Omron Sysmac NY-series User Manual

2-3
PDO Mapping
You must map the objects that are required for the motion control functions that you will use to process
data communications.
The PDO map lists all of the objects that are registered in advance.
If you use an OMRON 1S-series R88D-1SN£££-ECT, R88D-1SAN£££-ECT, G5-series R88D-KN
£££-ECT (version 2.1 or later), or R88D-KN£££-ECT-L (version 1.1 or later) Servo Drive, it is not
necessary to change the default PDO map on the Sysmac Studio.
RxPDO: 261th
Receive PDO
Mapping (1704
hex)
Controlword (6040 hex), Target Position (607A hex), Target Velocity (60FF hex), Target
T
orque (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 Tor-
que Limit Value (60E1 hex)
TxPDO: 259th
T
ransmit PDO
Mapping (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)
Additional Information
To perform fully-closed control with an OMRON G5-series R88D-KN£££-ECT Servo Drive,
select 1701 hex or 1600 hex for RxPDO. For 1600 hex, the total size of objects should be 12
bytes or less (for version 2.1 or later).
For details on setting the PDO map, refer to the NY
-series Industrial Panel PC / Industrial Box PC
Motion Control User’s Manual (Cat. No. W559).
Refer to I/O Entry Mappings in the NX-series Position Interface Units User’s Manual (Cat. No. W524)
for information on using the NX-series Position Interface Units.
2-3-1
Required Objects
There are objects that are required for Servo axes and an object that is required for encoder axes.
If even one of the required objects is not set, a Required Process Data Object Not Set error (error
code: 3460 hex) occurs.
Servo Axes
The following objects must be set to use motion control instructions for a Servo axis.
Input/output Function Process data
Output
Control word 6040 hex
Target position 607A hex
Input
Status word 6041 hex
Position actual value 6064 hex
2 Variables and Instructions
2-37
NY-series Motion Control Instructions Reference Manual (W561)
2-3 PDO Mapping
2
2-3-1 Required Objects

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English