Omron R88D-1SN ECT Series, Руководство пользователя

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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 C
o
E Object
s
A
A-2
-6 Sync Man
ager C
ommunication Objects
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
• The Sync Manager has the following settings.
• This object gives the reception PDOs used by this Sync Manager.
• You can change these objects only when the EtherCAT communications state is Pre-Operational.
• The mapping you changed is not saved in the non-volatile memory. To use the mapping other than
the default setting, specify objects each time you turn ON the power supply.
• If any of the following operation is attempted, an ABORT code for SDO communications will be
returned.
a) Writing when the communications state is other than Pre-Operational
b) Writing a value other than 1600 hex, 1701 to 1705 hex, and 1710 hex
A-2-6 Sync Manager Communication Objects
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1C00 --- Sync Manager
Communication
Type --- --- --- --- --- --- --- Possible ---
00 Number of used
Sync Manager
channels --- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Communication
Type Sync Man-
ager 0 --- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
02 Communication
Type Sync Man-
ager 1 --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
03 Communication
Type Sync Man-
ager 2 --- --- 03 hex --- 1 byte
(U8)
RO --- --- ---
04 Communication
Type Sync Man-
ager 3 --- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
SM0 : Mailbox receive (Master to Slave)
SM1 : Mailbox send (Slave to Master)
SM2 : Process data output (Master to Slave)
SM3 : Process data input (Slave to Master)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1C12 --- Sync Manager
2 PDO Assign-
ment --- --- --- --- --- --- --- Possible ---
00 Number of
assigned PDOs 00 to 03
hex
--- 01 hex D 1 byte
(U8)
W --- --- ---
01 1st PDO Map-
ping Object
Index of
assigned PDO 0000 to
17FF hex
--- 1701 hex D 2 bytes
(U16)
W --- --- ---
02 2nd PDO Map-
ping Object
Index of
assigned PDO 0000 to
17FF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
03 3rd PDO Map-
ping Object
Index of
assigned PDO 0000 to
17FF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---