Mitsubishi Electric MELSEC iQ-R Series User Manual page 214

TPDO communication parameter
• Index: 1800H to 18FFH
• Subindex: 01H to 05H
Set the COB-ID and transmission type of TPDO.
■Subindex 01H: COB-ID
Bit Item
b0 to b10 11-bit CAN-ID
b11 to b29 Fixed to 0
*1
b30 RTR
b31 Enabled
*1 This bit is constantly set to 1 in the RJ71CN91.
■Subindex 02H: Transmission type
Setting value
00H
01H
02H
03H

F0H
FEH, FFH
■Subindex 03H: Inhibit time
Set the minimum transmission cycle for sending data.
Set a value in 100s units. The value 0 disables this setting.
Subindex 03H is used only if subindex 02H (transmission type) is set to Event-driven transmission (CANopen 405 mode).
It is not possible to turn on 'Data exchange request' (Y1) to send data until the set time passes.
■Subindex 05H: Event time
Set the maximum transmission cycle for sending data.
Set a value in ms units. The value 0 disables this setting.
Data will be sent regardless of whether the data is changed if there is no transmission by the time set by the Event timer.
For SDO communication, execute the following steps to change the TPDO communication parameter.
Step Description
1 Disable the target TPDO.
2 Change the TPDO communication parameter if
required.
3 Enable the target TPDO.
APPX
212
Appendix 3 Object Dictionary
Description
11-bit CAN-ID of the CAN base frame
0: RTR permitted
1: RTR prohibited
0: Valid
1: Invalid
Description
Synchronous (acyclic)
If data was changed with 'Data exchange request' (Y1) on, data will be sent when the next SYNC message is received.
Synchronous (Send data every time a SYNC message is received.)
Synchronous (Send data when SYNC messages are received twice.)
Synchronous (Send data when SYNC messages are received three times.)

Synchronous (Send data when SYNC messages are received 240 times.)
Event-driven transmission (CANopen 405 mode)
Object to be used
Subindex 01H of the TPDO communication
parameter
Subindex 01H to 02H of the TPDO communication
parameter
Subindex 01H of the TPDO communication
parameter
Remarks
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