Mitsubishi Electric MELSEC iQ-R Series User Manual page 58

The PDO (RPDO) output from the master station and PDO (TPDO) input from the device stations are assigned as follows.
• Motion control station: Motion control area
• Standard station: RWr/RWw in common area
The PDO of the standard station can be controlled from link refresh (label/device) and direct access. PDO of the motion
control station can be controlled from the CPU module or program in the Motion module by slave label.
CPU module
Device/Label
Link refresh/Direct access
When the version of Add-on baseSystem is "1.18" or earlier or a motion control station is used, the
communication cycles coexistence is not supported. If a device station is set to normal or low speed cycle,
"Network parameter error (error code: 2221H)" occurs.
1 FUNCTIONS
56
1.1 Cyclic Transmission
Motion module
Public label
Link device
Common area
RWr
RWr20
RWr2F
Communication cycle
RWw
RWw10
RWw1F
Communication cycle
Motion control
area
Receive
memory
Communication cycle
Send
memory
Communication cycle
Refresh
Label
CANopen supported device station
(Non-motion control station)
PDO
TPDO
RPDO
CANopen supported device station
(Motion control station)
PDO
TPDO
RPDO