5-6
5-4 Process Data Objects (PDOs)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5
EtherCAT Communications
Sync Manager PDO Assignment Settings
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 0 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.
Fixed PDO Mapping
This section describes the contents of fixed PDO mapping for G5-series Servo Drives. This
contents cannot be changed.
PDO Mapping for Position Control
RxPDO
(1701h)
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex),
and Digital outputs (60FE hex)
TxPDO
(1B01h)
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
1C1zh
1C1zh
1C1zh
1A00h
1A01h
1A03h
PDO A
PDO B
PDO C
PDO F
PDO E
PDO D
PDO G
PDO A PDO B PDO D
1A00h
1A01h
1A02h
1A03h
1A04h
1A05h
1A06h
1
2
3
Sync Manager Entity z
Sync Manager PDO
Assign objects
Mapping objects
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