Omron R88D-1SN30F-ECT

Appendices
A - 36
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object gives the transmission PDOs used by this Sync Manager.
• You can change these objects only when the EtherCAT communications state is Pre-Operational.
• The mapping you changed is not saved in the non-volatile memory. To use the mapping other than
the default setting, specify objects each time you turn ON the power supply.
• If any of the following operation is attempted, an ABORT code for SDO communications will be
returned.
a) Writing when the communications state is other than Pre-Operational
b) Writing a value other than 1A00 hex, 1B01 to 1B04 hex, 1B10 hex, or 1BFF hex
• This object gives the parameters for synchronization of Sync Manager 2.
• Subindex 01 hex Synchronization Type gives the synchronization mode of Sync Manager 2.
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
1C13 --- Sync Manager
3 PDO Assign-
ment
--- --- --- --- --- --- --- Possible ---
00 Number of
assigned PDOs
00 to 03
hex
--- 01 hex D 1 byte
(U8)
W --- --- ---
01 1st PDO Map-
ping Object
Index of
assigned PDO
0000 to
1BFF hex
--- 1B01 hex D 2 bytes
(U16)
W --- --- ---
02 2nd PDO Map-
ping Object
Index of
assigned PDO
0000 to
1BFF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
03 3rd PDO Map-
ping Object
Index of
assigned PDO
0000 to
1BFF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
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
1C32 --- Sync Manager
2 Synchroniza-
tion
--- --- --- --- --- --- --- Possible ---
00 Number of
Synchroniza-
tion Parame-
ters
--- --- 0C hex --- 1 byte
(U8)
RO --- --- ---
01 Synchroniza-
tion Type
0000 to
0003 hex
--- 0000 hex A 2 bytes
(U16)
W --- --- ---
02 Cycle Time --- ns 00000000
hex
--- 4 bytes
(U32)
RO --- --- ---
03 Shift Time 0 to
FFFFFFFF
hex
ns 0 A 4 bytes
(U32)
W --- --- ---
04 Synchroniza-
tion Types sup-
ported
--- --- 0006 hex --- 2 bytes
(U16)
RO --- --- ---
05 Minimum
Cycle Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
06 Calc and Copy
Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
09 Delay Time --- ns 31,250 --- 4 bytes
(U32)
RO --- --- ---
0B Cycle Time Too
Small
--- --- --- --- 4 bytes
(U32)
RO --- --- ---