Sync Manager Pdo Assignment Settings - Omron R88D-KN01L-ECT-L User Manual

5-4-2

Sync Manager PDO Assignment Settings

A Sync manager channel consists of several PDOs. The Sync manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 00 hex of the Sync manager PDO assignment table. In this
table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of sync manager PDO mapping.
Object Dictionary
Index
1C1z hex
1C1z hex
1C1z hex
1A00
1A01
1A02
1A03
1A04
1A05
1A06
5-4-3 Fixed PDO Mapping
This section describes the contents of fixed PDO mapping for G5-series Servo Drives. This contents
cannot be changed.
The PDO mapping to be used is specified in Sync Manager 2 PDO Assignment (1C12 hex) and Sync
Manager 3 PDO Assignment (1C13 hex).
Some typical examples of RxPDO and TxPDO combinations are provided below.
PDO Mapping 1 (Position Control and Touch Probe Function)
This object gives the mapping for an application that uses only cyclic synchronous position mode (csp).
Touch probe function is available.
RxPDO (1701 hex)
TxPDO (1B01 hex)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Sub Object contents
1 1A00 hex
2 1A01 hex
3
1A03 hex
hex PDO A
hex PDO B
hex PDO C
hex PDO D
hex PDO E
hex PDO F
hex PDO G
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex),
and Digital outputs (60FE hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque
actual value (6077 hex), Following error actual value (60F4 hex), Touch probe status
(60B9 hex), Touch probe pos1 pos value (60BA hex), Touch probe pos2 pos
value(60BC hex), and Digital inputs (60FD hex)
5 EtherCAT Communications
Sync Manager Entity z
PDO A PDO B PDO D
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