Omron R88M-1M Series User Manual page 807

Sub-
Index
index Object name
(hex)
(hex)
1600 --- 1st receive
PDO Mapping
00 Number of
objects in this
PDO
01 1st Output
Object to be
mapped
02 2nd Output
Object to be
mapped
03 3rd Output
Object to be
mapped
04 4th Output
Object to be
mapped
05 5th Output
Object to be
mapped
06 6th Output
Object to be
mapped
07 7th Output
Object to be
mapped
08 8th Output
Object to be
mapped
09 9th Output
Object to be
mapped
0A 10th Output
Object to be
mapped
• You can change these objects only when the EtherCAT communications state is Pre-Operational.
• The mapping you changed is not saved in the non-volatile memory. To use the mapping other than
the default setting, specify objects each time you turn ON the power supply.
• You can map up to 10 objects in a PDO mapping. If you attempt to map 11 or more objects, an
RxPDO Setting Error (Error. No. 90.5) will occur.
• The communications cycle you can set varies depending on the total size of mapped objects. For
details, refer to A-1-3 Modes of Operation and Applied/Adjustment Functions on page A-5.
• If the same object is mapped more than once, the value of the last object is used.
• If any of the following operation is attempted, an ABORT code is returned.
a) Writing when the EtherCAT communications state is Safe-Operational or Operational
b) Writing with non-existent objects specified
c) Writing with incorrect object size specified
d) Writing with objects that cannot be mapped in the PDO mapping specified
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
00 to 0A --- 03 hex
hex
--- --- 6040 0010
hex
--- --- 607A0020
hex
--- --- 60B80010
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
--- --- 0000 0000
hex
Data
attri- Size Access
bute
--- --- ---
D 1 byte W
(U8)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
D 4 bytes W
(U32)
Appendices
Com-
PDO Modes of
plete
map operation
access
--- Possible ---
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A - 21
A