Omron R88D-1SN ECT Series

Appendices
A - 98
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
60FA 00 Control effort --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
60FC 00 Position demand inter-
nal value
--- Encoder unit --- --- 4 bytes
(INT32)
TxPDO
60FD 00 Digital inputs --- --- --- --- 4 bytes
(U32)
TxPDO
60FE --- Digital outputs --- --- --- --- --- ---
01 Physical outputs 00000000 to
FFFFFFFF hex
---
00000001 hex
*7
A 4 bytes
(U32)
RxPDO
02 Bit mask 00000000 to
FFFFFFFF hex
---
00000000 hex
A 4 bytes
(U32)
---
60FF 00 Target velocity -2,147,483,648
to
2,147,483,647
Command unit/s 0 A 4 bytes
(INT32)
RxPDO
6402 00 Motor Type --- --- 3 --- 2 bytes
(U16)
---
6404 00 Motor manufacturer --- --- OMRON --- 20 bytes
(VS)
---
6502 00 Supported drive modes --- --- 000003A5 hex --- 4 bytes
(U32)
---
6620 --- safety controlword --- --- --- --- --- ---
01 safety controlword 1st
Byte
--- --- --- --- 1 byte
(U8)
---
02 safety controlword 2nd
Byte
--- --- --- --- 1 byte
(U8)
---
6621 --- safety statusword --- --- --- --- --- ---
01 safety statusword 1st
Byte
--- --- --- --- 1 byte
(U8)
---
02 safety statusword 2nd
Byte
--- --- --- --- 1 byte
(U8)
---
6632 00 error acknowledge 0 to 1 --- 0 A 1 bit
(BOOL)
RxPDO,
TxPDO
6640 00 STO command 0 to 1 --- 0 A 1 bit
(BOOL)
RxPDO,
TxPDO
E600 --- FSoE Slave Frame Ele-
ments Axis Ch1
--- --- --- --- --- ---
01 FSoE Slave CMD --- --- --- --- 1 byte
(U8)
TxPDO
02 FSoE Slave Conn_ID --- --- --- --- 2 bytes
(U16)
TxPDO
03 FSoE Slave CRC_0 --- --- --- --- 2 bytes
(U16)
TxPDO
E601 --- Safety input 1 --- --- --- --- --- ---
01 Safety Connection Sta-
tus
--- --- --- --- 1 bit
(BOOL)
TxPDO
E700 --- FSoE Master Frame Ele-
ments Axis Ch1
--- --- --- --- --- ---
01 FSoE Master CMD 00 to FF hex --- 00 hex --- 1 byte
(U8)
RxPDO
02 FSoE Master Conn_ID 0000 to FFFF
hex
--- 0000 hex --- 2 bytes
(U16)
RxPDO
03 FSoE Master CRC_0 0000 to FFFF
hex
--- 0000 hex --- 2 bytes
(U16)
RxPDO
F980 --- Device Safety Address --- --- --- --- --- ---
01 FSoE Address --- --- --- --- 2 bytes
(U16)
---
02 Restore Default FSoE
Address
--- --- 0 A 5 bytes
(VS)
---
03 FSoE Enable Reset --- --- 0 A 7 bytes
(VS)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map