Omron FH series User Manual page 120

1601 hex 2nd receive PDO Mapping
Sub-index0: Number of objects
Range: −
Size: 1 byte (U8)
Sub-index1: 1st Output Object to be mapped
Range: −
Size: 4 bytes (U32)
Sub-index2: 2nd Output Object to be mapped
Range: −
Size: 4 bytes (U32)
Sub-index3: 3rd Output Object to be mapped
Range: −
Size: 4 bytes (U32)
Sub-index4: 4th Output Object to be mapped
Range: −
Size: 4 bytes (U32)
Sub-index5: 5th Output Object to be mapped
Range: −
Size: 4 bytes (U32)
• This object gives the mapping for an application that uses vision sensor functions.
• 7001 hex (Vision Command)
• 7002 hex (Vision Command Parameter1-3)
Objects are provided for each line as shown below when more than one line is used.
Line 1:1620 hex (1st receive PDO mapping) and 1621 hex (2nd receive PDO mapping)
Line 2:1640 hex (1st receive PDO mapping) and 1641 hex (2nd receive PDO mapping)
Line 3:1660 hex (1st receive PDO mapping) and 1661 hex (2nd receive PDO mapping)
Line 4:1680 hex (1st receive PDO mapping) and 1681 hex (2nd receive PDO mapping)
Line 5:16A0 hex (1st receive PDO mapping) and 16A1 hex (2nd receive PDO mapping)
Line 6:16C0 hex (1st receive PDO mapping) and 16C1 hex (2nd receive PDO mapping)
Line 7:16E0 hex (1st receive PDO mapping) and 16E1 hex (2nd receive PDO mapping)
118
EtherCAT Connections (FH-1000 series/FH-3000 series only)
Unit: −
Default: 05 hex
Access: RO
Unit: − Default: 70010020 hex
Access: RO
Unit: −
Default: 70020120 hex
Access: RO
Unit: − Default: 70020220 hex
Access: RO
Unit: −
Default: 70020320 hex
Access: RO
Unit: − Default: 70020420 hex
Access: RO
PDO map: Not possible
PDO map: Not possible
PDO map: Not possible
PDO map: Not possible
PDO map: Not possible
PDO map: Not possible
Vision System FH/FZ5 Series User's Manual
for Communications Settings (Z342)