Communications Cycles And Corresponding Modes Of Operation - Omron R88M-K User Manual

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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.
When the RxPDO is set to 1600 hex, the combination of the communications cycle and the available
Modes of operation varies depending on the total size of mapped objects. In the table below, the total
size of mapped objects is shown in parentheses. For details on the RxPDO (1600 hex), refer to 5-4-4
Variable PDO Mapping.
• Semi-closed Control
Any of 1701 to 1705 hex or 1600 hex can be set in the RxPDO when 0 to 5 (semi-closed 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.
Communications
*1
cycle (µs)
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 The Function Setting Error (Error No. 93.4) will occur if a setting labeled "− (Not supported)" is set.
*3 If the total size of mapped objects exceeds 24 bytes, a Function Setting Error (Error No. 93.4) will occur.
Note For unit version 2.0, the electronic gear ratio can be set only to 1:1. A Function Setting Error (Error No. 93.4)
does not occur even when a value other than 1:1 is set.
Profile position mode (pp) and an object 1600 hex are supported for unit version 2.1 or later.
• Fully-closed Control
Only 1701 hex can be set in the RxPDO when 6 (fully-closed 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.
Communications
*1
cycle (µs)
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 The Function Setting Error (Error No. 93.4) will occur if a setting labeled "− (Not supported)" is set.
*3 If the total size of mapped objects exceeds 24 bytes, a Function Setting Error (Error No. 93.4) will occur.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
When electronic gear ratio is 1:1
1701, 1702, 1703, 1705,
1600 hex (20 bytes or less)
csp, csv, cst
csp, csv, cst
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
When electronic gear ratio is 1:1
1701, 1600 hex 1702, 1705, 1600 hex
(12 bytes or less) (13 to 24 bytes)
*2
−
csp
csp, pp, hm
csp, pp, hm
csp, pp, hm
RxPDO
1704, 1600 hex
*3
(20 to 24 bytes)
− *2
csp, csv, cst
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
*3
RxPDO
When electronic gear ratio is not 1:1
1701, 1600 hex
(12 bytes or less)
*2 *2
− −
− *2 − *2
− *2 csp
csp, pp, hm
− *2
*2 csp, pp, hm
−
Appendices
When electronic gear ratio
is not 1:1
1701, 1702, 1703, 1704, 1705,
*3
1600 hex (24 bytes or less)
− *2
− *2
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
csp, csv, cst, pp, hm
1702, 1705, 1600 hex
*3
(13 to 24 bytes)
*2
−
− *2
− *2
− *2
*2
−
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