Appendicies
A-3
8
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
•
The following objects can be mapped to the Receive PDO mapping.
Index
Sub-Index
Bit length
Object name
2002 hex
01 hex
08 hex
Sysmac Error Status
4000 hex
00 hex
10 hex
Statusword1
4001 hex
00 hex
10 hex
Sub Error Code
603F hex
00 hex
10 hex
Error code
6041 hex
00 hex
10 hex
Statusword
6061 hex
00 hex
08 hex
Modes of operation display
6062 hex
00 hex
20 hex
Position demand value
6063 hex
00 hex
20 hex
Position actual internal value
6064 hex
00 hex
20 hex
Position actual value
606C hex
00 hex
20 hex
Velocity actual value
6074 hex
00 hex
10 hex
Torque demand
6077 hex
00 hex
10 hex
Torque actual value
60B9 hex
00 hex
10 hex
Touch probe status
60BA hex
00 hex
20 hex
Touch probe pos1 pos value
60BC hex
00 hex
20 hex
Touch probe pos2 pos value
60F4 hex
00 hex
20 hex
Following error actual value
60FA hex
00 hex
20 hex
Control effort
60FC hex
00 hex
20 hex
Position demand internal value
60FD hex
00 hex
20 hex
Digital inputs