Omron R88D-KN series

Appendicies
A-36
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• This is the mapping for an application that switches between Cyclic synchronous position mode (csp)
and Cyclic synchronous velocity mode (csv).
• Touch probe and force limit are available.
• The force feed-forward amount can be specified using the Torque offset (60B2 hex).
1705 hex
262th receive PDO Mapping
Sub-index 00 hex Number of objects in this PDO
Range  Unit  Default 08 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 6060 0008 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 60B8 0010 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 60E0 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 60E1 0010 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 60B2 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
All