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A-23
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
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In this manual, objects are described in the following format.
Object Description Format
The object format is shown below.
Data is indicated in pointed brackets <>.
Possible data are listed below.
Object Description Format
<Index>
<Object name>
Range
<Range>
Unit
<Unit>
Default
<Default>
Attribute
<Attribute>
Size
<Size>
Access
<Access>
PDO map
<Possible/Not possible>
Name
Contents
Index
Object index given by a four-digit hexadecimal number.
Object name
The object name.
Modes of
Operation
Related operation modes.
Common
:
All operation modes
csp
:
Cyclic synchronous position mode
csv
:
Cyclic synchronous velocity mode
cst
:
Cyclic synchronous torque mode
pp
:
Profile position mode
hm
:
Homing mode
Range
The possible range of settings.
Uniit
Physical units
Default
Default value set before shipment.
Attribute
The timing when a change in the contents is updated for a writable object.
A
:
Always updated
B
:
Changing prohibited during motor movement or commands.
If a change is made during motor movement or commands, the update timing is
unknown.
C
:
Updated after the control power is reset, or after a Config command is executed via
EtherCAT communications.
D
:
Changeable only when the EtherCAT communications state is Pre-Operational
(Pre-Op).
R
:
Updated after the control power is reset.
It is not updated for a Config command via EtherCAT communications.
-
:
Write prohibited.
Size
The object size is given in bytes.
Access
Indicates whether the object is read only, or read and write.
RO
:
Read only.
RW
:
Read and write.
PDO map
Indicates the PDO mapping attribute.
Possible (RxPDO)
:
Reception PDOs can be mapped.
Possible (TxPDO)
:
Transmission PDOs can be mapped.
Not possible
:
PDOs cannot be mapped.
Modes of Operation