Mitsubishi Electric MELSEC iQ-R Series User Manual page 89

■PDO list
Item
PDO number
COB-ID
Transmission type
Inhibit time
Event timer
*1 A PDO is sent after a SYNC message is generated. However, it is acyclic and sent only when an event occurs before SYNC message
generation.
*2 The received PDO data is processed after the next SYNC message is received, regardless of the transmission rate specified by the
transmission type.
• A new PDO can be added in the PDO list by setting a PDO number in an empty row.
• To delete a PDO from the PDO list, select the left end of the target row, and press the  button.
• A maximum of 256 PDOs can be added.
■PDO area selection
To read and write from the PDO list, a choice can be made from "All", "Starting from", and "Range".
When "Starting from" is selected, specify any number for "Start PDO number". (1 to 256)
When "Range" is selected, specify any number for "Start PDO number" and "End PDO number". (1 to 256)
Item
[Read PDO list] button
[Write PDO list] button
Description
Set the number for identifying the PDO.
Set the COB-ID for the PDO.
The COB-ID is the ID referred to in CANopen.
By setting the COB-ID, the CAN-ID is determined.
■For TPDO
Set the TPDO transmission type.
*1
• 0x00: Synchronous (acyclic)
• 0x01: Synchronous (Send data every time a SYNC message is received.)
• 0x02: Synchronous (Send data when a SYNC message is received once.)
• 0x03: Synchronous (Send data when SYNC messages are received twice.)

• 0xF0: Synchronous (Send data when SYNC messages are received 239
times.)
• 0xF1 to 0xFD: System-reserved
• 0xFE: Event-driven
• 0xFF: Event-driven
■For RPDO
Set the RPDO transmission type.
*2
• 0x00 to 0xF0: Synchronous
• 0xF1 to 0xFD: System-reserved
• 0xFE: Event-driven
• 0xFF: Event-driven
Set the minimum time interval between PDO transmissions. (Unit: 100s)
To disable this item, set 0.
Set the event timer. (Unit: ms)
When an event-driven transfer is not executed by the time the event timer
times out, a message containing the current value for the object dictionary will
be sent.
To disable this item, set 0.
Description
Reads PDOs from the connected CANopen node.
Writes the PDOs to the flash ROM of the connected CANopen node.
Setting range
1 to 256
(Default: 1)

0x00 to 0xFF
(Default: 0xFE)
0 to 65535
(Default: 0)
0 to 65535
(Default: 0)
3 CANopen Configuration Tool
3.1 Window Structure
3
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