Omron R88D-KN series User Manual page 180

5 EtherCAT Communications
PDO Mapping 2 (Position Control, Speed Control, Force Control, and
Touch Probe Function)
This is the mapping for an application that uses one of the following modes: Cyclic synchronous
position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic synchronous torque mode
(cst). Touch probe function is available.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
RxPDO
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), and Max profile
(1702 hex)
velocity (607F hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
TxPDO value (6077 hex), Modes of operation display (6061 hex), Touch probe status (60B9 hex), Touch
(1B02 hex) probe pos1 pos value (60BA hex), Touch probe pos2 pos value (60BC hex), and Digital inputs
(60FD hex)
PDO Mapping 3 (Position Control, Speed Control, Touch Probe
Function, and Force Limit)
This is the mapping for an application that switches between Cyclic synchronous position mode (csp)
and Cyclic synchronous velocity mode (csv). Touch probe function and force limit can be used.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of
RxPDO
operation (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex),
(1703 hex)
and Negative torque limit value (60E1 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
TxPDO value (6077 hex), Following error actual value (60F4 hex), Modes of operation display
(1B03 hex) (6061 hex),Touch probe status (60B9 hex), Touch probe pos1 pos value (60BA hex), Touch probe
pos2 pos value (60BC hex), and Digital inputs (60FD hex)
PDO Mapping 4 (Position Control, Speed Control, Force Control,
Touch Probe Function, and Force Limit)
This is the mapping for an application that uses one of the following modes: Cyclic synchronous
position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic synchronous torque mode
(cst). Touch probe function and force limit can be used.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
RxPDO
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), Max profile velocity
(1704 hex)
(607F hex), Positive torque limit value (60E0 hex), and Negative torque limit value (60E1 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
TxPDO value (6077 hex), Modes of operation display (6061 hex), Touch probe status (60B9 hex), Touch
(1B04 hex) probe pos1 pos value (60BA hex), Touch probe pos2 pos value (60BC hex), and Digital inputs
(60FD hex)
5-8 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type