Omron NY532-1500 User Manual page 396

Appendices
PDO Mapping
This section describes mapping PDOs to control servo axes from the MC Function Module.
To use motion control functions, you must map the objects that are required for those functions to
PDOs.
The PDO map is a list of required objects that is prepared in advance.
You select the PDOs to use in the Edit PDO Map Settings Window of the EtherCAT Tab Page in the
Sysmac Studio.
The following PDOs are mapped by default in the Sysmac Studio.
RxPDO: 261th
Receive PDO Map-
ping (1704 hex)
TxPDO: 259th Trans-
mit PDO Mapping
(1B02 hex)
Additional Information
• If you use the recommended OMRON Servo Drives (R88D-KN-ECT, version 2.1 or later,
or R88D-KN-ECT-L, unit version 1.1 or later), then it is not necessary to change the
default PDO map on the Sysmac Studio.
• To perform fully-closed control with OMRON R88D-KN-ECT, select 1701 hex or 1600
hex for RxPDO. For 1600 hex, the total size of objects must be set to 12 bytes or less (for ver-
sion 2.1 or later).
A-14
Controlword (6040 hex), Target Position (607A hex), Target Velocity (60FF hex), Target
Torque (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
Torque Limit Value (60E1 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)
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)