Appendices
A - 22
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Set Value of the Coordinate System Setting Position (4104 hex) and Position
Actual Value (6064 hex)
CAN application protocol over EtherCAT (CoE) uses the object dictionary as its base. All objects are
assigned four-digit hexadecimal numbers in the areas shown in the following table.
Data types shown in the following table are used in this profile.
Index Sub-index Name R/W
Data
type
Unit Min Max Default
4104 hex 00 hex POS_DATA
(Coordinate System
Setting Position)
rw INT32 Command
units
–2
31
(8000
0000 hex)
2
31
–1
(7FFF
FFFF hex)
0 hex
A-1-7 Object Dictionary
Object Dictionary Area
Index Area Description
0000 to 0FFF hex Data Type Area Definitions of data types.
1000 to 1FFF hex CoE Communications
Area
Definitions of variables that can be used by all servers for
designated communications.
2000 to 2FFF hex Manufacturer Specific
Area 1
Variables with common definitions for all OMRON products.
3000 to 5FFF hex Manufacturer Specific
Area 2
Variables with common definitions for all G5-series Servo
Drives (servo parameters).
6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive’s CiA402 drive profile.
A000 to FFFF hex Reserved Area Area reserved for future use.
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
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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