Object Description Format - Omron R88M-1M Series User Manual

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Object Description Format

In this manual, objects are described in the following format.
Index Subindex Object
(hex) (hex) name
<Index> <Subindex> <Object
name>
Data is indicated in pointed brackets <>. Details on data are as follows.
Item
Index
Subindex
Object name
Setting range
Unit
Default setting
Data attribute
Size
Access
PDO map
Complete access
Modes of operation
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
<Range> <Unit> <Default>
Object index given by a four-digit hexadecimal number.
Object subindex given by a two-digit hexadecimal number.
The object name. For a subindex, the subindex name is given.
Indicates the range of data that can be set for a writable object.
Physical units.
Default value set before shipment.
The timing when a change in the contents is updated for a writable object.
A: Always updated
D: Possible to change only when the EtherCAT communications state is Pre-Opera-
tional
E: Servo ON
R: Updated after the control power is reset or restarted
–: Write prohibited
Gives the object size.
Indicates whether the object is to read only, or read and write.
RO: Read only
RW: Read and write (Saved in non-volatile memory)
W: Read and write (Not saved in non-volatile memory)
Indicates the PDO mapping attribute.
RxPDO: Reception PDOs can be mapped
TxPDO: Transmission PDOs can be mapped
–: PDOs cannot be mapped
Indicates whether Complete access is allowed or not.
The profile mode in which the object is enabled.
–: Independent of the Modes of operation
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode
Data
attri- Size Access
bute
<Attri- <Size> <Access>
bute>
Description
Appendices
PDO Complete Modes of
map access operation
<PDO <Complete <Modes of
map> access> operation>
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