Omron NX701-1 User Manual

Appendices
A-20
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Version Information
• If you are using a CPU Unit with unit version 1.09 or earlier and you are not using an OMRON
G5-series Servo Drive with built-in EtherCAT communications for the servo axis, Modes of
Operation (6060 hex) and Modes of Operation Display (6061 hex) are required.
• If you are using a CPU Unit with unit version 1.10 or later, operation is as described in the fol-
lowing table depending on whether Modes of Operation (6060 hex) and Modes of Operation
Display (6061 hex) are mapped.
*1 CSP is the Cyclic Synchronous Position Control Mode of the Servo Drive.
*2 CSV is the Cyclic Synchronous Velocity Control Mode of the Servo Drive.
*3 CST is the Cyclic Synchronous Torque Control Mode of the Servo Drive.
The OMRON G5-series Servo Drive settings required to use the control functions of the MC Function
Module are listed in the following table.
Consult the manual for your Servo Drive and set all related objects for the Servo Drive functions that
you are going to use.
Modes of Operation Display
(6061 hex) mapped
Modes of Operation Display
(6061 hex) not mapped
Modes of Operation
(6060 hex) mapped
• You can execute instructions
that use CSP,
*1
CSV,
*2
or
CST.
*3
• The servo is OFF in any control
mode other than CSP, CSV, or
CST.
• You can execute instructions
that use CSP. If you execute
any instruction that uses any
other control mode, a Process
Data Object Setting Missing
error (error code 3461 hex)
occurs.
• The MC Function Module
assumes that the CSP Servo
Drive control mode is used.
Command the Servo Drive to
use CSP.
Modes of Operation
(6060 hex) not mapped
• You can execute instructions
that use CSP. If you execute
any instruction that uses any
other control mode, a Process
Data Object Setting Missing
error (error code 3461 hex)
occurs.
• The servo is OFF in any control
mode other than CSP.
• You can execute instructions
that use CSP. If you execute
any instruction that uses any
other control mode, a Process
Data Object Setting Missing
error (error code 3461 hex)
occurs.
Object Settings
Index Subindex Name
Recom-
mended
setting
Description
3013 hex 00 hex No. 1 External
Torque Limit
*1
1388 hex Default setting = 500.0%
3015 hex
*2
00 hex Operation Switch
for Using Absolute
Encoder
0002 hex Use absolute values and ignore multi-rotation
counter overflow.
3317 hex 00 hex Speed Limit Selec-
tion
0001 hex The velocity limit method used during torque
control is either 607F: Max profile velocity or
3321h: Velocity limit value setting, whichever
value is smaller.
3323 hex 00 hex External Feedback
Pulse Type Selec-
tion
0000, 0001,
or 0002
hex
*3
Set the type of external scale to use. The
default value is 0000 hex (90° Phase Difference
Output).

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English