A-2-6 Sync Manager Communication Objects - Omron R88D-1SN10F-ECT User Manual

A-2-6 Sync Manager Communication Objects
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
Sub-
Index
index Object name
(hex)
(hex)
1C00 --- Sync Manager
Communication
Type
00 Number of used
Sync Manager
channels
01 Communication
Type Sync Man-
ager 0
02 Communication
Type Sync Man-
ager 1
03 Communication
Type Sync Man-
ager 2
04 Communication
Type Sync Man-
ager 3
• The Sync Manager has the following settings.
SM0 : Mailbox receive (Master to Slave)
SM1 : Mailbox send (Slave to Master)
SM2 : Process data output (Master to Slave)
SM3 : Process data input (Slave to Master)
Sub-
Index
index Object name
(hex)
(hex)
1C12 --- Sync Manager
2 PDO Assign-
ment
00 Number of
assigned PDOs
01 1st PDO Map-
ping Object
Index of
assigned PDO
02 2nd PDO Map-
ping Object
Index of
assigned PDO
03 3rd PDO Map-
ping Object
Index of
assigned PDO
• This object gives the reception PDOs used by this Sync Manager.
• You can change these objects only when the EtherCAT communications state is Pre-Operational
(Pre-Op).
• The mapping you changed is not saved in the non-volatile memory. To use the mapping other than
the default setting, specify objects each time you turn ON the power supply.
• If any of the following operation is attempted, an ABORT code for SDO communications will be
returned.
a) Writing when the communications state is other than Pre-Operational (Pre-Op)
b) Writing a value other than 1600 hex, 1701 to 1705 hex, and 1710 hex
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- 04 hex
--- --- 01 hex
--- --- 02 hex
--- --- 03 hex
--- --- 04 hex
Setting Default
Unit
range setting
--- --- ---
00 to 03 --- 01 hex
hex
0000 to --- 1701 hex
17FF hex
0000 to --- 0000 hex
17FF hex
0000 to --- 0000 hex
17FF hex
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
Data
attri- Size Access
bute
--- --- ---
D 1 byte W
(U8)
D 2 bytes W
(U16)
D 2 bytes W
(U16)
D 2 bytes W
(U16)
Appendices
Com-
PDO Modes of
plete
map operation
access
--- Possible ---
--- --- ---
--- --- ---
--- --- ---
--- --- ---
--- --- ---
Com-
PDO Modes of
plete
map operation
access
--- Possible ---
--- --- ---
--- --- ---
--- --- ---
--- --- ---
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