Omron NX701-1 User Manual page 414

Appendices
Function name
Target torque
Maximum profile
velocity
Modes of operation
Positive torque limit
value
Negative torque limit
value
Touch probe function
* If you set 6060 hex (Modes of Operation), also set 6061 hex (Modes of Operation Display). Normal operation is
not possible if only one of these two are set.
Precautions for Correct Use Precautions for Correct Use
• Some functions may not be supported if you a connect unit versions of the OMRON G5-series
Servo Drives with built-in EtherCAT communications other than the recommended unit ver-
sions. Refer to the manual for the connected servo drive for details.
• If you change the settings, make sure that the desired operations are performed for the MC
Function Module and process data settings.
• If you are not using an OMRON 1S-series Servo Drive with built-in EtherCAT communications
or G5-series Servo Drive with built-in EtherCAT communications, always set the Modes of
Operation (6060 hex).
• To perform fully-closed control with OMRON G5-series Servomotors/Servo Drives with built-in
EtherCAT communications, make settings so that the size of objects totals 12 bytes or less.
A-16
Process data
6071 hex-00.0 (Target torque)
607F hex-00.0 (Max profile
velocity)
6060 hex-00.0 (Modes of
operation)
60E0 hex-00.0 (Positive
torque limit value)
60E1 hex-00.0 (Negative
torque limit value)
60B8 hex-00.0 (Touch probe
function)
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Description
The target torque for torque control.
This object is necessary to output to the Servo
Drive in Cyclic Synchronous Torque Control Mode
by the MC_TorqueControl (Torque Control) and
other instructions.
Normally set 6071 hex: Target torque.
The velocity limit value for torque control.
This object is necessary for velocity control in
Cyclic Synchronous Torque Control Mode by the
MC_TorqueControl (Torque Control) and other
instructions.
Normally set 607F hex: Max profile velocity.
This data is required to change the control mode.
This object is necessary to change to a control
mode other than Cyclic Synchronous Position
Control Mode for the MC_SyncMoveVelocity
(Cyclic Synchronous Velocity Control),
MC_TorqueControl, and other instructions.
Normally set 6060 hex: Modes of operation.*
This is the torque limit value in the positive direc-
tion.
This object is necessary to control the output
torque of the Servo Drive by the MC_SetTorque-
Limit and other instructions.
Normally set 60E0 hex: Positive torque limit value.
This is the torque limit value in the negative direc-
tion.
This object is necessary to control the output
torque of the Servo Drive by the MC_SetTorque-
Limit and other instructions.
Normally set 60E1 hex: Negative torque limit
value.
This data is used to control the touch probe func-
tion.
It is required for the touch probe function for the
MC_Home, MC_HomeWithParameter, MC_Move-
Feed (Interrupt Feeding), MC_TouchProbe
(Enable External Latch), MC_MoveLink (Synchro-
nous Positioning), and other instructions.
Normally set 60B8 hex: Touch probe function.