Slave Object List - Mitsubishi Electric MELSEC iQ-R Series User Manual

Slave object list

The following shows attributes of slave objects.
Attribute
Data Type
Access
PDO mapping
Default
The slave object lists are shown below.
Slave object name
Supported drive modes
Modes of operation
Modes of operation display
Controlword
Control DI 1
Control DI 2
Control DI 3
Control DI 4
Control DI 5
Control DI 6
Control DI 7
Statusword
Status DO 1
Status DO 2
Status DO 3
Status DO 4
Status DO 5
Status DO 6
Status DO 7
Target position
Target velocity
Target torque
Positive torque limit value
Negative torque limit value
Position actual value
Velocity actual value
Following error actual value
Torque actual value
Polarity
Encoder increments
Motor revolutions
SI unit velocity
1 AXIS SETTING
46
1.4 Axis Assignment
Description
Indicates slave object size.
Indicates whether the object can be read/written or not.
• RO: Only read is available.
• RW: Read and write are available.
When the axis type is real drive axis, it indicates whether the mapping to cyclic communication is enabled or not.
• No: Mapping to TxPDO and RxPDO is disabled.
• TxPDO: Mapping to TxPDO is enabled.
• RxPDO: Mapping to RxPDO is enabled.
Indicates the default value of the slave object for the real drive axis.
DataType Access
U32 ro
I8 rw
I8 ro
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 rw
U16 ro
U16 ro
U16 ro
U16 ro
U16 ro
U16 ro
U16 ro
U16 ro
I32 rw
I32 rw
I16 rw
U16 rw
U16 rw
I32 ro
I32 ro
I32 ro
I16 ro
U8 rw
U32 rw
U32 rw
U32 rw
PDO Default Description
mapping
No 65020020 Gets the control mode supported by the driver
device.
RxPDO 60600008 Requires switching the control mode to the driver
device.
TxPDO 60610008 Gets the control mode of the driver device.
RxPDO 60400010 Requires switching the status to the driver device.
RxPDO 2D010010 Sets the input device in driver device.
RxPDO 2D020010 Sets the input device in driver device.
RxPDO 2D030010 Sets the input device in driver device.
RxPDO 2D040010 Sets the input device in driver device.
RxPDO 2D050010 Sets the input device in driver device.
No 2D060010 Sets the input device in driver device.
No 2D070010 Sets the input device in driver device.
TxPDO 2D110010 Gets the status of the driver device.
TxPDO 2D120010 Sets the output device in driver device.
TxPDO 2D130010 Sets the output device in driver device.
TxPDO 2D140010 Sets the output device in driver device.
TxPDO 2D150010 Sets the output device in driver device.
TxPDO 2D160010 Sets the output device in driver device.
No 2D170010 Sets the output device in driver device.
No 2D110010 Sets the output device in driver device.
RxPDO 607A0020 The command position to output to the driver
device.
RxPDO 60FF0020 The set velocity to output to the driver device.
RxPDO 60710010 The command torque to output to the driver
device.
RxPDO 60E00010 Sets positive direction torque limit value in the
driver device.
RxPDO 60E10010 Sets negative direction torque limit value in the
driver device.
TxPDO 60640020 The current value of the driver device.
TxPDO 606C0020 The current speed of the driver device.
TxPDO 60F40020 The droop pulse of the driverdevice.
TxPDO 60770010 The the current torque of the driver device.
No 607E0008 Sets the rotation direction selection of driver
device
No 608F0120 Gets the encoder resolution of driver device.
No 608F0220 Gets the motor speed of the driver device
No 60A90020 Gets the SI unit velocity of the driver device