Omron OMNUC G5 Series User Manual page 20

Table Of Contents
5-2 Structure of the CAN Application Protocol over EtherCAT .................... 5-3
5-3 EtherCAT State Machine ....................................................................... 5-4
5-4 Process Data Objects (PDOs) ............................................................... 5-5
PDO Mapping Settings ................................................................................................ 5-5
Sync Manager PDO Assignment Settings ................................................................... 5-6
Fixed PDO Mapping .................................................................................................... 5-6
5-5 Service Data Objects (SDOs) ................................................................ 5-7
Abort Codes................................................................................................................. 5-7
5-6 Synchronization with Distributed Clocks................................................ 5-8
Communications Cycle (DC Cycle) ............................................................................. 5-8
Response Time ........................................................................................................... 5-8
5-7 Emergency Messages ........................................................................... 5-9
Chapter 6 Drive Profile
6-1 Controlling the State Machine of the Servo Drive.................................. 6-1
State Machine.............................................................................................................. 6-1
6-2 Modes of Operation ............................................................................... 6-4
6-3 Cyclic Synchronous Position Mode ....................................................... 6-5
Related Objects ........................................................................................................... 6-6
Block Diagram for Position Control Mode.................................................................... 6-7
6-4 Torque Limit........................................................................................... 6-8
Related Objects ........................................................................................................... 6-8
6-5 Touch Probe Function (Latch Function) ................................................ 6-9
Related Objects ........................................................................................................... 6-9
Trigger Signal Settings ................................................................................................ 6-9
Operation Sequences................................................................................................ 6-10
6-6 Fully-closed Control ............................................................................. 6-12
Outline of Operation .................................................................................................. 6-12
Objects Requiring Settings ........................................................................................ 6-13
Parameter Block Diagram for Fully-closed Control Mode ......................................... 6-18
6-7 Object Dictionary ................................................................................. 6-19
Object Dictionary Area............................................................................................... 6-19
Data Types ................................................................................................................ 6-19
Object Description Format ......................................................................................... 6-20
Communication Objects ............................................................................................ 6-21
PDO Mapping Objects ............................................................................................... 6-27
Sync Manager Communication Objects .................................................................... 6-29
Manufacturer Specific Objects................................................................................... 6-33
Servo Drive Profile Object ......................................................................................... 6-36
Reserved Objects ...................................................................................................... 6-52
6-8 Connecting with OMRON Controllers .................................................. 6-53
Related Objects ......................................................................................................... 6-53
Chapter 7 Applied Functions
7-1 Sequence I/O Signals ............................................................................ 7-1
Input Signals................................................................................................................ 7-1
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OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)