5 EtherCAT Communications
5-10
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
z Maximum Number of Objects and Maximum Total Size Allowed in a PDO
Mapping
*1 When you assign the PDO mapping other than 1A00 hex simultaneously to TxPDO, total size must be 30 bytes
or less. For example, if you assign 1BFF hex simultaneously, the total size of objects in 1A00 hex will be 29
bytes or less.
Precautions for Correct UsePrecautions for Correct Use
• The communications cycle you can set varies depending on the total size of mapped objects.
Refer to A-1-3 Communications Cycles and Corresponding Modes of Operation on page A-5
for details.
• If the size of the mapped objects exceeds the maximum total size, a Function Setting Error
(Error No. 93.4) will occur.
• For information on the maximum number of objects allowed in a PDO Mapping, refer to A-1-9
PDO Mapping Objects on page A-31
G5-series Servo Drives with unit version 2.1 or later allow you to use combinations of up to two TxPDO
mappings.
Select two PDO mappings in Sync manager 3 PDO assignment (1C13 hex).
This maps the object you selected with sub-index 01 (hex) at first and then the object you selected with
sub-index 02 (hex).
If you map the same object more than once, the value of the last object will be enabled.
These object mappings can be changed only when the EtherCAT communications state is Pre-
Operational (Pre-Op). Since the mappings you changed are not saved in EEPROM, you must specify
objects each time you turn ON the power of the G5-series Servo Drive in order to use the mapping
other than the default setting.
z Default Setting
PDO Mapping Object Max. No. of Objects Max. Total Size of Objects
RxPDO (1600 hex) 10 24 bytes
TxPDO (1A00 hex) 10 30 bytes
5-4-5 Multiple PDO Mapping
Transmit PDO mapping (TxPDO)
• 1B01 hex
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