6-27
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
PDO Mapping Objects
Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex
are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about
the application object being mapped.
 This object gives the mapping for an application that uses only cyclic synchronous position control.
 Touch probe function is available.
 The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and
Digital outputs (60FE hex)
31 16 15 8 7 0
Index Sub-index Bit length
MSB LSB
Bits 0 to 7: Bit length of the mapped object. (For example, for 32
bits, 20 hex is given.)
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
1701 hex
258th RxPDO mapping parameter
Sub-index 0 Number of objects
Range − Unit − Default 04 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 1 1st object
Range − Unit − Default 6040 0010 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 2 2nd object
Range − Unit − Default 607A 0020 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 3 3rd object
Range − Unit − Default 60B8 0010 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 4 4th object
Range − Unit − Default 60FE 0120 hex Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
All
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