Omron R88D-1SN02H-ECT - A-2-9 Safety Function Objects

Appendices
A - 64
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
This section explains objects defined in the FSoE CiA402 slave connection.
• This object gives the command status of the safety function.
 Bit Description of Subindex 01 hex
• No bit of subindex 02 hex is used.
• This object gives the status of safety function.
A-2-9 Safety Function Objects
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
6620 --- safety controlword --- --- --- --- --- --- --- Possible ---
00 Number of entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 safety controlword
1st Byte
--- --- --- --- 1 byte
(U8)
RO --- --- ---
02 safety controlword
2nd Byte
--- --- --- --- 1 byte
(U8)
RO --- --- ---
Bit Description
1 Gives the status of STO com-
mand.
0: STO activate command issued
1: STO activate command not
issued
7 Gives the status of error reset
command.
0: Error reset command issued
1: Error reset command not
issued
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
6621 --- safety statusword --- --- --- --- --- --- --- Possible ---
00 Number of entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 safety statusword
1st Byte
--- --- --- --- 1 byte
(U8)
RO --- --- ---
02 safety statusword
2nd Byte
--- --- --- --- 1 byte
(U8)
RO --- --- ---