Omron R88D-1SN ECT Series, User Manual, Page: 449 / 974

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5 EtherCAT Communications
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-
4 Process D
ata Objec
ts (PD
O
s)
5
5-
4-4 V
ar
iab
le PDO Mapping
1S-series Servo Drives allow you to change some mapped objects.
The PDO mapping objects for which you can change the setting are the 1st receive PDO Mapping
(1600 hex) and the 1st transmit PDO Mapping (1A00 hex).
These objects can be changed only when the EtherCAT communications state is Pre-Operational.
Since the mapping you changed is not saved in non-volatile memory, set the EtherCAT master so that
the settings can be configured each time you turn ON the power supply in order to use the mapping
other than the default setting.
Precautions for Correct Use
For information on the objects you can map, refer to A-2-5 PDO Mapping Objects on page
A-20.
5-4-4 Variable PDO Mapping
Default Setting
RxPDO: [1st
receive PDO
Mapping]
(1600 hex)
Controlword (6040 hex), Target position (607A hex), and Touch probe function (60B8 hex)
TxPDO: [1st
transmit
PDO Map-
ping]
(1A00 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Touch probe
status (60B9 hex), Touch probe 1 positive edge (60BA hex), Touch probe 2 positive edge (60BC
hex), Digital inputs (60FD hex)
Maximum Number of Objects and Maximum Total Size Allowed in a
PDO Mapping
PDO mapping object
Max. number of objects
Max. total size of
objects
Communications
cycle: 125 µs
Communications
cycle:
250 µs or more
RxPDO: [1st receive PDO Mapping]
(1600 hex)
6 10 32 bytes
TxPDO: [1st transmit PDO Mapping]
(1A00 hex)
6 10 38 bytes