Omron R88D-1SN01H-ECT, Руководство пользователя

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5 EtherCAT Communications
5 - 8 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A Sync Manager channel consists of several PDOs. The Sync Manager PDO Assignment objects
describe relationships between these PDOs and the Sync Manager.
The number of PDOs is shown in subindex 00 hex in the Sync Manager PDO Assignment table.
1S-series Servo Drives use 1C12 hex for an RxPDO, and 1C13 hex for a TxPDO.
The following table is an example of Sync Manager PDO mapping.
This section describes the contents of fixed PDO mapping for 1S-series Servo Drives. You cannot
change these contents.
Use Sync Manager 2 PDO Assignment (1C12 hex) and Sync Manager 3 PDO Assignment (1C13
hex) to specify the PDO mapping you use.
Some typical examples of RxPDO and TxPDO combinations are provided below.
This is the mapping for an application that uses only the Cyclic synchronous position mode (csp).
The touch probe function is available.
5-4-2 Sync Manager PDO Assignment Settings
5-4-3 Fixed PDO Mapping
PDO Mapping 1 (Position Control and Touch Probe Function)
RxPDO:
[258th
receive PDO
Mapping]
(1701 hex)
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and Phys-
ical outputs (60FE-01 hex)
TxPDO:
[258th trans-
mit PDO
Mapping]
(1B01 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
value (6077 hex), Following error actual value (60F4 hex), Touch probe status (60B9 hex), Touch
probe 1 positive edge (60BA hex), Touch probe 2 positive edge (60BC hex), and Digital inputs
(60FD hex)
Object Dictionary
Index Sub Object contents
1C1z hex
1C1z hex
1C1z hex
1A00 hex
1A01 hex
1A03 hex
PDO A
PDO B
PDO C
PDO F
PDO E
PDO D
PDO G
PDO A PDO B PDO D
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1A05 hex
1A06 hex
1
2
3
Sync Manager Entity z
Sync Manager PDO
Assignment Object
Mapping Objects