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Appendices
A-8
NJ-series CPU Unit Motion Control User’s Manual (W507)
*1
If required, map the selected process data to a PDO before setting it. The standard setting is 606Ch-00.0
(Velocity actual value).
*2
This data is accessed by the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction. If it is
required, set
4020 hex-00.0
(Reference position for csp). However, an error occurs in the Servo Drive if it is
mapped to a PDO when the process data communications cycle for EtherCAT communications is 250
µ
s or
500
µ
s or when the electronic gear ratio at the Servo Drive (6091 hex) is not 1:1.
For details, refer to the
NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508).
*3
Refer to the
G5-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications User’s Manual
(Cat. No. I576) if you use 4020 hex (Reference position for csp) and check the process data communications
cycles that can be set for EtherCAT communications.
Precautions for Correct Use
Precautions for Correct Use
•
Some functions may not be supported if you a connect unit versions of the OMRON G5-series
Servo Drives with Built-in EtherCAT Communications other than the recommended unit ver-
sions. Refer to the manual for the connected servo drive for details.
•
If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
z
Digital Input Settings
The MC Function Module uses the following input signals of the Servo Drive.
Touch probe position 2 posi-
tion value
60BC hex-00.0 (Touch probe
pos2 pos value)
The latched position for touch probe 2.
This object is required for the touch probe
function for the MC_Home, MC_MoveFeed
(Interrupt Feeding), MC_TouchProbe
(Enable External Latch), MC_MoveLink
(Synchronous Positioning), and other
instructions.
Normally set
60BC hex
:
Touchprobe pos2
pos value
.
Error code
603F hex-00.0 (Error code)
The error code in the Servo Drive.
Normally set
603F hex
:
Error code
.
Reference position for csp
Not set.
*2
The reference position for changing the csp
mode. This object can be used with
OMRON G5-series Servo Drives with unit
version 2.1 or later. Set
4020 hex
:
Refer-
ence Position for csp when required
.
*3
Function name
Process data
Description
Positive limit switch
(positive drive prohibit
input)
60FD hex-00.1 (Digital
inputs)
This signal is used for the positive limit input.
Normally set
Bit 1
:
Positive limit switch of 60FD
hex-00: Digital inputs
.
Negative limit switch
(negative drive prohibit
input)
60FD hex-00.0 (Digital
inputs)
This signal is used for the negative limit input.
Normally set
Bit 0
:
Negative limit switch of 60FD
hex-00: Digital inputs
.
Immediate stop input
60FD hex-00.25 (Digital
inputs)
This signal is used for the immediate stop input.
Set
Bit 25
:
Immediate Stop Input of 60FD hex-00:
Digital inputs
for an OMRON G5-series Servo
Drive.
Encoder Phase Z
Detection (encoder Z-
phase detection)
60FD hex-00.10 (Digital
inputs)
Shows the status of detecting the Z-phase input.
Set
Bit 10
:
Encoder Phase Z Detection of 60FD
hex-00: Digital inputs
for an OMRON G5-series
Servo Drive.
Function name
Process data
Description
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...