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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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1 CiA40
2 Drive Prof
ile
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7
Ob
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t Di
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ry
In this manual, objects are described in the following format.
z
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>
Setting range
<Range>
Unit
<Unit>
Default
setting
<Default>
Data
attribute
<Attribute>
Size
<Size>
Access
<Access>
PDO map
<Possible/Not possible>
Name
Description
Index
Object index given by a four-digit hexadecimal number.
Name
The object name.
Modes of operation
Related operation modes.
All:
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
Setting range
The possible range of settings.
Unit
Physical units.
Default setting
Default value set before shipment.
Data attribute
The timing when a change in the contents is updated for a writable object.
A:
Always updated
B:
Prohibited to change during motor operation or commands.
If it is changed during motor operation or commands, the reflection 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
