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A-39
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-9 PDO Mapping Obje
cts
•
This object gives the mapping for an application that uses only cyclic synchronous position control
(csp).
•
Touch probe status is available.
•
The following objects are mapped.
1B01 hex
258th transmit PDO Mapping
Sub-index 00 hex
Number of objects in this PDO
Range
Unit
Default
09 hex
Attribute
Size
1 byte (U8)
Access
RO
PDO map
Not possible
Sub-index 01 hex
PDO entry 1 (1st Input Object to be mapped)
Range
Unit
Default
603F 0010 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 02 hex
PDO entry 2 (2nd Input Object to be mapped)
Range
Unit
Default
6041 0010 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 03 hex
PDO entry 3 (3rd Input Object to be mapped)
Range
Unit
Default
6064 0020 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 04 hex
PDO entry 4 (4th Input Object to be mapped)
Range
Unit
Default
6077 0010 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 05 hex
PDO entry 5 (5th Input Object to be mapped)
Range
Unit
Default
60F4 0020 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 06 hex
PDO entry 6 (6th Input Object to be mapped)
Range
Unit
Default
60B9 0010 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 07 hex
PDO entry 7 (7th Input Object to be mapped)
Range
Unit
Default
60BA 0020 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 0
8
hex
PDO entry 8 (8th Input Object to be mapped)
Range
Unit
Default
60BC 0020 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 09 hex
PDO entry 9 (9th Input Object to be mapped)
Range
Unit
Default
60FD 0020 hex
Attribute
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Error code (603F hex)
Torque actual value (6077 hex)
Touch probe pos1 pos value
(60BA hex)
Statusword (6041 hex)
Following error actual value
(60F4 hex)
Touch probe pos2 pos value
(60BC hex)
Position actual value (6064 hex)
Touch probe status (60B9 hex)
Digital inputs (60FD hex)
All