Rpdo - Mitsubishi Electric MELSEC iQ-R Series User Manual

RPDO

This section describes the flow of receiving data in 'RPDO' (Un\G10000 to Un\G11023) of the buffer memory.
Buffer memory
Un\G10000
Data
Data
Data
Data
Data
Un\G11023
Setting method
Use the engineering tool to map each RPDO in 'RPDO' (Un\G10000 to Un\G11023) and set the CAN-ID of each RPDO. (
Page 90 RPDO details window)
The following is the mapping of received data to objects when multiple objects are mapped to one RPDO.
For the RJ71CN91, a maximum of eight objects (total of 64 bits) can be mapped to one RPDO.
If there is no appropriate object in a mapping destination due to some reasons such as not using the own node, a data type
object is set in the mapping destination.
Receive data by RPDO
Mapping No.1
Object
(data length = 8 bits)
While the RJ71CN91 is operating, each RPDO can be stopped, configured, or started via the program or by other nodes by
changing the object dictionary corresponding to the parameters.
1 FUNCTIONS
46
1.4 PDO
RJ71CN91
Object dictionary
A480H
Object
Object
Object
Object
Object
A6C2H
Up to 64 bits (8 bytes)
1st byte 2nd byte 3rd byte
8 bits 16 bits
Mapping No.2
Object
(data length = 16 bits)
Map up to 8 objects
RPDO1
CAN-ID = 201
RPDO2
CAN-ID = 202
RPDO3
CAN-ID = 203
RPDO4
CAN-ID = 204
n-th byte
L bits
Mapping No.m
Object
(data length
= L bits)
CANopen
network