A-29
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-8 Communication Objects
• This object gives the state of EEPROM changes.
• Sub-index 01 hex (Backup Parameter Checksum) gives the EEPROM's checksum value. The
checksum value is calculated based on objects saved for Store parameters (1010 hex).
• Sub-index 02 hex (Backup Parameter Changed) gives “1” when the EEPROM is changed. After you
have checked that it is “1”, write “0” to it from the Master.
• This object gives up to 14 error history items. It also enables/disables emergency messages.
• Sub-index 01 hex (Maximum Messages) gives the number of error messages.
• Sub-index 02 hex (Newest Message) gives the sub index where the latest error history is saved.
• Sub-index 05 hex (Flags) sets whether or not to notify the error history as an emergency message.
It is set to Emergency Message Disabled (0000 hex) when power is turned ON. Write 0001 hex from
the master to enable this function.
• Sub-indexes 06 to 13 hex (Diagnosis Messages 1 to 14) give the error history. The error history is
saved in Diagnosis Messages 1 to 14 in ascending order. When the 15th error is reached, it is saved
as Diagnosis Message 1 and the sequence starts again.
10F0 hex
Backup Parameters Mode
Sub-index 00 hex Number of entries
Range Unit Default 02 hex Attribute
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Backup Parameter Checksum
Range Unit Default Attribute
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 02 hex Backup Parameter Changed
Range Unit Default 0 Attribute A
Size 1 bit (BOOL) Access RW PDO map Not possible
10F3 hex
Diagnosis History
Sub-index 00 hex Number of entries
Range Unit Default 13 hex Attribute
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Maximum Messages
Range 00 to 0E hex Unit Default 00 hex Attribute
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 02 hex Newest Message
Range 06 to 13 hex Unit Default 06 hex Attribute
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 05 hex Flags
Range 0000 to
0001 hex
Unit Default 0000 hex Attribute A
Size 2 bytes (U16) Access RW PDO map Not possible
Sub-indexes 06 to 13 hex Diagnosis Messages 1 to 14
Range Unit Default Attribute
Size 16 bytes (VS) Access RO PDO map Not possible
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