A-91
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-2 Object List
App
*1 Encoder units are used for semi-closed control and external encoder units are used for fully-closed control.
Index
Sub-
Index
Name Default setting
Setting
range
Unit Size
Data
attribute
PDO map
Corresponding
Pn number
4104 hex 00 hex
Coordinate System Setting
Position 0
-2147483648
to
2147483647
Command
units
4 bytes
(INT32)
BRxPDO −
4107 hex 00 hex
Error Reset
0000 0000 hex
0000 0000 to
FFFF FFFF
hex
−
4 bytes
(U32)
A
Not
possible.
−
603F hex 00 hex
Error code
0000 hex
0000 to
FFFF hex
−
2 bytes
(U16)
RO TxPDO −
6040 hex 00 hex
Controlword
0000 hex
0000 to
FFFF hex
−
2 bytes
(U16)
ARxPDO −
6041 hex 00 hex
Statusword
0000 hex
0000 to
FFFF hex
−
2 bytes
(U16)
RO TxPDO −
605B hex 00 hex
Shutdown option code
−1 −5 to 0 −
2 bytes
(INT16)
B
Not
possible.
Pn735
605C hex 00 hex
Disable operation option code
−1 −5 to 0 −
2 bytes
(INT16)
B
Not
possible.
Pn736
605D hex 00 hex
Halt option code
1 1 to 3 −
2 bytes
(INT16)
B
Not
possible.
Pn737
605E hex 00 hex
Fault reaction option code
−1 −7 to 0 −
2 bytes
(INT16)
B
Not
possible.
Pn738
6060 hex 00 hex
Modes of operation
0 0 to 10 −
1 byte
(INT8)
ARxPDO −
6061 hex 00 hex
Modes of operation display
0 0 to 10 −
1 byte
(INT8)
RO TxPDO −
6062 hex 00 hex
Position demand value
0
−
2147483648
to
2147483647
Command
units
4 bytes
(INT32)
RO TxPDO −
6063 hex 00 hex
Position actual internal value
0
−
2147483648
to
2147483647
Encoder
units/
external
encoder
units
*1
4 bytes
(INT32)
RO TxPDO −
6064 hex 00 hex
Position actual value
0
−
2147483648
to
2147483647
Command
units
4 bytes
(INT32)
RO TxPDO −
6065 hex 00 hex
Following error window
100000
0 to
134217728 or
4294967295
Command
units
4 bytes
(U32)
A
Not
possible.
Pn739
6067 hex 00 hex
Position window
10 0 to 262144
Command
units
4 bytes
(U32)
A
Not
possible.
Pn740
606C hex 00 hex
Velocity actual value
0
−
2147483647
to
2147483647
Command
units/s
4 bytes
(INT32)
RO TxPDO −
6071 hex 00 hex
Target torque
0
−5000 to
5000
0.1%
2 bytes
(INT16)
ARxPDO −
6072 hex 00 hex
Max torque
5000 0 to 5000 0.1%
2 bytes
(U16)
ARxPDO −
6074 hex 00 hex
Torque demand
0
−5000 to
5000
0.1%
2 bytes
(INT16)
RO TxPDO −
6077 hex 00 hex
Torque actual value
0
−5000 to
5000
0.1%
2 bytes
(INT16)
RO TxPDO −
607A hex 00 hex
Target position
0
−
2147483648
to
2147483647
Command
units
4 bytes
(INT32)
ARxPDO −
607C hex 00 hex
Home offset
0
−
1073741823
to
1073741823
Command
units
4 bytes
(INT32)
C
Not
possible.
Pn742
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