Omron R88D-1SN01H-ECT, Руководство пользователя

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5 EtherCAT Communications
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-4 Proc
ess Dat
a Object
s (PD
O
s)
5
5-
4-3 F
ixed PDO Mapping
This is the mapping for an application that uses one of the following modes with switching them: Cyclic
synchronous position mode (csp), Cyclic synchronous velocity mode, and Cyclic synchronous torque
mode.
The touch probe function is available.
This is the mapping for an application that uses one of the following modes with switching them: Cyclic
synchronous position mode (csp) and Cyclic synchronous velocity mode.
The touch probe function and torque limit are available.
This is the mapping for an application that uses one of the following modes with switching them: Cyclic
synchronous position mode (csp), Cyclic synchronous velocity mode, and Cyclic synchronous torque
mode.
The touch probe function and torque limit are available.
PDO Mapping 2 (Position Control, Velocity Control, Torque Control,
and Touch Probe Function)
RxPDO:
[259th
receive PDO
Mapping]
(1702 hex)
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), and Max profile
velocity (607F hex)
TxPDO:
[259th trans-
mit PDO
Mapping]
(1B02 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
value (6077 hex), Modes of operation display (6061 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)
PDO Mapping 3 (Position Control, Velocity Control, Touch Probe
Function, and Torque Limit)
RxPDO:
[260th
receive PDO
Mapping]
(1703 hex)
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of opera-
tion (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex), and
Negative torque limit value (60E1 hex)
TxPDO:
[260th trans-
mit PDO
Mapping]
(1B03 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
value (6077 hex), Following error actual value (60F4 hex), Modes of operation display (6061
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)
PDO Mapping 4 (Position Control, Velocity Control, Torque Control,
Touch Probe Function, and Torque Limit)
RxPDO:
[261th
receive PDO
Mapping]
(1704 hex)
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), Max profile velocity
(607F hex), Positive torque limit value (60E0 hex), and Negative torque limit value (60E1 hex)
TxPDO:
[259th trans-
mit PDO
Mapping]
(1B02 hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
value (6077 hex), Modes of operation display (6061 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)