Omron R88D-KN series - A-1-9 PDO Mapping Objects

Appendicies
A-30
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex are used
for Transmit PDO mapping. Sub-indexes after sub-index 01 hex provide information about the
application object being mapped.
• These object mappings can be changed only when the EtherCAT communications state is Pre-
Operational (Pre-Op).
A-1-9 PDO Mapping Objects
31 16 15 8 7 0
Index Sub-index Bit length
MSB LSB
Bits 0 to 7: Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
1600 hex
1st receive PDO Mapping
Sub-index 00 hex Number of objects in this PDO
Setting range 00 to 0A hex Unit  Default setting 03 hex Attribute D
Size 1 byte (U8) Access RW PDO map Not possible.
Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped)
Setting range  Unit  Default setting 6040 0010 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 02 hex PDO entry 2 (2nd Output Object to be mapped)
Setting range  Unit  Default setting 607A 0020 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 03 hex PDO entry 3 (3rd Output Object to be mapped)
Setting range  Unit  Default setting 60B8 0010 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 04 hex PDO entry 4 (4th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 05 hex PDO entry 5 (5th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 06 hex PDO entry 6 (6th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 07 hex PDO entry 7 (7th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 08 hex PDO entry 8 (8th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 09 hex PDO entry 9 (9th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
Sub-index 0A hex PDO entry 10 (10th Output Object to be mapped)
Setting range  Unit  Default setting 0000 0000 hex Attribute D
Size 4 byte (U32) Access RW PDO map Not possible.
All