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5 - 1

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

This chapter explains about the 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

CiA402 Drive Profile

Summary of Contents for 3G3AX-MX2-ECT

Page 1: ...At the end of this document you will find links to products related to this catalog You can go directly to our shop by clicking HERE HERE ...

Page 2: ...Inverter MX2 Series EtherCAT Communication Unit User s Manual I574 E1 02 3G3AX MX2 ECT EtherCAT Communication Unit ...

Page 3: ...assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for ...

Page 4: ...o the actual end user of the product After reading this manual keep it handy for future reference This manual describes the specifications and functions of the product as well as the relations between them You should assume that anything not described in this manual is not possible with the product This manual is intended for those with knowledge of the workings of electricity qualified electric e...

Page 5: ...ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONT...

Page 6: ...OLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN S...

Page 7: ...ely Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure that the product does not become inoperative malfunction or disrupt functionality and performance Additional Information Additional information to increase understanding or make operation easier Indications and Meanings of Safety Information Meanings of Signal Words Indicates a potentially hazardous si...

Page 8: ...l shown to the left indicates disassembly prohibited This symbol indicates danger and caution The specific instruction is indicated using an illustration or text inside or near The symbol shown to the left indicates beware of electric shock This symbol indicates a compulsory item an item that must be done The specific instruction is indicated using an illustration or text inside or near The symbol...

Page 9: ...ower is turned off The inverter has high voltage parts inside which if short circuited might cause damage to itself or other property Place covers on the openings or take other precautions to make sure that no metal objects such as cutting bits or lead wire scraps go inside when installing and wiring Do not disassemble repair or modify the inverter Failure to follow this guideline may result in in...

Page 10: ...he inverter be sure to carry it by holding an inverter radiation fin Do not remove the cover of the EtherCAT Communication Unit Also make sure that the unit fastening screws are tightened to the specified torque Install a stop motion device to ensure safety In particular when it is set to continue operation when a communications error occurs the inverter may not stop and damage to the equipment Ta...

Page 11: ...ing this EtherCAT Communication Unit to the inverter warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions Notes The overall appearance varies depending on the inverter capacity The warning description is written in English when it is shipped from the factory Affix the Japanese warning label included with the product if necessary Install...

Page 12: ...CAT Communication Unit can be used with the inverter of unit version 1 1 or higher Make sure that the unit version of the inverter is 1 1 or higher The unit version of the inverter can be checked on the nameplate of the inverter The unit version can not be checked on the CX Drive Inverter Version ...

Page 13: ...ng Conforming to EMC Directives When the EtherCAT Communication Unit is mounted on the inverter unit inverter s conformance to the Machinery Directive becomes invalid This product is conformance tested EC Directives EC Directives Applicable Standard EMC Directive EN61800 3 Low Voltage Directive EN61800 5 1 UL cUL Standards Standards Applicable Standard UL cUL UL508c Functional Safety EtherCAT Conf...

Page 14: ...Automation GmbH Germany Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries Sysmac is a FA product of OMRON and a trademark or registered trademark of OMRON in Japan and other countries CX One is a registered trademark of OMRON s FA Integrated Tool Package Other system names and product names that appear in thi...

Page 15: ...blems with the product immediately contact your nearest local sales representative or OMRON sales office The nameplate is affixed to the back side of the product Note that the Instruction manual and the Japanese warning label accessories are included with the EtherCAT Communication Unit 3G3AX MX2 ECT Checking the Product Checking the Nameplate Checking the Model Checking the Accessories 3 G 3 A X ...

Page 16: ...e appears as a suffix to the catalog number located at the top left of the front and lower right of the back covers Revision code Revision date Changes and revision pages 01 August 2010 First printing 02 July 2011 Added information on Machine Automation Controller NJ501 1x00 series Man No I574 E1 02 Revised symbols ...

Page 17: ...mber Multi function Compact Inverter SYSDRIVE MX2 SERIES USER S MANUAL I570 Model Name Refer to the user s manual of the Inverter for information on Inverter operation Manual number Position Control Units CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 OPERATION MANUAL W487 EtherCAT Master manual Model Name When using the Master Unit other than as specified above refer to the manual operation manual for ...

Page 18: ...ns information such as the mounting wiring and setting methods for the EtherCAT Communication Unit Chapter 3 Common Slave Specifications This chapter explains the common slave specifications during EtherCAT communication and about the ESIs PDOs and SDOs Chapter 4 Inverter Control This chapter describes the profiles that are used to control inverters Chapter 5 CiA402 Drive Profile This chapter expl...

Page 19: ...s 1 5 1 3 EtherCAT System Configuration 1 6 1 3 1 System Configuration 1 6 1 3 2 Overview of Component Equipment 1 7 Section 2 Starting a Sample System 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 2 2 1 1 Part Names 2 2 2 1 2 Status Indicator Names 2 3 2 1 3 Rotary Switches for Node Address Setting 2 4 2 1 4 Communications Connector 2 5 2 1 5 Recommended Products 2 6 2 1 6 Con...

Page 20: ... 22 2 8 2 Network Setup 2 22 2 8 3 Checking the NJ501 1x00 Master 2 26 2 8 4 Checking the Inverter and EtherCAT Communication Unit 2 26 2 8 5 Checking the Operation 2 26 Section 3 Common Slave Specifications 3 1 Structure of CANopen over EtherCAT 3 2 3 2 Communications Status Transitions 3 3 3 3 Process Data Objects PDO 3 4 3 3 1 Outline 3 4 3 3 2 PDO Mapping Settings 3 4 3 3 3 Sync Manager PDO As...

Page 21: ...ons 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...

Page 22: ...nication Unit USER S MANUAL 3G3AX MX2 ECT CONTENTS A 3 Object List A 5 A 3 1 Object List A 5 A 4 Inverter Parameter List A 9 A 5 Sysmac Error Status Codes A 36 A 5 1 Error Table A 36 A 5 2 Error Descriptions A 37 Index ...

Page 23: ...20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT CONTENTS ...

Page 24: ...etwork 1 1 Overview of the EtherCAT Communication Unit 1 2 1 1 1 Features of the EtherCAT Communication Unit 1 2 1 2 Overview of EtherCAT 1 3 1 2 1 Features of EtherCAT 1 3 1 2 2 EtherCAT System 1 4 1 2 3 EtherCAT Communication Types 1 5 1 3 EtherCAT System Configuration 1 6 1 3 1 System Configuration 1 6 1 3 2 Overview of Component Equipment 1 7 EtherCAT Network ...

Page 25: ...ommunications specifications and user interface specifications When the CJ1W NCx82 Master Unit or Machine Automation Contoroller NJ501 1x00 series is used the basic control function frequency setting function and output frequency monitor function are assigned to the process data This means that the inverter can be controlled as easily as normal I O control The Velocity mode of the CANopen drive pr...

Page 26: ...Its effectiveness can be fully utilized not only in large control systems where high processing speed and system integration are required but also in small to medium sized systems EtherCAT has the features shown below Ultra high speed communication of 100 Mbps The I O response time from the generation of the input signal to the transmission of the output signal is greatly reduced The optimized Eth...

Page 27: ...speed data transmission and realtime performance The periodic data exchange between the EtherCAT master and EtherCAT slaves is performed with the EtherCAT telegrams that are stored directly inside the Ethernet frame Each EtherCAT telegram consists of an address data and working counter check bit for one or more slaves If we compare an Ethernet frame to a train EtherCAT telegrams can be considered ...

Page 28: ...s This is message communication The EtherCAT Master Unit transmits commands to Slave Units and the sSave Units return responses to the EtherCAT Master Unit The data below is sent and received Read and write process data Slave settings Monitor slave state 1 2 3 EtherCAT Communication Types Process data communications functions PDO communications Mailbox communication function SDO communications Eth...

Page 29: ...AX MX2 ECT SYSDRIVE 3G3MX2 series EtherCAT slave EtherCAT slave Communications cable EtherCAT slave EtherCAT slave Other slaves Servo Drive Digital I O Analog I O Pulse input etc Position Control Unit CJ1W NCx82 Programmable Controller SYSMAC CJ2 CX One FA Integrated Tool Package or Configuration Tool Configuration Tool EtherCAT master EtherCAT master Machine Automation Controller NJ501 1x00 serie...

Page 30: ...its Inverter Units When this 3G3AX MX2 ECT EtherCAT Communication Unit is installed on an inverter it can be operated as a motion network slave inverter Configuration tool Computer software for setting the EtherCAT network and each slave Communications cable The communications cable that connects the Master Unit with the Slave Units and the Slave Units to each other In an EtherCAT network use an S...

Page 31: ...1 EtherCAT Network 1 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...

Page 32: ...tting 2 12 2 5 Mounting and Wiring for the EtherCAT Communication Unit 2 13 2 5 1 Mounting the EtherCAT Communication Unit 2 13 2 5 2 Wiring the EtherCAT Communication Unit 2 15 2 5 3 Wiring Conforming to EMC Directives 2 17 2 5 4 Node Address Settings for the EtherCAT Communication Unit 2 18 2 6 SYSDRIVE MX2 Series Settings 2 19 2 6 1 RUN Command Setting 2 19 2 6 2 Frequency Reference Setting 2 1...

Page 33: ...ication Unit USER S MANUAL 3G3AX MX2 ECT 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 1 1 Part Names FG cable Status indicator L A IN L A OUT RUN ERR Rotary switches for node address setting 10 1 Communications connector IN OUT ...

Page 34: ...ed in physical layer Flickering In operation after establishing link L A OUT Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing link RUN Green OFF Init state Blinking Pre operational state Single flash Safe operational state ON Operational state ERR Red OFF No error Blinking Communications setting error Single flash Syn...

Page 35: ... supply is turned ON If the setting is changed after the power supply is turned ON the new setting will not be used until the next time that the power is turned ON Do not change the setting on the rotary switches after the power supply has been turned ON If node addresses overlap an error occurs and the operation stops 2 1 3 Rotary Switches for Node Address Setting Set value for rotary switch Set ...

Page 36: ...ecifications are shown below Electrical characteristics Conform to IEEE 802 3 Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Terminal arrangement 2 1 4 Communications Connector Pin No Signal Abbreviation Function 1 Send data TD Send data 2 Send data TD Send data 3 Receive data RD Receive data 4 Not used 5 Not used 6 Receive data RD Receive data 7 Not used 8 Not used Hood Fra...

Page 37: ...ndactor is lower than that of solid wire Confirm the details with the cable manufacturer Use the shielded type RJ45 connectors When selecting a connector confirm if it can be used with the recommended cable Confirm the following items conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc Additional Information If an Ethernet cable of category 5 ...

Page 38: ...Additional Information There are 2 types of wiring standards for Ethernet cables T568A and T568B The figure above shows a wiring method conforming to the standard T568A but a wiring method conforming to the standard T568B can also be used 2 1 6 Connection between Communications Cables and Connectors White Green Green White Orange Blue White Blue Orange White Brown Brown Connector hood 1 2 3 4 5 6 ...

Page 39: ... Network setup Master Unit setting ESI file setting Mounting of EtherCAT Communications Unit Wiring of EtherCAT Communications Unit Setting reset selection Setting RUN command Setting frequency reference Setting the node address of the EtherCAT Communications Unit 4 Starting system Checking Master Unit Checking Inverter and EtherCAT Communications Unit Checking operation NJ501 1x00 Master Ref sect...

Page 40: ...ts Notes This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series Refer to 2 3 CJ1W NCx82 Master Setting on page 2 11 for details on Unit installation and setting method 2 2 2 System Configuration Example CJ1W NCx82 Master Master Unit Position Control Unit CJ1W NCx82 Slave Unit First unit inverter Node address 17 Slave Unit 2nd unit inverter Node address 22 Communicat...

Page 41: ...o 2 4 NJ501 1x00 Master Setting on page 2 12 for details on Unit installation and setting method NJ501 1x00 Master Slave Unit First unit inverter Node address 1 Slave Unit 2nd unit inverter Node address 2 Communications cable 1 Length 5 m Communications cable 2 Length 1 m Peripheral USB port connection PC Sysmac Studio Power Supply Unit Used for data setting and monitoring Monitoring status File m...

Page 42: ...ster Unit by fitting their connectors together For specific details on mounting onto the SYSMAC Unit and the control panel of the SYSMAC Unit refer to the User Manual for the SYSMAC CJ2 series Perform the settings for the CJ1W NCx82 Master Unit For the setting method of each component refer to the manual for the Master Unit For the setting tool use CX Programmer Ver 9 2 or later 2 3 1 Mounting the...

Page 43: ... configuration of the NJ501 1x00 Master rack For the specific configuration method refer to NJ series CPU Unit Software User s Manual Cat No W501 Set the NJ501 1x00 Master For the setting method for each part refer to NJ series CPU Unit Software User s Manual Cat No W501 2 4 1 Mounting the NJ501 1x00 2 4 2 NJ501 1x00 Setting ...

Page 44: ...r lamp and charge indicator have turned OFF and then start the procedure This Communication Unit can be used with the inverter of unit version 1 1 or higher Make sure that the unit version of the inverter is 1 1 or higher The unit version of the inverter can be checked on the nameplate of the inverter The unit version can not be checked on the CX Drive 1 Loosen the mounting screw 1 from the option...

Page 45: ...mounted the main circuit and control circuit terminals of the inverter are hidden For this reason be sure to wire the main circuit and control circuit terminals before mounting the EtherCAT Communication Unit 2 Tighten the mounting screw of the EtherCAT Communication Unit Tighten the bottom right screw of the EtherCAT Communication Unit with the specified torque 46 N cm 4 7 kgf cm Mounting the Eth...

Page 46: ...n Each communications cable between the nodes and between the master and the nodes must be no longer than 100 m In the system configuration example used in this chapter a cable of 5 m is prepared for communications cable 1 and a cable of 1 m is prepared for communications cable 2 Connect an RJ45 connector to both ends of the communications cable by wiring them straight Connect both ends of the shi...

Page 47: ...nt safety measures according to the standards We recommend that specialized constructors familiar with the safety measures and standards be requested to perform the construction Do not install EtherCAT network devices near devices generating noise If there is no choice but to install them down in an environment with a high level of noise be sure to take measures against the noise such as covering ...

Page 48: ...n of the EtherCAT Communication Unit Follow the instructions in the inverter manual for the inverter installation conditions such as the power supply line wiring filter installation and motor wiring clamps Install the 3 clamp cores shown below near the communications connectors of the communications cables that are connected to the communications connector IN and the communications connector OUT I...

Page 49: ...ANUAL Cat No W487 NJ501 1x00 Master 1 Node addresses can be set in a range of 1 to 99 Make sure the node addresses set for the Unit do not overlap with other slave 2 Unlike with the CJ1W NCx82 master the node address of the next unit can be set without intervals 3 For the restrictions related to your NJ501 1x00 refer to NJ series CPU Unit Software User s Manual Cat No W501 Notes If a slave other t...

Page 50: ...I570 for the SYSDRIVE MX2 series inverter for details on operating the inverter parameter settings and for the meaning of the parameter values Change the control method for the RUN command Change the control method for the frequency reference Set the operation of the reset signal If parameter C102 is not displayed first set parameter b037 to 01 2 6 1 RUN Command Setting Parameter No Function name ...

Page 51: ...e performed the indicators show Initial processing status in the table below for both the Master Unit and the EtherCAT Communication Unit Start CX Programmer and double click the target CJ1W NCx82 in the I O table to start the support tool When the support tool starts the Network Auto Setup dialog box is displayed Perform the network setup in accordance with the dialog box instructions If the Netw...

Page 52: ... that the status has changed to normal operation from initial processing 1st unit 2nd unit If three or more units are connected the status LEDs behave in the same way as the LEDs on the first unit except for the last unit L A OUT on the last unit is always unlit Execute the PLC control program and check that the operation is normal 2 7 4 Checking the Inverter and EtherCAT Communication Unit L A IN...

Page 53: ...carefully and then turn ON the power supply for all the inverters and NJ501 1x00 Master It does not matter whether the inverter or NJ501 1x00 Master power supply is turned ON first However an error occurs unless the power supply for all the inverters is turned ON within a certain time Wait time for slave startup parameter of NJ501 1x00 default value is 30 seconds after turning ON the NJ501 1x00 po...

Page 54: ...ns and Setup Pane Right click EtherCAT under the Configurations and Setup menu on the left side of the pane and open the Edit Pane When a group of items that can be registered as an EtherCAT slave appears on the right side of the pane select Frequency Inverter From the slave list on the right side of the pane drag and drop 3G3AX MX2 ECT onto Master at the center of the pane and the Unit will be re...

Page 55: ... an IO map Right click I O Map under the Configurations and Setup menu on the left side of the pane and open the Edit Pane With the NJ501 1x00 Master data used in the control algorithms is treated as a set of variables If you want to assign a variable to each object that controls the inverter and use the assigned variables in the control algorithms define the variables on this pane I O Map Pane ...

Page 56: ...J501 1x00 Master Select Build Controller from the Project Menu Confirm that the program that is built is with no errors 5 Synchronizing with the CPU Unit Transfer the program and settings created in Sysmac Studio to the NJ501 1x00 Master Go online and select Synchronization from the Controller Menu Click Transfer To Controller to transfer the program data When the transfer is completed successfull...

Page 57: ...Ds behave in the same way as the LEDs on the first unit except for the last unit L A OUT on the last unit is always unlit Execute the NJ501 1x00 Master control program and check that the operation is normal 2 8 3 Checking the NJ501 1x00 Master Status of NJ501 1x00 Master Operating normally User program is running User program is stopped Front LED indicators PWR Green ON ON RUN Green ON OFF ERROR R...

Page 58: ...CAT 3 2 3 2 Communications Status Transitions 3 3 3 3 Process Data Objects PDO 3 4 3 3 1 Outline 3 4 3 3 2 PDO Mapping Settings 3 4 3 3 3 Sync Manager PDO Assignment Settings 3 5 3 3 4 Fixed PDO Mapping 3 5 3 4 Service Data Objects SDO 3 6 3 4 1 Outline 3 6 3 4 2 Abort Codes 3 6 3 5 Emergency Messages 3 7 3 5 1 Outline 3 7 3 5 2 Error Code List 3 7 3 6 Sysmac Device Functions 3 8 Common Slave Spec...

Page 59: ...ion data as well as information on the PDO mapping between the process data and inverter application The process data object PDO consists of objects in the object dictionary that can be mapped to the PDO The contents of the process data are defined by the PDO mapping Process data communications cyclically reads and writes the PDO Mailbox communications SDO uses asynchronous message communications ...

Page 60: ...ssible Pre Operational Pre Op Supported Not supported Not supported Only mailbox communications are possible in this state This state is entered after initialization has been completed It is used to initialize network settings Safe Operational Safe Op Supported Not supported Supported In this state PDO transmissions are possible in addition to mailbox communications Cyclic communications can be us...

Page 61: ... indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped objects is described in sub index 00 hex of the mapping table In this mapping table 1600 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs The following table is an example of PDO mapping 3 3 1 Outline 3 3 2 PDO Mapping Settings Host Controller TxPDO Operatio...

Page 62: ...or MX2 inverters The contents of fixed PDOs cannot be changed 3 3 3 Sync Manager PDO Assignment Settings 3 3 4 Fixed PDO Mapping PDO mapping for speed control independent profile RxPDO 1701 hex 5000 hex Command 5010 hex Frequency reference TxPDO 1B01 hex 5100 hex Status 5110 hex Output frequency monitor PDO mapping for speed control CiA402 profile RxPDO 1700 hex 6040 hex Controlword 6042 hex vl ta...

Page 63: ...he object can not be mapped into the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type...

Page 64: ... Communication Unit is mounted correctly onto the inverter The Communication Unit is faulty Replace the Communication Unit If a trip reset was performed with the inverter set the inverter C102 to 3 Trip reset only and turn the power supply OFF and ON again If an initialization mode change was performed with the inverter turn the inverter power supply OFF and ON again 6341 hex PDO setting error A s...

Page 65: ...emedial actions can be checked by following common operating procedures Errors are notified by 2002 hex 01 hex Sysmac Error status If errors detected by the EtherCAT Communication Unit are to be displayed in Sysmac Studio 2002 hex 01 hex Sysmac Error status must be mapped to the PDO By default Sysmac Studio automatically maps 2002 hex 01 hex Sysmac Error status to the PDO by allocation of 1BFF hex...

Page 66: ... will be set without fail 1 While the power is off set the node address switches to 00 2 Write the set value of node address to SII on the slave from the master side 3 When the slave power is turned on the set value of node address is reflected in the register address 0012 hex by the software 4 The EtherCAT master reads the set value at the register address 0012 hex 5 The EtherCAT master writes th...

Page 67: ... parameters on the slave side can be backed up and restored by Sysmac Studio SII data check SII Slave Information Interface represents configuration information specific to each EtherCAT slave which is written to the nonvolatile memory in the EtherCAT slave With Sysmac device EtherCAT slaves SII information is checked on the slave side If the slave cannot operated based on the SII information writ...

Page 68: ...4 5 4 2 4 Sample Program 4 7 4 3 Control with the Independent Profile 4 10 4 3 1 Inverter Setting 4 10 4 3 2 Profile Allocation 4 10 4 3 3 Control Method 4 10 4 4 Control with the CiA402 Profile 4 12 4 4 1 Inverter Setting 4 12 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 Alloca...

Page 69: ...h OMRON s CJ1W NCx82 Independent profile OMRON s independently developed function object Enables easy control of the inverter CiA402 drive profile A function object that conforms to the CiA402 drive profile PDO free format Objects can be freely allocated including the above objects 4 1 2 Object Mapping PDO Mapping PDO Details 1600 hex to 1604 hex 1st receive PDO Mapping to 5th receive PDO Mapping ...

Page 70: ...1 2 Object Mapping In this unit specify the PDOs that you want to use as follows Sync Manager Sync ManagerAssignment Sync Manager PDO assignment Details 1C12 hex Allocate RxPDO master to slave Up to 5 RxPDOs can be allocated 1C13 hex Allocate TxPDO slave to master Up to 5 TxPDOs can be allocated ...

Page 71: ...ager assignment 4 2 1 Inverter Setting Parameter Description A001 Frequency Reference Selection 1 04 Optional board A002 RUN Command Selection 1 04 Optional board C102 Reset Selection 03 Trip reset only P012 Simple Position Control Selection 00 Simple position control disabled 02 Simple position control enabled 4 2 2 Object Mapping PDO Description 1701 hex 5000 Command 5010 Frequency reference 160...

Page 72: ...ion command 0 MSW n 4 Multi function input Word Meaning m Status m 1 Output frequency monitor m 2 Current position monitor LSW m 3 Current position monitor MSW m 4 Multi function output monitor Bit and data information 7 1 0 Bit Name Meaning 0 Forward stop 1 0 Stop 1 Forward command 1 Reverse stop 1 0 Stop 1 Reverse command 7 Fault reset Resets an error or trip for the unit or inverter Reserved Th...

Page 73: ...pped during reverse operation 1 During forward operation 1 Reverse operation in progress 0 Stopped during forward operation 1 During reverse operation 3 Fault 0 No error or trip occurred for the unit or inverter 1 Error or trip occurred for the unit or inverter 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter 9 Remote 0 Local Operations from Ethe...

Page 74: ...ddresses below Control information master to slave Status information slave to master 4 2 4 Sample Program Configuration Parameter settings Parameter name Set value Remote I O Output Memory Area Selection CIO area First word of remote I O Output memory area 3800 Remote I O Input Memory Area Selection CIO area First word of remote I O Input memory area 3900 Word Address Meaning n CIO 3800 Command B...

Page 75: ...7 3800 01 END 001 0 03 3900 03 30 00 30 00 3900 15 3900 15 MOV 021 D0000 3801 Fault Fault reset Fault occurred During forward operation Option Inverter connection fault Option Inverter connection fault Fault occurred Fault occurred Fault occurred Fault Forward Reverse Fault reset The frequency reference data in D00000 is forwarded to word n 1 1 2 3 4 5 6 7 Frequency setting 0 00 Forward 0 01 Rever...

Page 76: ...OFF and after decelerating and stopping During forward operation word m bit 1 of the remote I O input relay area turns OFF 4 When the Reverse contact is turned ON Reverse stop word n bit 1 of the remote I O output relay area turns ON and reverse operation starts During reverse operation During reverse operation word m bit 1 of the remote I O input relay area turns ON 5 When the Reverse contact is ...

Page 77: ... the profile Control information master to slave Status information slave to master 4 3 1 Inverter Setting Parameter Description A001 Frequency Reference Selection 1 04 Optional boad A002 RUN Command Selection 1 04 Optional boad C102 Reset Selection 03 Trip reset only 4 3 2 Profile Allocation Sync Manager PDO assignment Description 1C12 hex 1701 hex Fixed allocation of the independent profile 1C13...

Page 78: ... 7 3 1 0 Bit Name Meaning 0 During forward operation 0 Stopped during reverse operation 1 During forward operation 1 During reverse operation 0 Stopped during forward operation 1 During reverse operation 3 Fault 0 No error or trip occurred for the unit or inverter 1 No error or trip occurred for the unit or inverter 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for th...

Page 79: ...er by operating the PDOs that allocate the profile Control information master to slave Status information slave to master 4 4 1 Inverter Setting Parameter Description A001 Frequency Reference Selection 1 04 Optional boad A002 RUN Command Selection 1 04 Optional boad H004 Motor Pole Number 1 2 4 6 8 10 Set to match the system C102 Reset Selection 03 Trip reset only 4 4 2 Profile Allocation Sync Man...

Page 80: ...en this bit turns ON Reserved Set 0 Name Meaning vl target velocity Specify the command speed in rpm Setting range maximum speed to maximum speed Specify the operation direction with a symbol When a value is set that exceeds the maximum frequency operation is performed at the maximum frequency 9 7 6 5 4 3 2 1 0 Bit Name Meaning 0 Ready to switch on These bits indicate the state For details refer t...

Page 81: ...the current monitor to TxPDO based on the OMRON independent profile PDO mapping Sync Manager assignment Following from the above allocations the IO format is as follows Control information master to slave 4 5 1 Inverter Setting 4 5 2 Object Mapping Setting example PDO Description 1600 hex 1st receive PDO Mapping 4011 26 F002 Acceleration time setting 1 1601 hex 2nd receive PDO Mapping 4011 28 F003...

Page 82: ...mac Studio Status information slave to master In Sysmac Studio you can edit the PDO map settings for each slave Click Edit PDO Map Settings in the Configurations and Setup of the EtherCAT slave to open the Edit PDO Map Settings pane Word Meaning m Status m 1 Output frequency monitor m 2 Output current monitor 4 5 3 Objects Allocation in Sysmac Studio ...

Page 83: ...o 1st receive PDO Mapping The PDO free format has the restrictions that are described below Up to 2 objects can be allocated to each PDO from 1600 to 1604 hex and 1A00 to 1A04 hex Keep the total size of the allocated objects to within 4 bytes Up to 5 PDOs each can be allocated to 1C12 and 1C13 An object from 5000 to 5999 cannot be allocated to RxPDO master to slave together with an object from 600...

Page 84: ...eration is to confirm that the system operates correctly from the electrical viewpoint Perform trial operation after confirming safety around the devices If an error occurs during trial operation remove the error by referring to Chapter 6 Handling of Errors and Maintenance or the User s Manual for MX2 Series and resume operation after conforming safety How to perform trial operation using a parame...

Page 85: ...4 Inverter Control 4 18 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...

Page 86: ...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 ...

Page 87: ... details on the command codings refer to 5 1 3 Command Coding on page 5 3 Notes The Quick stop active state is not supported If Quick stop is enabled in the Operation enable state transition 9 is executed 5 1 1 State Machine Power turned OFF or reset Not ready to switch on 1 After initialization is completed Start 0 After the main power supply is turned on Switch on disabled Fault Shutdown 2 7 Dis...

Page 88: ...age enabled f Fault oe Operation enabled so Switched on rtso Ready to switch on 5 1 2 State Descriptions State Details Not ready to switch on The power supply is turned ON and initialization is being executed Switch on disabled Initialization has been completed Parameters can be set Ready to switch on Parameters can be set Switched on Parameters can be set Operation enabled Inverter can be control...

Page 89: ...ation The operation mode indicated below is supported vl Velocity mode The operation mode is set in Modes of operation 6060 hex In addition the operation mode is given in Modes of operation display 6061 hex The operation modes supported by the inverter can be checked in Supported drive modes 6502 hex ...

Page 90: ... maximum speed and minimum speed that can be output 6048 hex vl velocity acceleration Sets the acceleration time 6049 hex vl velocity deceleration Sets the deceleration time 6041 hex Statusword Sets the status of the inverter 6043 hex vl velocity demand Gives the command speed 6044 hex vl velocity actual value Gives the output speed vl velocity min max amount 6046 hex vl velocity acceleration 6048...

Page 91: ...ecific area 2 Variables with definitions for this unit Inverter parameters independent profile 6000 to 9FFF hex Device Profile area Variables defined in the inverter s CiA402 drive profile A000 to FFFF hex Reserved area Area reserved for future use 5 4 2 Data Types Data type Code Size Range Boolean BOOL 1 bit 0 to 1 Unsigned8 U8 1 byte 0 to 255 Unsigned16 U16 2 bytes 0 to 65 535 Unsigned32 U32 4 b...

Page 92: ...al number Object name The object name Operating mode Related operating modes Setting range The possible range of settings Unit Physical units Default setting The default value set before shipment Size The object size is given in bytes Access Indicates whether the object is read only or read and write RO Read only WO Write only RW Read and write PDO map Indicates the PDO mapping attribute ...

Page 93: ...possible Bit Name Meaning 0 to 15 Device profile number 402 192 hex Drive profile 16 to 23 Type 01 Inverter 25 to 31 Mode 0 Manufacturer specific 1001 hex Error register Setting range Unit Default setting 0 Size 1 byte U8 Access RO PDO map Not possible Bit Details Bit Details 0 Generic error 4 Communication error 1 Reserved 5 Device profile specific error 2 Reserved 6 Reserved 3 Reserved 7 Manufac...

Page 94: ...ub index 1 This prevents parameter values from being accidentally overwritten The specific value means load A value of 00000001 hex command valid is given when reading In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 64616F6C hex Writing to the EEPROM may take up to 3 seconds This is when all objects are changed There is a limit to the number ...

Page 95: ... 1018 hex Identity object Sub index 0 Number of entries Setting range Unit Default setting 04 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vendor ID Setting range Unit Default setting 00000083 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product code Setting range Unit Default setting 00000053 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revis...

Page 96: ...ea 5 5 2 PDO Mapping Objects Bit 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bit 8 to 5 Sub index of the mapped object Bit 16 to 31 Index of the mapped object 1600 to 1604 hex 1st to 5th receive PDO mapping Sub index 0 Number of objects Setting range Unit Default setting 0 Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st Output Object to be mapped Se...

Page 97: ...pped Setting range Unit Default setting 50100010 hex Size 4 bytes U32 Access RO PDO map Not possible 1A00 to 1A04 hex 1st to 5th transmit PDO mapping Sub index 0 Number of objects Setting range Unit Default setting 2 Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st Input Object to be mapped Setting range Unit Default setting 00000000 hex Size 4 bytes U32 Access RW PDO map Not possible...

Page 98: ...put Object to be mapped Setting range Unit Default setting 51000010 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Setting range Unit Default setting 51100010 hex Size 4 bytes U32 Access RO PDO map Not possible 1BFF hex 512th transmit PDO mapping Sub index 0 Number of objects in this PDO Setting range Unit Default setting 01 hex Size 1 byte U8 Access ...

Page 99: ...U8 Access RO PDO map Not possible 1C12 hex Sync Manager 2 PDO assignment Sub index 0 Number of assigned RxPDOs Setting range Unit Default setting 00 hex Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st PDO Mapping object index of assigned PDO Setting range Unit Default setting 1701 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 2 2nd PDO Mapping object index of assigned...

Page 100: ... RW PDO map Not possible Sub index 3 3rd PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 4th PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 5 5th PDO Mapping object index of assigned PDO Setting range Unit D...

Page 101: ...on of 1BFF hex 512th transmit PDO Mapping This object clears the contents of Diagnosis history 10F3 hex This function can be executed by writing 6C636C65 hex using SDO mailbox communications In the following cases an abort code is returned Writing with CompleteAccess Writing a value other than 6C636C65 hex 5 6 1 Manufacturer Specific Objects 2002 hex Sysmac Error Sub index 0 Number of entries Sett...

Page 102: ...or parameters that exist in the inverter Only parameters that can be set during operation can be mapped to RxPDO 5 6 2 Inverter Parameter Objects 3000 hex Inverter parameter object 1 16 bit access Sub index 0 Number of assigned Setting range Unit Default setting FE hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Inverter register 0000 hex Setting range Unit Default setting Size 2 byt...

Page 103: ...Unit Default setting Size 2 bytes U16 Access RW PDO map Sub index 3 Inverter register FFFE hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map Sub index 4 Inverter register FFFF hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map 4000 hex Inverter parameter object 1 32 bit access Sub index 0 Number of assigned Setting range Unit Default setting FE hex Si...

Page 104: ...1 Inverter register FFFC hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map Sub index 2 Inverter register FFFD hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map Sub index 3 Inverter register FFFE hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map Sub index 4 Inverter register FFFF hex Setting range Unit Default setting Size 2 by...

Page 105: ...top forward 1 During Reverse operation 2 Reserved Not used 3 Fault 1 A fault inverter trip occurred 4 to 6 Reserved Not used 7 Warning 1 A warning occurred 9 Remote 0 Commands other than those from the EtherCAT Communication Unit are enabled 1 Commands from the EtherCAT Communication Unit are enabled 10 to 11 Reserved Not used 12 Frequency matching 0 During Acceleration deceleration or stopped 1 F...

Page 106: ...6000 to 6999 objects mixed 0046 hex Object specified for PDO map is invalid 0047 hex Incorrect data size for specified object 0048 hex PDO mapping exists but size is 0 004F hex Specified access method not supported 0050 hex Specified object mapping is invalid 0060 hex RxPDO object overlap MX2 registers are overlapping 0061 hex Unsupported data type is specified 0070 hex Unsupported mode mode other...

Page 107: ...t setting 0000 hex Size 2 bytes U16 Access RW PDO map Possible Bit Name Details 0 Switch on The state is controlled by these bits Quick stop is not supported Even when the bit 2 is set to 0 it is ignored For details refer to 5 1 3 Command Coding on page 5 3 1 Enable voltage 2 Quick stop 3 Enable operation 4 to 6 Reserved Not used Always keep at 0 7 Fault reset Faults and warnings are cleared when ...

Page 108: ...nge 8000 to 7FFF hex Unit rpm Default setting 0000 hex Size 2 bytes INT16 Access RO PDO map Possible 6044 hex vl velocity actual value Setting range 8000 to 7FFF hex Unit rpm Default setting 0000 hex Size 2 bytes INT16 Access RO PDO map Possible 6046 hex vl velocity min max amount Sub index 0 Number of entries Setting range Unit Command unit Default setting 02 hex Size 1 byte U8 Access RO PDO map ...

Page 109: ...ange Unit Command unit Default setting 02 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Delta speed Setting range 00000000 to FFFFFFFF hex Unit rpm Default setting 00000708 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Delta time Setting range 0000 to FFFF hex Unit s Default setting 000A hex Size 2 bytes U16 Access RW PDO map Not possible 605B hex Shutdown option ...

Page 110: ...ity mode 6061 hex Modes of operation display Setting range 0 to 10 Unit Default setting 02 hex Size 1 byte Int8 Access RO PDO map Possible 6502 hex Supported drive modes Setting range Unit Default setting 00000002 hex Size 4 bytes U32 Access RO PDO map Not possible Bit Supported mode Definition 0 pp Profile Position mode 0 Not supported 1 vl Velocity mode 1 Supported 2 pv Profile Velocity mode 0 N...

Page 111: ...5 CiA402 Drive Profile 5 26 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ...

Page 112: ...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 Handling of Errors and Maintenance ...

Page 113: ...physical layer The link is not established in the physical layer cannot participate in the network Check that the communications cable is connected correctly to the connector Check that the communications cable is wired correctly Check that the Master Unit is operating correctly If using an OMRON Master Unit check the Master Unit mode and the node address setting rotary switches of the Communicati...

Page 114: ...The Sync Manager setting is invalid Change to a correct setting D Process data communications timeout An error occurred in communications Check the items below turn OFF the power supply of the inverter and then restart it Is the cable length OK Max 100 m Is the cable disconnected or loosen Is there too much noise SF Safe operational state An instruction to transition to safe operational state was ...

Page 115: ...oes not change There was a status transition instruction from the host system during operation and a transition was made to a status other than Operational Refer to the Master Unit s manual and check that the host Master Unit is operating correctly Errors related to the network Problem Cause and possible corrections L A IN and L A OUT indicators remain OFF Slaves are not connected to the network C...

Page 116: ...y reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match length of service parameter too high 06070013 hex Data type does not match length of service parameter too low 06090011 hex Subindex does not exist 06090030 hex ...

Page 117: ...Meaning Possible correction 5300 hex Error in the communication unit and inverter connection Check that the Communication Unit is mounted correctly onto the inverter The Communication Unit is faulty Replace the Communication Unit A connection error occurred because a trip reset was performed with the inverter Set the inverter C102 to 3 Trip reset only and turn the power supply OFF and ON again A c...

Page 118: ...PDO Allocate a maximum of 2 objects to a PDO 0042 hex PDO map size exceeded more than 32 bits The total size of the objects mapped to a single PDO exceeds 4 bytes Keep the total object size that is mapped to a PDO to within 4 bytes 0043 hex Incorrect object specification sub index 0 is mapped An object of sub index 0 number of entries etc that cannot be allocated to a PDO was mapped Remove the cor...

Page 119: ...ger is different from the value set during pre operational Transition again from pre operational to safe operational 00E3 hex Sync Manager buffer overlap Sync Manager areas are overlapping Correct the start address 00E4 hex Map size and Sync Manager size are different The assignment size and Sync Manager area size do not match Match the sizes The mapping size is set to 0 Correct the mapping 00E5 h...

Page 120: ...he operational state the data set with RxPDO was not received for a certain time Check that the network is connected correctly Check that RxPDO is being refreshed on the master 001D hex RxPDO setting error An RxPDO Sync Manager setting error was detected Correct the RxPDO mapping setting For the detailed cause check the contents of object 5200 hex 001E hex TxPDO setting error A TxPDO Sync Manager ...

Page 121: ...enerated when an initialization or mode change was performed with the inverter Turn the power supply OFF and ON again The optional board is disconnected Check that the optional board case and inverter are fitted together correctly and check for looseness in the fastening screw The inverter or optional board is faulty If they are fitted together correctly the inverter or optional PCB may be faulty ...

Page 122: ... inverter parameters handled by set in the EtherCAT Communication Unit 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 A 3 Object List A 5 A 3 1 Object List A 5 A 4 Inverter Parameter List A 9 A 5 Sysmac Error Status Codes A 36 Appendices ...

Page 123: ...tem Specifications Model 3G3AX MX2 ECT Power supply Supplied from the inverter Protective structure Open type IP20 Temperature 10 to 50 C Storage temperature 20 to 65 C Humidity 20 to 90 RH with no condensation Vibration 5 9 m s2 0 6 G 10 to 55 Hz Application environment At a maximum altitude of 1 000 m indoors without corrosive gases or dust Weight 100 g max 10 3 10 3 28 2 67 6 27 9 53 1 28 6 Sta...

Page 124: ...ector RJ45 2 shielded type ECAT IN EtherCAT input ECAT OUT EtherCAT output Communications media Category 5 or higher cable with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes 100 m max Process data Fixed PDO mapping PDO mapping Mailbox CoE Emergency messages SDO requests SDO responses and SDO information Distributed clock FreeRun mode async...

Page 125: ...e motor produces output CJ1W NCx82 When the communication cycle is 250 s Data transmitting time Write Approx 27 ms pc Time needed to write read inverter parameters from the PLC CJ1W NCx82 When the communication cycle is 250 s Read Approx 24 ms pc IO data updating cycle 4 ms or 6 ms Varies depending on the number of allocated PDOs Meaning Performance Conditions Starting time Approx 6 to 10 ms Time ...

Page 126: ...efault parameters 00000001 hex 4 bytes U32 RW Not possible 1018 hex Identity object 0 Number of entries 04 hex 1 byte U8 RO Not possible 1 Vendor ID 00000083 hex 4 bytes U32 RO Not possible 2 Product code 00000053 hex 4 bytes U32 RO Not possible 3 Revision number XXXXXXXX hex 4 bytes U32 RO Not possible 4 Serial number 00000000 hex 4 bytes U32 RO Not possible 10F3 hex Diagnosis history 0 Number of...

Page 127: ... mapped 60410010 hex 4 bytes U32 RO Not possible 2 2nd object 2nd Input Object to be mapped 60430010 hex 4 bytes U32 RO Not possible 1B01 hex 258th fixed transmit PDO mapping 0 Number of objects 2 1 byte U8 RO Not possible 1 1st object 1st Input Object to be mapped 51000010 hex 4 bytes U32 RO Not possible 2 2nd object 2nd Input Object to be mapped 51100010 hex 4 bytes U32 RO Not possible 1BFF hex ...

Page 128: ...s U16 RW Not possible 4 Assigned PDO 4 4th PDO Mapping object index of assigned PDO 0000 hex 2 bytes U16 RW Not possible 5 Assigned PDO 5 5th PDO Mapping object index of assigned PDO 0000 hex 2 bytes U16 RW Not possible 1C32 hex SM2 synchronization 0 Number of synchronization parameter 20 hex 1 byte U8 RO Not possible 1 Synchronization type 0000 hex 2 bytes U16 RW Not possible 4 Synchronization ty...

Page 129: ...unit 02 hex 1 byte U8 RO Not possible 1 vl velocity min amount 00000000 to FFFFFFFF hex rpm 0000000F hex 4 bytes U32 RW Not possible 2 vl velocity max amount 00000000 to FFFFFFFF hex rpm 00000708 hex 4 bytes U32 RW Not possible 6048 hex vl velocity acceleration 0 Number of entries Command unit 02 hex 1 byte U8 RO Not possible 1 Delta speed 00000000 to FFFFFFFF hex rpm 00000708 hex 4 bytes U32 RO N...

Page 130: ...Status C RO 0 1 Stop 2 Deceleration 3 Constant speed 4 Acceleration 5 Forward 6 Reverse 7 Forward to reverse 8 Reverse to forward 9 Forward run start 10 Reverse run start Possible TxPDO 3000 hex 07 hex 0006 hex PID Feedback RO 0 to 10000 0 01 Possible TxPDO 3000 hex 12 hex 0011 hex Fault Counter d080 RO 0 to 65530 1 time Possible TxPDO 3000 hex 13 hex 0012 hex Fault Monitor 1 Cause d081 RO Refer t...

Page 131: ...x Fault Monitor 3 ON Time Power ON time at the time of tripping 1 h Possible TxPDO 3000 hex 31 hex 0030 hex Fault Monitor 4 Cause d084 RO Refer to Inverter fault factor list on page A 12 Possible TxPDO 3000 hex 32 hex 0031 hex Fault Monitor 4 Inverter Status Refer to Inverter fault factor list on page A 12 Possible TxPDO 4000 hex 33 hex 0032 hex Fault Monitor 4 Frequency 0 to 100000 0 01 Hz Possib...

Page 132: ...x 0049 hex Fault Monitor 6 Voltage DC input voltage at the time of tripping 0 1 V Possible TxPDO 4000 hex 4B hex 004A hex Fault Monitor 6 RUN Time Total RUN time at the time of tripping 1 h Possible TxPDO 4000 hex 4D hex 004C hex Fault Monitor 6 ON Time Power ON time at the time of tripping 1 h Possible TxPDO 3000 hex 4F hex 004E hex Warning Monitor d090 RO Warning code Possible TxPDO 3009 hex 13 ...

Page 133: ...ion 5 Operates at frequency 0 5 Braking resistor overload protection 6 During startup 6 Overvoltage protection 7 DB active DC injection braking active 7 EEPROM error 8 During overload limit 8 Undervoltage protection 9 Current detector error 10 CPU error 11 External trip 12 USP error 13 Grounding protection 14 Incoming overvoltage protection 15 Abnormal temperature 21 Main circuit error 25 Driver e...

Page 134: ...00E hex Torque Bias Monitor d010 RO 200 to 200 1 Possible TxPDO 3010 hex 31 hex 1010 hex Output Torque Monitor d012 RO 200 to 200 1 Possible TxPDO 3010 hex 32 hex 1011 hex Output Voltage Monitor d013 RO 0 to 6000 0 1 V Possible TxPDO 3010 hex 33 hex 1012 hex Input Power Monitor d014 RO 0 to 9999 0 1 kW Possible TxPDO 4010 hex 34 hex 1013 hex Integrated Power Monitor d015 RO 0 to 9999000 Possible T...

Page 135: ...2 RW 01 Control circuit terminal block 02 Digital operator 03 Modbus communication Modbus RTU 04 Optional board Possible TxPDO 3012 hex 28 hex 1203 hex Base Frequency 1 A003 RW 300 to Maximum Frequency 1 0 1 Hz Possible TxPDO 3012 hex 29 hex 1204 hex Maximum Frequency 1 A004 RW 300 to 4000 10000 0 1 Hz Possible TxPDO 3012 hex 2A hex 1205 hex FV FI Selection A005 RW 00 Switch between FV FI 02 Switc...

Page 136: ...ex 122C hex Multi step Speed Reference 11 A031 RW 0 Starting Frequency to nth Maximum Frequency 0 01 Hz Possible 4012 hex 53 hex 122E hex Multi step Speed Reference 12 A032 RW 0 Starting Frequency to nth Maximum Frequency 0 01 Hz Possible 4012 hex 55 hex 1230 hex Multi step Speed Reference 13 A033 RW 0 Starting Frequency to nth Maximum Frequency 0 01 Hz Possible 4012 hex 57 hex 1232 hex Multi step...

Page 137: ...ncy Upper Limit 1 0 01 Hz Possible TxPDO 4012 hex 78 hex 1253 hex Jump Frequency 1 A063 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 3012 hex 7A hex 1255 hex Jump Frequency Width 1 A064 RW 0 to 1000 10000 0 01 Hz Possible TxPDO 4012 hex 7B hex 1256 hex Jump Frequency 2 A065 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 3012 hex 7D hex 1258 hex Jump Frequency Width 2 A066 RW 0 to 1000 10000 0 01 Hz Po...

Page 138: ...Acceleration Frequency 1 A095 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 4012 hex A0 hex 127B hex 2 step Deceleration Frequency 1 A096 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 3012 hex A2 hex 127D hex Acceleration Pattern Selection A097 RW 00 Linear 01 S shape curve 02 U shape curve 03 Inverted U shape curve 04 EL S shape curve Possible TxPDO 3012 hex A3 hex 127E hex Deceleration Pattern Selec...

Page 139: ...57 RW 0 to 255 0 1 s Possible TxPDO 4012 hex EB hex 12C6 hex VR Start Frequency A161 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 4012 hex ED hex 12C8 hex VR End Frequency A162 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 3012 hex EF hex 12CA hex VR Start Ratio A163 RW 0 to VR End Ratio 1 Possible TxPDO 3012 hex F0 hex 12CB hex VR End Ratio A164 RW VR Start Ratio to 100 1 Possible TxPDO 3012 hex F1 ...

Page 140: ...uring acceleration constant speed accelerated during regeneration Possible TxPDO 3013 hex 3E hex 1317 hex Overload Limit 1 Level b022 RW 200 to 2000 0 01 Possible TxPDO 3013 hex 3F hex 1318 hex Overload Limit 1 Parameter b023 RW 1 to 30000 0 1 s Possible TxPDO 3013 hex 40 hex 1319 hex Overload Limit 1 Selection 2 b024 RW 00 Disabled 01 Enabled during acceleration constant speed 02 Enabled during c...

Page 141: ...TxPDO 3013 hex 55 hex 132E hex Torque Limit 4 four quadrant mode forward regeneration b044 RW 0 to 200 255 no 1 Possible TxPDO 3013 hex 56 hex 132F hex Torque LADSTOP Selection b045 RW 00 Disabled 01 Enabled Possible TxPDO 3013 hex 57 hex 1330 hex Reverse Rotation Prevention Selection b046 RW 00 Disabled 01 Enabled Possible TxPDO 3013 hex 5A hex 1333 hex Heavy Load Light Load Selection b049 RW 00 ...

Page 142: ...ull in restart Possible TxPDO 3013 hex 83 hex 135C hex Automatic Carrier Reduction b089 RW 00 Disabled 01 Enabled depends on the current 02 Enabled depends on the fin temperature Possible TxPDO 3013 hex 84 hex 135D hex Usage Rate of Regenerative Braking b090 RW 0 to 1000 0 1 Possible TxPDO 3013 hex 85 hex 135E hex Stop Selection b091 RW 00 Deceleration stop 01 Free run stop Possible TxPDO 3013 hex...

Page 143: ...sible TxPDO 3013 hex A7 hex 1380 hex Brake Release Frequency b125 RW 0 to 40000 0 01 Hz Possible TxPDO 3013 hex A8 hex 1381 hex Brake Release Current b126 RW 0 to 20000 0 01 Possible TxPDO 3013 hex A9 hex 1382 hex Break ON Frequency b127 RW 0 to 40000 0 01 Hz Possible TxPDO 3013 hex AC hex 1385 hex Overvoltage Suppression Function Selection During Deceleration b130 RW 00 Disabled 01 DC voltage kep...

Page 144: ...ee run stop 04 Deceleration stop Possible 3013 hex D5 hex 13AE hex Inverter Mode Selection b171 RW 00 Selection disabled 01 Induction motor 02 High frequency induction motor Possible TxPDO 3013 hex DE hex 13B7 hex Perform Initialization Mode Selection Execution b180 RW 00 Function disabled 01 Initialization Mode Selection Execution Possible TxPDO Index Sub index Register No Function name Parameter...

Page 145: ...nfirmation 46 LAC LAD cancel 47 PCLR Position deviation clear 50 ADD Frequency addition 51 F TM Forced terminal block 52 ATR Torque reference input permission 53 KHC Integrated power clear 56 Reserved 57 Reserved 58 Reserved 59 Reserved 60 Reserved 61 Reserved 62 Reserved 65 AHD Analog command held 66 CP1 Position command selection 1 67 CP2 Position command selection 2 68 CP3 Position command sele...

Page 146: ...que Undertorque 09 UV Signal during undervoltage 10 TRQ During torque limit 11 RNT RUN time over 12 ONT Power on time over 13 THM Thermal warning 19 BRK Brake release 20 BER Brake error 21 ZS 0Hz 22 DSE Excessive speed deviation 23 POK Position ready 24 FA4 Set frequency exceeded 2 25 FA5 Meet designated frequency 2 during accel decel 26 OL2 Overload warning 2 27 FVdc Analog FV disconnection detec...

Page 147: ...arning 40 WAF Cooling fan life warning signal 41 FR Starting contact signal 42 OHF Fin overheat warning 43 LOC Low current signal 44 Reserved 45 Reserved 46 Reserved 50 IRDY Operation ready 51 FWR During forward operation 52 RVR During reverse operation 53 MJA Fatal fault signal 54 WCFV Window comparator FV 55 WCFI Window comparator FI 58 FREF Frequency command source 59 REF RUN command source 60 ...

Page 148: ...5 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 4014 hex 5A hex 1431 hex Arrival Frequency During Deceleration 2 C046 RW 0 to 40000 100000 0 01 Hz Possible TxPDO 3014 hex 5C hex 1433 hex Pulse Train Output Coefficient C047 RW 0001 to 9999 Possible 3014 hex 61 hex 1438 hex Feedback Comparison Signal Off Level C052 RW 0 to 1000 0 1 Possible TxPDO 3014 hex 62 hex 1439 hex Feedback Comparison Signal On ...

Page 149: ...ex 90 hex 1467 hex Co inverter Communication Ending Station Number C099 RW 1 to 8 Possible TxPDO 3014 hex 91 hex 1468 hex Co inverter Communication Starting Selection C100 RW 00 485 terminals start 01 Always started Possible TxPDO 3014 hex 92 hex 1469 hex UP DWN Storage Selection C101 RW 00 Do not store frequency data 01 Store frequency data Possible TxPDO 3014 hex 93 hex 146A hex Reset selection ...

Page 150: ...perator Selection C150 RW 00 AND 01 OR 02 XOR Possible TxPDO 3014 hex CD hex 14A4 hex Input Terminal 1 Response Time C160 RW 0 to 200 1 Possible TxPDO 3014 hex CE hex 14A5 hex Input Terminal 2 Response Time C161 RW 0 to 200 1 Possible TxPDO 3014 hex CF hex 14A6 hex Input Terminal 3 Response Time C162 RW 0 to 200 1 Possible TxPDO 3014 hex D0 hex 14A7 hex Input Terminal 4 Response Time C163 R W 0 to...

Page 151: ...00 Frequency setting including PID 01 Feedback pulse Enabled only when motor 1 control is selected 02 Do not set Possible TxPDO 3016 hex 31 hex 1604 hex Feedback Pulse Train Input Type Selection P004 RW 00 Single phase pulse input 01 2 phase pulse 1 02 2 phase pulse 2 03 Single phase pulse train direction Possible TxPDO 3016 hex 38 hex 160B hex Number of Encoder Pulses P011 RW 32 to 1024 1 Possibl...

Page 152: ...1 Possible 4016 hex 75 hex 1648 hex Multi step Position Command 5 P065 RW Position range setting reverse to position range v forward Displays MSB 4 digits including 1 Possible 4016 hex 77 hex 164A hex Multi step Position Command 6 P066 RW Position range setting reverse to position range setting forward Displays MSB 4 digits including 1 Possible 4016 hex 79 hex 164C hex Multi step Position Command ...

Page 153: ...unication 4 P150 RW 1 to 247 Possible 3016 hex C6 hex 1699 hex Recipient Register of All Stations in Co inverter Communication 4 P151 RW 0000 to FFFF hex Possible 3016 hex C7 hex 169A hex Sender Register of All Stations in Co inverter Communication 4 P152 RW 0000 to FFFF hex Possible 3016 hex C8 hex 169B hex Recipient Station Number of All Stations in Co inverter Communication 5 P153 RW 1 to 247 P...

Page 154: ...22 hex 46 hex 2201 hex Frequency Reference Selection 2 A201 RW 00 Volume 01 Control circuit terminal block 02 Digital Operator 03 Modbus communication Modbus RTU 04 Optional boad 06 Pulse train frequency 07 Do not set 10 Operation function output Possible TxPDO 3022 hex 47 hex 2202 hex RUN Command Selection 2 A202 RW 01 Control circuit terminal block 02 Digital operator 03 Modbus communication Mod...

Page 155: ...Time 2 A292 RW 1 to 360000 0 01 s Possible 4022 hex B6 hex 2271 hex 2nd Deceleration Time 2 A293 RW 1 to 360000 0 01 s Possible 3022 hex B8 hex 2273 hex 2 step Acceleration Decelerat ion Selection 2 A294 RW 00 Switched by 2 word terminal 01 Switched by setting 02 Switched only when switching forward reverse Possible TxPDO 4022 hex B9 hex 2274 hex 2 step Acceleration Frequency 2 A295 RW 0 to 40000 ...

Page 156: ...xPDO 3025 hex 65 hex 251A hex Motor 2 Parameter L H222 RW 1 to 65530 0 01 mH Possible TxPDO 3025 hex 67 hex 251C hex Motor 2 Parameter Io H223 RW 1 to 65530 0 01 A Possible TxPDO 4025 hex 68 hex 251D hex Motor 2 Parameter J H224 RW 1 to 9999000 0 01 Possible TxPDO 3025 hex 70 hex 2525 hex Motor 2 Parameter R1 Auto tuning Data H230 RW 1 to 65530 0 001 Possible TxPDO 3025 hex 72 hex 2527 hex Motor 2...

Page 157: ...in non volatile mem ory Non volatile memory failure 04BA0000 hex Connection Error between Inverter and Communica tions Unit An error occurred in the connection between the Inverter and the EtherCAT Commu nications Unit for the Inverter Contact failure between the Inverter and the EtherCAT Communications Unit for the Inverter Inverter trip was reset The Inverter was initialized or the mode was chan...

Page 158: ...Controller Error Descriptions Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on the source of the error Detection timing Tells when the error is detected Error attributes Level Tells the level of influence on con trol 1 Recovery Gives the recov ery method ...

Page 159: ...n Inverter and Communications Unit Event code 04BA0000 hex Meaning An error occurred in the connection between the Inverter and the EtherCAT Communications Unit for the Inverter Source EtherCAT Master Function Module Source details Slave Detection timing Continuously Error attributes Level Minor fault Recovery Error reset after cycling slave power Log category System Effects User program Continues...

Page 160: ...rror reset with slave object 5000 hex or a fault reset with 6040 hex Depends on the nature of the error Attached information None Precautions Remarks None Event name Inverter Trip Event code 04BC0000 hex Meaning An Inverter trip was detected Source EtherCAT Master Function Module Source details Slave Detection timing Continuously Error attributes Level Minor fault Recovery Error reset after resett...

Page 161: ... resetting slave errors Log category System Effects User program Continues Operation The slave can enter the Pre operational state Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The PDO mapping or SyncManager settings are incorrect Read and check the ALStatus code and the ...

Page 162: ...Index 1 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT I Index ...

Page 163: ... 7 EtherCAT telegram 1 4 F Fixed PDO Mapping 3 5 I Independent profile 4 10 Independent Profile Objects 5 19 Inverter Parameter Objects 5 17 M Manufacturer Specific Objects 5 16 N Node address 2 4 O Object Dictionary 5 6 Object List A 5 P Parameter list A 9 PDO 3 4 PDO free format 4 14 4 17 PDO mapping 3 4 PDO Mapping Objects 5 11 Position Control Unit 4 4 Process data objects 3 4 R RxPDO 4 2 S SD...

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Page 165: ... S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Tokyo JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yi...

Page 166: ... systems for the shipment of materials almost anywhere in the world Purchasing management order record and tracking of shipments To access the product click on the green button Product Code Reference Product link Motion Control Module 2 axis positioner EtherCAT CJ1 and CJ2 332458 CJ1W NC281 Buy on EAN Frequency converters 2 relay outputs Option card isolated 329799 DO A3 Buy on EAN Drives Optional...

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