A-23
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-7 Object Dictionary
In this manual, objects are described in the following format.
z Object Description Format
The object format is shown below.
Data is indicated in pointed brackets <>.
Possible data are listed below.
Object Description Format
<Index>
<Object name>
Range <Range> Unit <Unit> Default <Default> Attribute <Attribute>
Size <Size> Access <Access> PDO map <Possible/Not possible>
Index: Object index given by a four-digit hexadecimal number.
Object name: The object name.
Modes of
Operation:
Related operation modes.
Common: All operation modes
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
hm: Homing mode
(Semi): Only operation modes related to semi-closed control.
(Full): Only operation modes related to fully-closed control.
Range: The possible range of settings.
Unit: Physical units.
Default: Default value set before shipment.
Attribute: The timing when a change in the contents is updated for a writable object.
A: Always updated
B: Changing prohibited during motor rotation or commands.
If a change is made during motor rotation or commands, the update timing is unknown.
C: Updated after the control power is reset, or after a Config command is executed via
EtherCAT communications.
D: Changeable only when the EtherCAT communications state is Pre-Operational (Pre-Op).
R: Updated after the control power is reset.
It is not updated for a Config command via EtherCAT communications.
−: Write prohibited.
Size: The object size is given in bytes.
Access: Indicates whether the object is read only, or read and write.
RO: Read only.
RW: Read and write.
PDO map: Indicates the PDO mapping attribute.
Possible (RxPDO): Reception PDOs can be mapped.
Possible (TxPDO): Transmission PDOs can be mapped.
Not possible: PDOs cannot be mapped.
Modes of Operation
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