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PDO mapping tab
Item
Select The Inputs
Error code
Status word
Modes of
operation display
Position actual
value
Velocity actual
value
Torque actual
value
Touch probe
status
Touch probe pos1
posvalue
Digital inputs
Select The Outputs
Control word
Modes of
operation
Target torque
Max torque
Target position
Max motor speed
Touch probe
function
Target velocity
(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.
Description
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.
Alarm (main number only)/warning information occurred in Servo Amplifier is received.
The state of Servo Amplifier is received.
The state of the control mode within Servo Amplifier is received.
Actual position information of motor is received.
Actual speed information of motor is received.
Actual torque information of motor is received.
The state of touch probe operation (Touch probe 1/Touch probe 2) is received. (Note)
Position information latched at leading edge of Touch probe 1 is received. (Note)
The logic input state of external input signals is received.
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.
Setting data of control instructions for Servo Amplifier such as PDS state transition is
sent.
Setting data of the control mode of Servo Amplifier is sent.
Target torque value data in the torque profile mode (tq) and cyclic synchronous torque
mode (cst) is sent.
Setting data of the maximum torque of motor is sent.
Target position data of motor is sent.
Maximum speed data of motor is sent.
Basic setup data used for starting the touch probe operation (Touch probe 1/Touch
probe 2) and various settings is set. (Note)
Target speed data of motor is sent.
13.8 EtherCAT Communication Setting
13-21
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