the inhibit time and event timer settings.
The following describes each setting and timing of transmission.
• When the inhibit time and event timer are not set
The TPDO sends data when the TPDO transmission data is changed.
Object
TPDO
Network
: Data is exchanged (with values changed).
: Data is exchanged (with values not changed).
: Data transmission
Data = A Data = A Data = B
Data = A Data = B
Receive SYNC messages n-times
Data = A Data = A Data = B
Data = A Data = B
1
1 FUNCTIONS
43
1.4 PDO