Omron R88M-K User Manual

5-7
5 EtherCAT Communications
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-4 Process Data Objects (PDOs)
5
5-4-2 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
00 hex 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.
This section describes the contents of fixed PDO mapping for G5-series Servo Drives. This contents
cannot be changed.
The PDO mapping to be used is specified in Sync Manager 2 PDO Assignment (1C12 hex) and Sync
Manager 3 PDO Assignment (1C13 hex).
Some typical examples of RxPDO and TxPDO combinations are provided below.
This object gives the mapping for an application that uses only cyclic synchronous position mode (csp).
Touch probe function is available.
5-4-2 Sync Manager PDO Assignment Settings
5-4-3 Fixed PDO Mapping
PDO Mapping 1 (Position Control and Touch Probe Function)
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
01h
02h
03h
Sync Manager Entity z
Sync Manager PDO
Assign objects
Mapping objects

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English