Omron NY532-1500 Reference Manual page 457

• If the axis that you use in this instruction is the master axis for synchronized control, setting the
target velocity of the master axis may cause the slave axis to move suddenly.
• When the Control Mode is changed, the command current position may change suddenly.
Command Current Position
If you select _mcCount for the CmdPosMode (Command Current Position Count Selection) input
variable, the command current position will be the actual current position from the previous period
when this instruction is executed. The actual current position is used until the instruction is ended.
While the OMRON 1S-series Servo Drive or G5-series Servo Drive is processing the switch to CSP
Mode, the CSP reference position that was mapped in advance is sent in the PDO. Until processing
to switch from CSV to CSP Mode is completed, this reference position is used as the command cur-
rent position. When switching to CSP Mode is completed, the command current position is set to the
command position.
Command
current position
When Using an OMRON 1S-series Servo Drive
To use the CSP reference position of the Servo Drive when changing the Control Mode, map the
CSP Reference Position (3010-87 hex) to process data.
Map the CSP Reference Position (3010-87 hex) to process data in the PDO Edit Tab Page of the
Sysmac Studio. Then map the CSP Change Reference Position in the MC Function Module and the
CSP Reference Position (3010-87 hex) in the Detailed Settings Area of the Axis Basic Settings Dis-
play.
When Using an OMRON G5-series Servo Drive
To use the CSP reference position of the Servo Drive when changing the Control Mode, map the
CSP Reference Position (4020 hex) to process data. Map the CSP Reference Position (4020 hex) to
process data in the PDO Edit Tab Page of the Sysmac Studio. Then map the CSP Change Refer-
ence Position in the MC Function Model and the CSP Reference Position (4020 hex) in the Detailed
Settings Area of the Axis Basic Settings Display.
Precautions for Correct Use Precautions for Correct Use
If the CSP Reference Position (4020 hex) is mapped to a PDO, set the primary period or the task
period of the priority-5 periodic task to 1 ms or longer. If the primary period or task period is less
than 1 ms, an error will occur in the G5-series Servo Drive. Refer to the AC Servomotors/Servo
Drives G5-series with Built-in EtherCAT Communications User's Manual (Cat. No. I576) for
details.
NY-series Motion Control Instructions Reference Manual (W561)
Servo Drive CSP
reference position
Actual current
position is used.
CSP CSV
Changing
the Control
Mode
3 Axis Command Instructions
Time
CSP
3
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