A-1-3 Communications Cycles And Corresponding Modes Of Operation; Modes Of Operation - Omron R88D-KN series User Manual

A-1-3 Communications Cycles and Corresponding Modes of Operation
This section describes the Modes of operation that can be used for each combination of
communications cycle and PDO mapping set in the RxPDO.
 Position Control
Any of 1701 to 1705 hex or 1600 hex can be set in the RxPDO when 0 to 5 (position control) is set
for the Control Mode Selection (3001 hex). The following table shows the Modes of operation that
can be used for each combination of communications cycle and RxPDO.
When the RxPDO is set to the 1st receive PDO Mapping (1600 hex), the combination of the
communications cycle and the available Modes of operation varies depending on the total size of
mapped objects.
For details on the 1st receive PDO Mapping (1600 hex), refer to 5-4-4 Variable PDO Mapping on
page 5-9.
Communications
*1
cycle (s)
250
500
1000
2000
4000
*1 The communications cycle is set in the controller. Refer to the manual of the controller that is connected for the
setting procedure.
*2 Applicable when the total size of objects mapped to RxPDO is 20 bytes or less.
*3 Applicable when the total size of objects mapped to RxPDO is 21 to 24 bytes.
*4 Applicable when the total size of objects mapped to RxPDO is 24 bytes or less.
*5 The Function Setting Error (Error No. 93.4) will occur if a setting labeled " (Not supported)" is set.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
When electronic gear ratio is 1:1
1701, 1702, 1703,
*2
1705, 1600 hex
csp, csv, cst
csp, csv, cst
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
RxPDO
When electronic gear ratio
*3
1704, 1600 hex
 *5
csp, csv, cst
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
Appendicies
is not 1:1
1701, 1702, 1703, 1704,
*4
1705, 1600 hex
 *5
 *5
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
A-5