Pdo Mapping Objects - Omron OMNUC G5 Series User Manual

6-7 Object Dictionary

PDO Mapping Objects

Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex
are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about
the application object being mapped.
258th RxPDO mapping parameter
1701 hex
6
Sub-index 0
Range
Size
Sub-index 1
Range
Size
Sub-index 2
Range
Size
Sub-index 3
Range
Size
Sub-index 4
Range
Size
This object gives the mapping for an application that uses only cyclic synchronous position control.
Touch probe function is available.
The following objects are mapped.
6-27
31 16
Index
MSB
Bits 0 to 7: Bit length of the mapped object. (For example, for 32
bits, 20 hex is given.)
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
Number of objects
−
Unit
1 byte (U8)
1st object
− Unit
4 bytes (U32)
2nd object
−
Unit
4 bytes (U32)
3rd object
− Unit
4 bytes (U32)
4th object
−
Unit
4 bytes (U32)
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and
Digital outputs (60FE hex)
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
15 8 7
Sub-index Bit length
LSB
−
Default
Access RO
− Default
Access RO
−
Default
Access RO
− Default
Access RO
−
Default
Access RO
0
04 hex Attribute
PDO map Not possible
6040 0010 hex Attribute
PDO map Not possible
607A 0020 hex Attribute
PDO map Not possible
60B8 0010 hex Attribute
PDO map Not possible
60FE 0020 hex Attribute
PDO map Not possible
All
−
−
−
−
−