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Appendicies
A-22
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Set Value of the Coordinate System Setting Position (4104 hex) and Position
Actual Value (6064 hex)
CAN application protocol over EtherCAT (CoE) uses the object dictionary as its base. All objects are
assigned four-digit hexadecimal numbers in the areas shown in the following table.
Data types shown in the following table are used in this profile.
Index
Sub
Name
R/W
Data
type
Unit
Min
Max
Defa
ult
4104 hex
00 hex
POS_DATA
(Coordinate System
Setting Position)
rw
INT32
Comman
d units
2
31
(8000 0000 hex)
2
31
1
(7FFF FFFF
hex)
0
A-1-7
Object Dictionary
Object Dictionary Area
Index
Area
Description
0000 to 0FFF hex
Data Type Area
Definitions of data types.
1000 to 1FFF hex
CoE Communication Area
Definitions of variables that can be used by all servers for
designated communications.
2000 to 2FFF hex
Manufacturer Specific Area 1
Variables with common definitions for all OMRON
products.
3000 to 5FFF hex
Manufacturer Specific Area 2
Variables with common definitions for all G5-series Servo
Drives (servo parameters).
6000 to 9FFF hex
Device Profile Area
Variables defined in the Servo Drive's CiA402 drive profile.
A000 to FFFF hex
Reserved Area
Area reserved for future use.
Data Types
Data Types
Code
Size
Range
Boolean
BOOL
1 bit
0 or 1
Unsigned 8
U8
1 byte
0 to 255
Unsigned 16
U16
2 bytes
0 to 65,535
Unsigned 32
U32
4 bytes
0 to 4,294,967,295
Integer 8
INT8
1 byte
128 to 127
Integer 16
INT16
2 bytes
32,768 to 32,767
Integer 32
INT32
4 bytes
2,147,483,648 to 2,147,483,647
Visible string
VS
Octet string
OS