Appendices
A-18
NJ/NX-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 If you set 6061 hex (Modes of Operation Display), also set 6060 hex (Modes of Operation). Normal operation
is not possible if only one of these two are set.
*3 Map 4020 hex (Reference Position for CSP) to a PDO when you use an OMRON 1S-series Servomotor/Servo
Drive.
Precautions for Correct UsePrecautions 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.
• If you are not using an OMRON 1S-series Servo Drive with built-in EtherCAT communications
or G5-series Servo Drive with built-in EtherCAT communications, always set the Modes of
Operation Display (6061 hex).
• To use the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction to change
the control mode of an OMRON G5-series Servo Drive, you need to map Reference Position
for CSP.
• Set the primary period to 1 ms or greater when you use Reference Position for CSP for an
OMRON G5-series Servo Drive. Also, set the electronic gear ratio to 1:1 for the G5-series
Servo Drive.
For details, refer to the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT Com-
munications User’s Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-series
with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No. I577).
Touch probe position 2 posi-
tion value
60BC hex-00.0 (Touch probe
pos2 pos value)
The latched position for touch probe 2.
It is required for the touch probe function
for the MC_Home, MC_HomeWithParame-
ter, 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.
The reference position for changing the csp
mode. This data is accessed by instruc-
tions that are used in Velocity Control Mode
(CSV) or Torque Control Mode (CST).
This object is supported for OMRON G5-
series Cylinder-type Servomotors/Servo
Drives with unit version 2.1 or later.
*3
OMRON G5-series Linear Motor Type
Servo Drives do not support this object.
Function name Process data Description
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