Omron R88L-EC Series User Manual page 489

• 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
2002 hex
4000 hex
4001 hex
603F hex
6041 hex
6061 hex
6062 hex
6063 hex
6064 hex
606C hex
6074 hex
6077 hex
60B9 hex
60BA hex
60BC hex
60F4 hex
60FA hex
60FC hex
60FD hex
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Sub-index Bit length
00 hex 08 hex
00 hex 10 hex
00 hex 10 hex
00 hex 10 hex
00 hex 10 hex
00 hex 08 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 10 hex
00 hex 10 hex
00 hex 10 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
00 hex 20 hex
Name
Sysmac Error Status
Statusword1
Sub Error Code
Error code
Statusword
Modes of operation display
Position demand value
Position actual internal value
Position actual value
Velocity actual value
Target torque
Torque actual value
Touch probe status
Touch probe pos1 pos value
Touch probe pos2 pos value
Following Error Actual Value
Control effort
Position demand internal value
Digital inputs
Appendices
A
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