Omron R88D-KN01H-ECT-L, Руководство пользователя

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5 EtherCAT Communications
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
5-
4 Process D
ata Objec
ts (PD
O
s)
5
5-
4-2 Sync Manager
P
D
O Assignment
S
e
ttings
A Sync manager channel consists of several PDOs. The Sync manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 00 hex of the Sync manager PDO assignment table. In this
table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of sync manager PDO mapping.
This section describes the contents of fixed PDO mapping for G5-series Servo Drives. This contents
cannot be changed.
The PDO mapping to be used is specified in Sync Manager 2 PDO Assignment (1C12 hex) and Sync
Manager 3 PDO Assignment (1C13 hex).
Some typical examples of RxPDO and TxPDO combinations are provided below.
This object gives the mapping for an application that uses only cyclic synchronous position mode (csp).
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 (1701 hex)
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex),
and Digital outputs (60FE hex)
TxPDO (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 pos1 pos value (60BA hex), Touch probe pos2 pos
value(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
Assign Objects
Mapping Objects