Omron NJ501-1300, User Manual

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Appendices
A-4
NJ-series CPU Unit Motion Control User’s Manual (W507)
This section describes mapping PDOs to control servo axes from the MC Function Module.
To use motion control functions, you must map the objects that are required for those functions to
PDOs.
The PDO map is a list of required objects that is prepared in advance.
You select the PDOs to use in the Edit PDO Map Settings Dialog Box of the EtherCAT Edit Tab Page in
the Sysmac Studio.
The following PDOs are mapped by default in the Sysmac Studio.
Additional Information
If you use the recommended Servo Drives (OMRON R88D-KN
@@@
-ECT, version 2.1 or higher),
then it is not necessary to change the default PDO map on the Sysmac Studio.
PDO Mapping
RxPDO (1704 hex)
Controlword (6040 hex), Target Position (607A hex), Target Velocity (60FF hex), Target
Torque (6071 hex), Modes of Operation (6060 hex), Touch Probe Function (60B8 hex),
Max Profile Velocity (607F hex), Positive Torque Limit Value (60E0 hex), and Negative
Torque Limit Value (60E1 hex)
TxPDO (1B02 hex)
Error Code(603F hex), Status Word (6041 hex), Position Actual Value (6064 hex),
Torque Actual Value (6077 hex), Modes of Operation Display (6061 hex), Touch Probe
Status (60B9 hex), Touch Probe Pos1 Pos Value (60BA hex), Touch Probe Pos2 Pos
Value (60BC hex), and Digital Inputs (60FD hex)