Omron R88D-1SN01H-ECT, Руководство пользователя

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A - 73
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-
3 Object
List
A
1BFF 00 Number of objects in this
PDO --- --- 01 hex --- 1 byte
(U8)
---
01 1st Input Object to be
mapped --- --- 20020108 hex --- 4 bytes
(U32)
---
1C00 --- Sync Manager Commu-
nication Type --- --- --- --- --- ---
00 Number of used Sync
Manager channels --- --- 04 hex --- 1 byte
(U8)
---
01 Communication Type
Sync Manager 0 --- --- 01 hex --- 1 byte
(U8)
---
02 Communication Type
Sync Manager 1 --- --- 02 hex --- 1 byte
(U8)
---
03 Communication Type
Sync Manager 2 --- --- 03 hex --- 1 byte
(U8)
---
04 Communication Type
Sync Manager 3 --- --- 04 hex --- 1 byte
(U8)
---
1C12 --- Sync Manager 2 PDO
Assignment --- --- --- --- --- ---
00 Number of assigned
PDOs 00 to 03 hex --- 01 hex D 1 byte
(U8)
---
01 1st PDO Mapping Object
Index of assigned PDO 0000 to 17FF
hex
--- 1701 hex D 2 bytes
(U16)
---
02 2nd PDO Mapping
Object Index of assigned
PDO 0000 to 17FF
hex
--- 0000 hex D 2 bytes
(U16)
---
03 3rd PDO Mapping Object
Index of assigned PDO 0000 to 17FF
hex
--- 0000 hex D 2 bytes
(U16)
---
1C13 --- Sync Manager 3 PDO
Assignment --- --- --- --- --- ---
00 Number of assigned
PDOs 00 to 03 hex --- 01 hex D 1 byte
(U8)
---
01 1st PDO Mapping Object
Index of assigned PDO 0000 to 1BFF
hex
--- 1B01 hex D 2 bytes
(U16)
---
02 2nd PDO Mapping
Object Index of assigned
PDO 0000 to 1BFF
hex
--- 0000 hex D 2 bytes
(U16)
---
03 3rd PDO Mapping Object
Index of assigned PDO 0000 to 1BFF
hex
--- 0000 hex D 2 bytes
(U16)
---
1C32 --- Sync Manager 2 Syn-
chronization --- --- --- --- --- ---
00 Number of Synchroniza-
tion Parameters --- --- 0C hex --- 1 byte
(U8)
---
01 Synchronization Type 0000 to 0003
hex
--- 0000 hex A 2 bytes
(U16)
---
02 Cycle Time --- ns --- --- 4 bytes
(U32)
---
03 Shift Time 00000000 to
FFFFFFFF hex
ns 0 A 4 bytes
(U32)
---
04 Synchronization Types
supported --- --- 0006 hex --- 2 bytes
(U16)
---
05 Minimum Cycle Time --- ns 125,000 --- 4 bytes
(U32)
---
06 Calc and Copy Time --- ns 125,000 --- 4 bytes
(U32)
---
09 Delay Time --- ns 31,250 --- 4 bytes
(U32)
---
0B Cycle Time Too Small --- --- --- --- 4 bytes
(U32)
---
1C33 --- Sync Manager 3 Syn-
chronization --- --- --- --- --- ---
00 Number of Synchroniza-
tion Parameters --- --- 0C hex --- 1 byte
(U8)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map