Mitsubishi Electric MELSEC iQ-R Series User Manual page 173

■RPDO (Un\G10000 to Un\G11023), TPDO (Un\G13000 to Un\G14023)
Configure these area to run RPDOs and TPDOs for data transfer.
To ensure that the RJ71CN91 can handle send/receive data in a consistent way, it is necessary to turn on 'Data exchange
request' (Y1) to exchange data before reading and after writing the PDO transmit/receive data. The data exchange control
signal ensures, by internal buffer exchange, which data in the CPU module will be transmitted simultaneously by the same
PDO. ( Data exchange control (Un\G20))
The data will only be exchanged when the RJ71CN91 is in NMT state Operational.
• Direct receive buffer memory access to the CiA-405 Object
Use the FROM or MOV instruction to read data from 'RPDO' (Un\G10000 to Un\G11023).
The initial setting of RPDO mapping is assigned to unsigned 16-bit objects. To change this setting, execute SDO or use
CANopen configuration software.
If the data is written to object entry (index-subindex) assigned to 'RPDO' (Un\G10000 to Un\G11023) using
SDO, the data is reflected to the buffer memory area as well. If the data is written to the buffer memory area,
however, the data is not reflected to the object entry.
The following table shows direct receive buffer memory access for unsigned and signed 8-bit objects.
Index
Unsigned 8-bit object Signed 8-bit object
A4C0H A480H
A4C1H A481H
A4C2H A482H
A4C3H A483H
A4C4H A484H
A4C5H A485H
Subindex Buffer memory address
01H Un\G10000
02H
03H Un\G10001
04H
 
FDH Un\G10126
FEH
01H Un\G10127
02H
 
FDH Un\G10253
FEH
01H Un\G10254
02H
 
FDH Un\G10380
FEH
01H Un\G10381
02H
 
FDH Un\G10507
FEH
01H Un\G10508
02H
 
FDH Un\G10634
FEH
01H Un\G10635
02H
 
FDH Un\G10761
FEH
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
Lower 8 bits
Upper 8 bits
APPX
Appendix 2 Buffer Memory
A
171