Omron R88D-1SN ECT Series, User Manual, Page: 815 / 974

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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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E Object
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-5 PDO Mapping Objects
• You can map the following objects to the transmit PDO mapping.
Index (hex)
Subindex
(hex)
Bit length
(hex)
Object name
10F3 04 01 Diagnosis History - New Messages Available
2002 01 08 Sysmac Error Status
3000 81 20 Basic Functions - Function Status
3010 87 20 Position Command - Reference Position for csp
92 20 Position Command - Following Error After Interpolation
3211 83 40 Position Detection - Present Position Time Stamp
3221 82 20 Velocity Detection - Present Motor Velocity
3B30 83 40 Touch Probe 1 - Positive Edge Time Stamp
3B31 83 40 Touch Probe 2 - Positive Edge Time Stamp
4000 81 20 Error Full Code
4110 81 20 Monitor Data via PDO - Monitor Data 1
82 20 Monitor Data via PDO - Monitor Data 2
83 20 Monitor Data via PDO - Monitor Data 3
84 20 Monitor Data via PDO - Monitor Data 4
4130 81 20 Safety Status Monitor - Safety Status
4150 81 20 Overload - Load Ratio
4310 81 20 Regeneration - Regeneration Load Ratio
4412 81 20 Motor Advanced Setting - Without Motor Operation Status
4600 81 20 I/O Monitor - Physical I/O
4601 81 20 Function Input - Monitor Input
603F 00 10 Error code
6041 00 10 Statusword
6061 00 08 Modes of operation display
6062 00 20 Position demand value
6063 00 20 Position actual internal value
6064 00 20 Position actual value
606B 00 20 Velocity demand value
606C 00 20 Velocity actual value
6074 00 10 Torque demand
6077 00 10 Torque actual value
60B9 00 10 Touch probe status
60BA 00 20 Touch probe 1 positive edge
60BC 00 20 Touch probe 2 positive edge
60F4 00 20 Following error actual value
60FA 00 20 Control effort
60FC 00 20 Position demand internal value
60FD 00 20 Digital inputs