A-23
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-7 Object Dictionary
In this manual, objects are described in the following format.
Object Description Format
The object format is shown below.
Data is indicated in pointed brackets <>.
Possible data are listed below.
Object Description Format
<Index>
<Object name>
Range <Range> Unit <Unit> Default <Default> Attribute <Attribute>
Size <Size> Access <Access> PDO map <Possible/Not possible>
Name Contents
Index Object index given by a four-digit hexadecimal number.
Object name The object name.
Modes of
Operation
Related operation modes.
Common : All operation modes
csp : Cyclic synchronous position mode
csv : Cyclic synchronous velocity mode
cst : Cyclic synchronous torque mode
pp : Profile position mode
hm : Homing mode
Range The possible range of settings.
Uniit Physical units
Default Default value set before shipment.
Attribute The timing when a change in the contents is updated for a writable object.
A : Always updated
B :
Changing prohibited during motor movement or commands.
If a change is made during motor movement or commands, the update timing is
unknown.
C : Updated after the control power is reset, or after a Config command is executed via
EtherCAT communications.
D : Changeable only when the EtherCAT communications state is Pre-Operational
(Pre-Op).
R : Updated after the control power is reset.
It is not updated for a Config command via EtherCAT communications.
- : Write prohibited.
Size The object size is given in bytes.
Access Indicates whether the object is read only, or read and write.
RO : Read only.
RW : Read and write.
PDO map Indicates the PDO mapping attribute.
Possible (RxPDO) : Reception PDOs can be mapped.
Possible (TxPDO) : Transmission PDOs can be mapped.
Not possible : PDOs cannot be mapped.
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