A - 45
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-10 Sync Manager Communication Objects
• The PDO mapping used by this sync manager is given.
Mailbox reception sync manager does not have PDOs.
• The PDO mapping used by this sync manager is given.
Mailbox reception sync manager does not have PDOs.
• The reception PDOs used by this sync manager are given.
• These object mappings can be changed only when the EtherCAT communications state is
Pre-Operational (Pre-Op).
• Since the mappings you changed are not saved in EEPROM, you must specify objects each time you
turn ON the power of the G5-series Servo Drive in order to use the mapping other than the default
setting.
• If any of the following operations is attempted, an ABORT code for SDO mailbox communications will
be returned.
Writing when the EtherCAT communications state is other than Pre-Operational (Pre-Op)
Writing to other than 1600 hex and 1701 to 1705 hex
Data written to 1C13 hex is other than 1A00 hex, 1B01 to 1B04 hex, and 1BFF hex.
1C10 hex
Sync Manager 0 PDO Assignment
Sub-index 00 hex Number of assigned PDOs
Setting
range
–
Unit
–
Default
setting
00 hex Data
attribute
–
Size 1 byte (U8) Access RO PDO map Not possible
1C11 hex
Sync Manager 1 PDO Assignment
Sub-index 00 hex Number of assigned PDOs
Setting
range
–
Unit
–
Default
setting
00 hex Data
attribute
–
Size 1 byte (U8) Access RO PDO map Not possible
1C12 hex
Sync Manager 2 PDO Assignment
Sub-index 00 hex Number of assigned PDOs
Setting
range
0 to 2
Unit
–
Default
setting
01 hex Data
attribute
D
Size 1 byte (U8) Access RW PDO map Not possible
Sub-index 01 hex 1st PDO Mapping Object Index of assigned PDO
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
1701 hex Data
attribute
D
Size 2 bytes (U16) Access RW PDO map Not possible
Sub-index 02 hex 2nd PDO Mapping Object Index of assigned PDO
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
0000 hex Data
attribute
D
Size 2 bytes (U16) Access RW PDO map Not possible
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