![background image](http://html1.mh-extra.com/html/omron/r88d-kn01h-ect-l/r88d-kn01h-ect-l_user-manual_744172478.webp)
Appendices
A - 32
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
•
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.
•
You can map up to 10 objects in a PDO mapping. If you attempt to map 11 or more objects, a
Function Setting Error (Error No. 93.4) will occur.
•
The communications cycle you can set varies depending on the total size of mapped objects.
For details, refer to A-1-3 Communications Cycles and Corresponding Modes of Operation on page
A-5. If the number of the mapped objects is 0, a Function Setting Error (Error No. 93.4) will occur.
•
If you map the same object more than once, the value of the last object will be enabled.
•
In the following cases, an ABORT code is returned.
Writing when the EtherCAT communications state is Safe-Operational (Safe-Op) or Operational
(Op)
Writing with non-existent objects specified
Writing with incorrect object size specified
Writing with objects that cannot be mapped in the PDO mapping specified
•
The following objects can be mapped to the Receive PDO mapping.
Sub-index 0A hex
PDO entry 10 (10th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Index
Sub-index
Bit length
Name
4103 hex
00 hex
10 hex
Coordinate System Setting Mode
4104 hex
00 hex
20 hex
Coordinate System Setting Position
6040 hex
00 hex
10 hex
Controlword
6060 hex
00 hex
08 hex
Modes of operation
6071 hex
00 hex
10 hex
Target torque
6072 hex
00 hex
10 hex
Max torque
607A hex
00 hex
20 hex
Target position
607F hex
00 hex
20 hex
Max profile velocity
6081 hex
00 hex
20 hex
Profile velocity
6086 hex
00 hex
10 hex
Motion profile type
60B0 hex
00 hex
20 hex
Position offset
60B1 hex
00 hex
20 hex
Velocity offset
60B2 hex
00 hex
10 hex
Torque offset
60B8 hex
00 hex
10 hex
Touch probe function
60E0 hex
00 hex
10 hex
Positive torque limit value
60E1 hex
00 hex
10 hex
Negative torque limit value
60FE hex
01 hex
20 hex
Physical outputs
60FF hex
00 hex
20 hex
Target velocity