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5 EtherCAT Communications
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
5-
4 Process D
ata Objec
ts (PD
O
s)
5
5-
4-4 Var
iable PDO Mapping
This is the mapping for an application that switches between Cyclic synchronous position mode (csp)
and Cyclic synchronous velocity mode (csv).
Touch probe function and force limit can be used.
The force feed-forward amount can be specified by using the Torque offset (60B2 hex).
G5-series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type allow you to
change the object mappings.
The PDO mappings for which you can change the mapped objects are the 1st receive PDO Mapping
(1600 hex) and the 1st transmit PDO Mapping (1A00 hex).
To change the object mappings, set these values in Sync Manager 2 PDO Assignment (1C12 hex) and
in Sync Manager 3 PDO Assignment (1C13 hex), respectively.
These object mappings can be changed only when the EtherCAT communications state is
Pre-Operational (Pre-Op). Since the mappings you changed are not saved in EEPROM, you must
specify objects each time you turn ON the power of the G5-series Servo Drive in order to use the
mapping other than the default setting.
PDO Mapping 5 (Position Control, Speed Control, Touch Probe
Function, Force Limit, and Force Feed-forward)
RxPDO (1705 hex)
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of
operation (6060 hex), Touch probe function (60B8 hex), Positive torque limit value
(60E0 hex), Negative torque limit value (60E1 hex), and Torque offset (60B2 hex)
TxPDO (1B05 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque
actual value (6077 hex), Modes of operation display (6061 hex), Following error actual
value (60F4 hex), Touch probe status (60B9 hex), Touch probe pos1 pos value
(60BA hex), Digital inputs (60FD hex), and Velocity actual value (606C hex)
5-4-4
Variable PDO Mapping
Default Setting
RxPDO (1600 hex)
Controlword (6040 hex), Target position (607A hex), and Touch probe function (60B8 hex)
TxPDO(1A00 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Touch
probe status (60B9 hex), Touch probe pos1 pos value (60BA hex), Touch probe pos2 pos
value (60BC hex), and Digital inputs (60FD hex)
