Panasonic AFP7MC16EC - Page 307

13.8 EtherCAT Communication Setting
13-21
 PDO mapping tab
Item
Description
Select The Inputs
The map of (input) data that is sent by Servo Amplifier A6B/A5B and received by FP7
MC Unit is displayed.
Transmit PDO mapping 1 to Transmit PDO mapping 4 are displayed.
By default, Transmit PDO mapping 4 is selected.
Error code Alarm (main number only)/warning information occurred in Servo Amplifier is received.
Status word The state of Servo Amplifier is received.
Modes of
operation display
The state of the control mode within Servo Amplifier is received.
Position actual
value
Actual position information of motor is received.
Velocity actual
value
Actual speed information of motor is received.
Torque actual
value
Actual torque information of motor is received.
Touch probe
status
The state of touch probe operation (Touch probe 1/Touch probe 2) is received. (Note)
Touch probe pos1
posvalue
Position information latched at leading edge of Touch probe 1 is received. (Note)
Digital inputs The logic input state of external input signals is received.
Select The Outputs
The maps of data sent (output) by FP7 MC Unit and received by Servo Amplifier
A6B/A5B are displayed.
Receiving PDO mapping 1 to Receiving PDO mapping 4 is displayed.
By default, Receiving PDO mapping 4 is selected.
Control word
Setting data of control instructions for Servo Amplifier such as PDS state transition is
sent.
Modes of
operation
Setting data of the control mode of Servo Amplifier is sent.
Target torque
Target torque value data in the torque profile mode (tq) and cyclic synchronous torque
mode (cst) is sent.
Max torque Setting data of the maximum torque of motor is sent.
Target position Target position data of motor is sent.
Max motor speed Maximum speed data of motor is sent.
Touch probe
function
Basic setup data used for starting the touch probe operation (Touch probe 1/Touch
probe 2) and various settings is set. (Note)
Target velocity Target speed data of motor is sent.
(Note): It is not used in FP7 MC Unit.
• For using FP7 MC Unit in combination with Servo Amplifier A6B/A5B,
Transmit PDO mapping 4 and Receive PDO mapping 4 is used. Do not
change the setting unless the general-purpose output (EXOUT1) is added.
Careless changes of PDO mapping may cause malfunction.