Omron R88D-1SN01H-ECT, Руководство пользователя

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5 EtherCAT Communications
5 - 10 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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.
You can specify the amount of torque feed-forward in the Torque offset (60B2 hex).
This is the mapping for using the safety function through EtherCAT communications.
PDO Mapping 5 (Position Control, Velocity Control, Touch Probe
Function, Torque Limit, and Torque Feed-forward)
RxPDO:
[262th
receive PDO
Mapping]
(
1705 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), Nega-
tive torque limit value
(
60E1 hex), and Torque offset
(
60B2 hex)
TxPDO:
[261th trans-
mit PDO
Mapping]
(
1B04 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), Digital inputs
(
60FD
hex), and Velocity actual value
(
606C hex)
PDO Mapping 6 (Safety Function)
RxPDO:
[273th
receive PDO
Mapping]
(1710 hex)
FSoE Master CMD (E700-01 hex), STO command (6640 hex), error acknowledge (6632 hex),
FSoE Master CRC_0 (E700-03 hex), and FSoE Master Conn_ID (E700-02 hex)
TxPDO:
[261th trans-
mit PDO
Mapping]
(1B10 hex)
FSoE Slave CMD (E600-01 hex), STO command (6640 hex) , error acknowledge (6632 hex) ,
Safety Connection Status (E601-01 hex), FSoE Slave CRC_0 (E600-03 hex), and FSoE Slave
Conn_ID (E600-02 hex)