Variable Pdo Mapping - Omron R88M-K User Manual

PDO Mapping 5 (Position Control, Speed Control, Touch Probe
Function, Torque Limit, and Torque Feed-forward)
This is the mapping for an application that switches between Cyclic synchronous position mode (csp)
and Cyclic synchronous velocity mode. Touch probe function and torque limit can be used. The torque
feed-forward amount can be specified by using the Torque offset (60B2 hex).
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),
(1705h)
Negative torque limit value (60E1 hex), and Torque offset (60B2 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
(1B04h) probe pos1 pos value (60BA hex), Touch probe pos2 pos value(60BC hex), Digital inputs (60FD
hex), and Velocity actual value (606C hex)
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Variable PDO Mapping

G5-series Servo Drives with unit version 2.1 or later allow you to change the object mappings.
The PDO mappings for which you can change the mapped objects are the 1st receive PDO Mapping
(1600 hex) and the 1st transmit PDO Mapping (1A00 hex).
To change the object mappings, set these values in Sync Manager 2 PDO Assignment (1C12 hex) and
in Sync Manager 3 PDO Assignment (1C13 hex), respectively.
These object mappings can be changed only when the EtherCAT communications state is Pre-
Operational (Pre-Op). Since the mappings you changed are not saved in EEPROM, you must specify
objects each time you turn ON the power of the G5-series Servo Drive in order to use the mapping
other than the default setting.
Default Setting
RxPDO Controlword (6040 hex), Target position (607A hex), and Touch probe function (60B8 hex)
(1600 hex)
TxPDO Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Touch probe
(1A00 hex) status (60B9 hex), Touch probe pos1 pos value (60BA hex), Touch probe pos2 pos value
(60BC hex), and Digital inputs (60FD hex)
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
5 EtherCAT Communications
5
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