Pdo Mapping Objects - Omron R88M-K User Manual

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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 01 hex provide information about the
application object being mapped.
31 16
Index
MSB
Bits 0 to 7:
Bits 8 to 15:
Bits 16 to 31:
1600 hex
1st receive PDO Mapping
Sub-index 00 hex
Setting range 00 to 0A hex
Size
Sub-index 01 hex
−
Setting range
Size 4 byte (U32)
Sub-index 02 hex
−
Setting range
Size 4 byte (U32)
Sub-index 03 hex
−
Setting range
Size 4 byte (U32)
Sub-index 04 hex
−
Setting range
Size 4 byte (U32)
Sub-index 05 hex
−
Setting range
Size 4 byte (U32)
Sub-index 06 hex
−
Setting range
Size 4 byte (U32)
Sub-index 07 hex
−
Setting range
Size 4 byte (U32)
Sub-index 08 hex
−
Setting range
Size 4 byte (U32)
Sub-index 09 hex
−
Setting range
Size 4 byte (U32)
Sub-index 0A hex
−
Setting range
Size 4 byte (U32)
• These object mappings can be changed only when the EtherCAT communications state is Pre-
Operational (Pre-Op).
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
15 8
Sub-index
Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Sub-index of the mapped object.
Index of the mapped object.
Number of objects in this PDO
Unit
1 byte (U8) Access
PDO entry 1 (1st Output Object to be mapped)
Unit
Access
PDO entry 2 (2nd Output Object to be mapped)
Unit
Access
PDO entry 3 (3rd Output Object to be mapped)
Unit
Access
PDO entry 4 (4th Output Object to be mapped)
Unit
Access
PDO entry 5 (5th Output Object to be mapped)
Unit
Access
PDO entry 6 (6th Output Object to be mapped)
Unit
Access
PDO entry 7 (7th Output Object to be mapped)
Unit
Access
PDO entry 8 (8th Output Object to be mapped)
Unit
Access
PDO entry 9 (9th Output Object to be mapped)
Unit
Access
PDO entry 10 (10th Output Object to be mapped)
Unit
Access
7 0
Bit length
LSB
−
Default setting
RW
−
Default setting 6040 0010 hex
RW
−
Default setting 607A 0020 hex
RW
−
Default setting 60B8 0010 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
−
Default setting 0000 0000 hex
RW
Appendices
03 hex Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
Attribute
PDO map Not possible.
All
D
D
D
D
D
D
D
D
D
D
D
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