Omron R88D-1SN ECT Series - Page 812

Appendices
A - 26
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 (csv).
• The touch probe function and torque limit are available.
• You can specify the amount of torque feed-forward in Torque offset (60B2 hex).
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of oper-
ation (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex), and
Negative torque limit value (60E1 hex), and Torque offset (60B2 hex)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1705 --- 262th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of
objects in this
PDO
--- --- 08 hex --- 1 byte
(U8)
RO --- --- ---
01 1st Output
Object to be
mapped
--- --- 60400010
hex
--- 4 bytes
(U32)
RO --- --- ---
02 2nd Output
Object to be
mapped
--- --- 607A0020
hex
--- 4 bytes
(U32)
RO --- --- ---
03 3rd Output
Object to be
mapped
--- --- 60FF0020
hex
--- 4 bytes
(U32)
RO --- --- ---
04 4th Output
Object to be
mapped
--- --- 60600008
hex
--- 4 bytes
(U32)
RO --- --- ---
05 5th Output
Object to be
mapped
--- --- 60B80010
hex
--- 4 bytes
(U32)
RO --- --- ---
06 6th Output
Object to be
mapped
--- --- 60E00010
hex
--- 4 bytes
(U32)
RO --- --- ---
07 7th Output
Object to be
mapped
--- --- 60E10010
hex
--- 4 bytes
(U32)
RO --- --- ---
08 8th Output
Object to be
mapped
--- --- 60B20010
hex
--- 4 bytes
(U32)
RO --- --- ---