Omron R88D-KN series User Manual

A-39
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 object gives the mapping for an application that uses only cyclic synchronous position control
(csp).
• Touch probe status is available.
• The following objects are mapped.
1B01 hex
258th transmit 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 Input Object to be mapped)
Range  Unit  Default 603F 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 02 hex PDO entry 2 (2nd Input Object to be mapped)
Range  Unit  Default 6041 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 03 hex PDO entry 3 (3rd Input Object to be mapped)
Range  Unit  Default 6064 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 04 hex PDO entry 4 (4th Input Object to be mapped)
Range  Unit  Default 6077 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 05 hex PDO entry 5 (5th Input Object to be mapped)
Range  Unit  Default 60F4 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 06 hex PDO entry 6 (6th Input Object to be mapped)
Range  Unit  Default 60B9 0010 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 07 hex PDO entry 7 (7th Input Object to be mapped)
Range  Unit  Default 60BA 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 08 hex PDO entry 8 (8th Input Object to be mapped)
Range  Unit  Default 60BC 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 09 hex PDO entry 9 (9th Input Object to be mapped)
Range  Unit  Default 60FD 0020 hex Attribute 
Size 4 bytes (U32) Access RO PDO map Not possible
Error code (603F hex) Torque actual value (6077 hex) Touch probe pos1 pos value
(60BA hex)
Statusword (6041 hex) Following error actual value
(60F4 hex)
Touch probe pos2 pos value
(60BC hex)
Position actual value (6064 hex) Touch probe status (60B9 hex) Digital inputs (60FD hex)
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English