Appendices
A - 12
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
This section explains the CoE objects implemented in 1S-series Servo Drives.
CAN application protocol over EtherCAT (CoE) uses the object dictionary as its base. All objects are
assigned four-digit hexadecimal indexes in the areas shown in the following table.
Data types shown in the following table are used in this profile.
A-2-1 Object Dictionary Area
Index (hex) Area Description
0000 to 0FFF Data Type Area Definitions of data types.
1000 to 1FFF CoE Communications Area Definitions of objects that can be used by all servers for des-
ignated communications.
2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON products.
3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series Servo
Drives (servo parameters).
6000 to DFFF Device Profile Area Objects defined in the Servo Drive’s CiA402 drive profile.
E000 to EFFF Device Profile Area 2 Objects defined in the Servo Drive’s FSoE CiA402 slave con-
nection.
F000 to FFFF Device Area Objects defined in a device.
A-2-2 Data Type
Data type Code Size Range
Boolean BOOL 1 bit 0 to 1
Unsigned 8 U8 1 byte 0 to 255
Unsigned 16 U16 2 bytes 0 to 65,535
Unsigned 32 U32 4 bytes 0 to 4,294,967,295
Unsigned 64 U64 8 bytes 0 to 18,446,744,073,709,551,615
Integer 8 INT8 1 byte -128 to 127
Integer 16 INT16 2 bytes -32,768 to 32,767
Integer 32 INT32 4 bytes -2,147,483,648 to 2,147,483,647
Visible string VS --- ---
Octet string OS --- ---
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