4-4
Control with the PDO Free Format
Objects can be freely allocated to PDOs to create an independent profile.
If you use in combination with the OMRON independent profile or the CiA402 drive profile, you can
perform advanced control and monitoring.
To use your OMRON NJ501-1£00 as the master, allocate desired objects by referring to this section.
4-4-1
Inverter Setting
When using the OMRON independent profile, set 1st Frequency Reference Selection (3004-02 hex)
and 1st RUN Command Selection (3004-03 hex).
When using the CiA402 drive profile, set 1st Frequency Reference Selection
(3004-02 hex), 1st
RUN Command Selection (3004-03 hex), and 1st Motor Pole Number (3007-02 hex).
For details, refer to 4-3-1 Inverter Setting on page 4-7.
4-4-2
Object Mapping
Allocate the objects that you want to use to PDOs.
Setting Example
Set as follows to allocate the acceleration time and deceleration time to RxPDO and the current moni-
tor to TxPDO, based on the OMRON independent profile.
PDO Mapping
PDO Description
1600 hex
(1st receive PDO Mapping)
3004-08 hex (F07 1st Acceleration Time 1)
3004-09 hex (F08 1st Deceleration Time 1)
1A00 hex
(1st transmit PDO Mapping)
3003-0C hex (M11 Output Current Monitor)
Sync Manager Assignment
Sync Manager PDO assignment Description
1C12 hex 1701 hex (Fixed allocation of the independent profile)
1600 hex (Setting as above)
1C13 hex 1B01 hex (Fixed allocation of the independent profile)
1A00 hex (Setting as above)
4-4-3
Objects Allocation in Sysmac Studio
In Sysmac Studio, you can edit the PDO map settings for each slave.
4 Inverter Control
4-9
M1 Series EtherCAT Type User’s Manual (I670)
4-4 Control with the PDO Free Format
4
4-4-1 Inverter Setting
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