Omron R88D-KN series User Manual

A-35
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-9 PDO Mapping Objects
• This is the mapping for an application that uses one of the following modes: Cyclic synchronous
position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic synchronous torque mode
(cst).
• Touch probe and force limit are available.
1704 hex
261th receive PDO Mapping
Sub-index 00 hex Number of objects in this PDO
Range  Unit  Default 09 hex Attribute 
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped)
Range  Unit  Default 6040 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 02 hex PDO entry 2 (2nd Output Object to be mapped)
Range  Unit  Default 607A 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 03 hex PDO entry 3 (3rd Output Object to be mapped)
Range  Unit  Default 60FF 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 04 hex PDO entry 4 (4th Output Object to be mapped)
Range  Unit  Default 6071 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 05 hex PDO entry 5 (5th Output Object to be mapped)
Range  Unit  Default 6060 0008 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 06 hex PDO entry 6 (6th Output Object to be mapped)
Range  Unit  Default 60B8 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 07 hex PDO entry 7 (7th Output Object to be mapped)
Range  Unit  Default 607F 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 08 hex PDO entry 8 (8th Output Object to be mapped)
Range  Unit  Default 60E0 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 09 hex PDO entry 9 (9th Output Object to be mapped)
Range  Unit  Default 60E1 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English