5 EtherCAT Communications
5 - 10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
This is the mapping for an application that uses one of the following modes with switching them: Cyclic
synchronous position mode (csp) and Cyclic synchronous velocity mode.
The touch probe function and torque limit are available.
You can specify the amount of torque feed-forward in the Torque offset (60B2 hex).
This is the mapping for using the safety function through EtherCAT communications.
PDO Mapping 5 (Position Control, Velocity Control, Touch Probe
Function, Torque Limit, and Torque Feed-forward)
RxPDO:
[262th
receive PDO
Mapping]
(1705 hex)
Controlword
(6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of opera-
tion (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex), Nega-
tive torque limit value
(60E1 hex), and Torque offset (60B2 hex)
TxPDO:
[261th trans-
mit PDO
Mapping]
(1B04 hex)
Error code
(603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual
value
(6077 hex), Modes of operation display (6061 hex), Touch probe status (60B9 hex), Touch
probe 1 positive edge (60BA hex), Touch probe 2 positive edge (60BC hex), Digital inputs (60FD
hex), and Velocity actual value
(606C hex)
PDO Mapping 6 (Safety Function)
RxPDO:
[273th
receive PDO
Mapping]
(1710 hex)
FSoE Master CMD (E700-01 hex), STO command (6640 hex), error acknowledge (6632 hex),
FSoE Master CRC_0 (E700-03 hex), and FSoE Master Conn_ID (E700-02 hex)
TxPDO:
[261th trans-
mit PDO
Mapping]
(1B10 hex)
FSoE Slave CMD (E600-01 hex), STO command (6640 hex), error acknowledge (6632 hex),
Safety Connection Status (E601-01 hex), FSoE Slave CRC_0 (E600-03 hex), and FSoE Slave
Conn_ID (E600-02 hex)
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