Omron R88D-KN01L-ECT-L User Manual page 478

Appendices
Sub-index 0A hex
Setting –
range
Size 4 bytes (U32)
• 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.
• You can map up to 10 objects in a PDO mapping. If you attempt to map 11 or more objects, a
Function Setting Error (Error No. 93.4) will occur.
• The communications cycle you can set varies depending on the total size of mapped objects.
For details, refer to A-1-3 Communications Cycles and Corresponding Modes of Operation on page
A-5. If the number of the mapped objects is 0, a Function Setting Error (Error No. 93.4) will occur.
• If you map the same object more than once, the value of the last object will be enabled.
• In the following cases, an ABORT code is returned.
Writing when the EtherCAT communications state is Safe-Operational (Safe-Op) or Operational
(Op)
Writing with non-existent objects specified
Writing with incorrect object size specified
Writing with objects that cannot be mapped in the PDO mapping specified
• The following objects can be mapped to the Receive PDO mapping.
Index
4103 hex
4104 hex
6040 hex
6060 hex
6071 hex
6072 hex
607A hex
607F hex
6081 hex
6086 hex
60B0 hex
60B1 hex
60B2 hex
60B8 hex
60E0 hex
60E1 hex
60FE hex
60FF hex
A - 32
PDO entry 10 (10th Output Object to be mapped)
–
Unit
Access
Sub-index Bit length
00 hex 10 hex
00 hex 20 hex
00 hex 10 hex
00 hex 08 hex
00 hex 10 hex
00 hex 10 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 10 hex
00 hex 20 hex
00 hex 20 hex
00 hex 10 hex
00 hex 10 hex
00 hex 10 hex
00 hex 10 hex
01 hex 20 hex
00 hex 20 hex
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default 0000 0000 hex
setting
RW PDO map
Name
Coordinate System Setting Mode
Coordinate System Setting Position
Controlword
Modes of operation
Target torque
Max torque
Target position
Max profile velocity
Profile velocity
Motion profile type
Position offset
Velocity offset
Torque offset
Touch probe function
Positive torque limit value
Negative torque limit value
Physical outputs
Target velocity
Data D
attribute
Not possible