Omron R88D-1SN ECT Series

A - 67
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-9 Safety Function Objects
• This object is used to send safety process data.
• Subindex 01 hex FSoE Master CMD gives the command which is sent from the master.
• Subindex 02 hex FSoE Master Conn_ID gives the connection ID which is sent from the master.
• Subindex 03 hex FSoE Master CRC_0 gives the cyclic redundancy code which is sent from the mas-
ter.
• This object gives and clears the FSoE slave address.
• Subindex 01 hex FSoE Address gives the FSoE slave address.
• Subindex 02 hex Restore Default FSoE Address restores FSoE slave addresses to their default
values by the writing of reset.
• Subindex 03 hex FSoE Enable Reset resets the FSoE enabled state by the writing of disable.
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
E700 --- FSoE Master
Frame Ele-
ments Axis
Ch1
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 03 hex --- 1 byte
(U8)
RO --- --- ---
01 FSoE Master
CMD
00 to FF
hex
--- 00 hex --- 1 byte
(U8)
WRxPDO --- ---
02 FSoE Master
Conn_ID
0000 to
FFFF hex
--- 0000 hex --- 2 bytes
(U16)
WRxPDO --- ---
03 FSoE Master
CRC_0
0000 to
FFFF hex
--- 0000 hex --- 2 bytes
(U16)
WRxPDO --- ---
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
F980 --- Device Safety
Address
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 03 hex --- 1 byte
(U8)
RO --- --- ---
01 FSoE Address --- --- --- --- 2 bytes
(U16)
RO --- --- ---
02 Restore Default
FSoE Address
--- --- 0 A 5 bytes
(VS)
W --- --- ---
03 FSoE Enable
Reset
--- --- 0 A 7 bytes
(VS)
W --- --- ---