Omron Sysmac NY-series Instruction & Reference Manual page 483

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 Sys-
mac 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 Display.
 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 Reference Position in the MC Function Model and the CSP Refer-
ence Position (4020 hex) in the Detailed Settings Area of the Axis Basic Settings Display.
Precautions for Correct Use
If the CSP Reference Position (4020 hex) is mapped to a PDO, set the primary period to 1 ms
or longer.
If the primary 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.
Additional Information
Of the OMRON G5-series Servo Drives, those for Linear Motors do not support the CSP Refer-
ence Position (4020 hex).
 When Using a Servo Drive Other Than an OMRON 1S-series Servo Drive or G5-
series Servo Drive
An error may occur in processing to switch the Control Mode for some Servo Drives when this instruc-
tion is executed or when an instruction that uses CSP Mode is executed during execution of this in-
struction.
If that occurs, stop the axis (velocity of 0) and then execute this instruction or use multi-execution of
instructions that use the CSP Mode.
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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