Mitsubishi Electric MELSEC iQ-R Series User Manual page 60

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. The Motion control
station PDO is controlled by the Motion section, and cannot be controlled from the CPU module.
CPU module
Device/Label
Link refresh/Direct access
Setting method
Set "Batch Setting of PDO Mapping" or "PDO Mapping Setting" in "Network Configuration Setting" of "Basic Settings".
(Page 125 PDO mapping setting)
Precautions
■ PDO mapping setting
When a device that supports the CANopen profile is added to "Network Configuration Settings" of the Motion module,
configure "PDO Mapping Setting".
If PDO mapping setting is not configured, GX Works3 will detect the following errors.
When MR-J5-G is added as the device station
• **Error** RPDO of module MR-J5-G PDO mapping setting is not set. Please set PDO mapping parameter in PDO mapping setting screen or batch setting of
PDO mapping. MR-J5-G NV_E02731
• **Error** TPDO of module MR-J5-G PDO mapping setting is not set. Please set PDO mapping parameter in PDO mapping setting screen or batch setting of
PDO mapping. MR-J5-G NV_E02732
■ Multi-axis servo amplifier
When a multi-axis servo amplifier to the network configuration setting is added, a single device station can use up to eight
axes.
■ Error code
If the PDO mapping settings are incorrect, the device station responds "PDO mapping setting error" at the initial
communication and the data link does not start.
For the error causes, check the response code (SDO Abort Code) (saved in the detail information of the event history) and
take corrective actions. ( Page 204 Response Code (SDO Abort Code))
1 FUNCTIONS
58
1.1 Cyclic Transmission
Motion module
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
CANopen supported device station
(Non-motion control station)
PDO
TPDO
RPDO
CANopen supported device station
(Motion control station)
PDO
TPDO
RPDO