Omron R88M-1M Series User Manual page 811

Sub-
Index
index Object name
(hex)
(hex)
1704 --- 261th 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
• This is the mapping for an application that uses one of the following modes with switching them:
Cyclic synchronous position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic syn-
chronous torque mode (cst).
• The touch probe function and torque limit are available.
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), Max profile veloc-
ity (607F hex), Positive torque limit value (60E0 hex), and Negative torque limit value (60E1 hex)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Setting Default
Unit
range setting
--- --- ---
--- --- 09 hex
--- --- 60400010
hex
--- --- 607A0020
hex
--- --- 60FF0020
hex
--- --- 60710010
hex
--- --- 60600008
hex
--- --- 60B80010
hex
--- --- 607F 0020
hex
--- --- 60E00010
hex
--- --- 60E10010
hex
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
--- 4 bytes RO
(U32)
Appendices
Com-
PDO Modes of
plete
map operation
access
--- Possible ---
--- --- ---
--- --- ---
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A - 25
A