18
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
4-4-2
Profile Allocation ....................................................................................................................... 4-12
4-4-3
Control Method.......................................................................................................................... 4-12
4-5
Control with the PDO Free Format....................................................................................... 4-14
4-5-1
Inverter Setting.......................................................................................................................... 4-14
4-5-2
Object Mapping ......................................................................................................................... 4-14
4-5-3
Objects Allocation in Sysmac Studio......................................................................................... 4-15
4-5-4
Restrictions ............................................................................................................................... 4-16
4-6
Trial operation via EtherCAT Communication Unit............................................................. 4-17
Section 5
CiA402 Drive Profile
5-1
Inverter State Control .............................................................................................................. 5-2
5-1-1
State Machine ............................................................................................................................. 5-2
5-1-2
State Descriptions ....................................................................................................................... 5-3
5-1-3
Command Coding ....................................................................................................................... 5-3
5-1-4
State Coding ............................................................................................................................... 5-3
5-2
Modes of Operation ................................................................................................................. 5-4
5-3
Velocity Mode........................................................................................................................... 5-5
5-4
Object Dictionary ..................................................................................................................... 5-6
5-4-1
Object Dictionary Area ................................................................................................................ 5-6
5-4-2
Data Types .................................................................................................................................. 5-6
5-4-3
Object Description Format .......................................................................................................... 5-6
5-5
CoE Communications Area .................................................................................................... 5-8
5-5-1
Communication Objects .............................................................................................................. 5-8
5-5-2
PDO Mapping Objects .............................................................................................................. 5-11
5-5-3
Sync Manager Communication Objects.................................................................................... 5-13
5-6
Manufacturer Specific Area .................................................................................................. 5-16
5-6-1
Manufacturer Specific Objects .................................................................................................. 5-16
5-6-2
Inverter Parameter Objects ....................................................................................................... 5-17
5-6-3
Independent Profile Objects...................................................................................................... 5-19
5-7
Device Profile area................................................................................................................. 5-22
5-7-1
Drive Profile Objects ................................................................................................................. 5-22
Section 6
Handling of Errors and Maintenance
6-1
Communication Line Errors ................................................................................................... 6-2
6-1-1
Status IndicatorExplanations and Error Handling ....................................................................... 6-2
6-1-2
Troubleshooting........................................................................................................................... 6-4
6-2
Message Errors ........................................................................................................................ 6-5
6-3
Application Errors ................................................................................................................... 6-6
6-3-1
Error Statuses ............................................................................................................................. 6-6
6-3-2
Error Code List ............................................................................................................................ 6-6
6-3-3
List of Cause Codes for PDO Mapping Errors ............................................................................ 6-7
6-3-4
AL Status Code List .................................................................................................................... 6-9
6-4
Inverter Errors ........................................................................................................................ 6-10
Appendices
A-1
Specifications ..........................................................................................................................A-2
A-1-1
Appearance and Dimensions ......................................................................................................A-2
A-1-2
Common Specifications ..............................................................................................................A-2
A-1-3
EtherCAT Communications Specifications..................................................................................A-3
A-2
Communications Response Time ..........................................................................................A-4
Summary of Contents for 3G3AX-MX2-ECT
Page 23: ...20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT CONTENTS ...
Page 31: ...1 EtherCAT Network 1 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...
Page 85: ...4 Inverter Control 4 18 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...
Page 111: ...5 CiA402 Drive Profile 5 26 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...
Page 162: ...Index 1 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT I Index ...
Page 164: ......