Mitsubishi Electric MELSEC iQ-R Series User Manual page 24

• When using Simple Motion mode
The Motion module performs cyclic data operations of the motion control area by the motion calculation. The feedback of
the cyclic data sent by the motion control station takes at least 3 cycles.
Class B
No.0
Operation
Motion control area
processing
(4)
(3)
(2)
No. 0, No. 1, No. 2: Station No. 0 (master station), station No. 1, station No. 2
(1) Transmission from remote station
(2) Read transmission data
(3) Motion calculation
(4) Write transmission data
(5) Transmission to remote station
(1) Send processing from the remote
station
(2) Read processing of received data
(3) Motion calculation processing
(4) Sent data write processing
(5) Send processing to the remote
station
■ Multicast mode
• The master station and remote station send data on the line in multicast mode in each send range.
• The master station receives all data, but the remote station discards the data of another remote station. Therefore,
communication at each station is performed in the same manner as unicast mode. (Page 20 Unicast mode)
1 FUNCTIONS
22
1.1 Cyclic Transmission
Class B
No.1 RWw
(5)
(RPDO)
No.2 RWw
(RPDO)
No.1 RWr
(1)
(TPDO)
No.2 RWr
(TPDO)
Communication cycle
(1)
Class B
No.1
No.1 RWw
(RPDO)
(5)
No.1 RWr
(TPDO)
(1)
(2) (3) (4)
(5)
No.2
No.2 RWw
(RPDO)
No.2 RWr
(TPDO)