A - 25
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-5 PDO Mapping Objects
• This is the mapping for an application that uses one of the following modes with switching them:
Cyclic synchronous position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic syn-
chronous torque mode (cst).
• The touch probe function and torque limit are available.
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), Max profile veloc-
ity (607F hex), Positive torque limit value (60E0 hex), and Negative torque limit value (60E1 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
1704 --- 261th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of
objects in this
PDO
--- --- 09 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
--- --- 60710010
hex
--- 4 bytes
(U32)
RO --- --- ---
05 5th Output
Object to be
mapped
--- --- 60600008
hex
--- 4 bytes
(U32)
RO --- --- ---
06 6th Output
Object to be
mapped
--- --- 60B80010
hex
--- 4 bytes
(U32)
RO --- --- ---
07 7th Output
Object to be
mapped
--- --- 607F0020
hex
--- 4 bytes
(U32)
RO --- --- ---
08 8th Output
Object to be
mapped
--- --- 60E00010
hex
--- 4 bytes
(U32)
RO --- --- ---
09 9th Output
Object to be
mapped
--- --- 60E10010
hex
--- 4 bytes
(U32)
RO --- --- ---
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