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3G3AX-(MX2,RX)-ECT Manual Datasheet by Omron Automation and Safety
OITIROn
m
always m control
Inverter
MX2/RX Series
EtherCAT® Communication Unit
User’s Manual
I574-E1-04
3G3AX-MX2-ECT
3G3AX-RX-ECT
OMRON, 2012
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-
sion of OMRON.
No patent liability is 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 damages resulting from the use of the informa-
tion contained in this publication.
1
Introduction
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Introduction
Thank you for choosing the EtherCAT Communication Unit (Model: 3G3AX-MX2-ECT/
3G3AX-RX-ECT). This User's Manual (hereinafter called this manual) describes the installation and
wiring of the 3G3AX-MX2-ECT/3G3AX-RX-ECT and parameter setting methods which are required for
the operation, as well as troubleshooting and inspection methods.
This manual should be delivered to 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 engi-
neers or the equivalent), and also in charge of:
• Introducing the control equipment
• Designing the control system
• Installing and/or connecting the control equipment
• Field management
Intended Readers
Terms and Conditions Agreement
2EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Terms and Conditions Agreement
Please read and understand this catalog before purchasing the products. Please consult your OMRON
representative if you have any questions or comments.
zExclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
zLimitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
zBuyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Read and understand this Manual
Warranty, Limitations of Liability
Warranties
Limitation on Liability; Etc
3
Terms and Conditions Agreement
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica-
tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING 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 PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor-
mance is subject to the Omron’s Warranty and Limitations of Liability.
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Application Considerations
Suitability of Use
Programmable Products
Disclaimers
Performance Data
Change in Specifications
Errors and Omissions
AA @AO
Safety Precautions
4EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Safety Precautions
In this manual, the following precautions and signal words are used to provide information to ensure the
safe use of the EtherCAT Communication Unit (Model: 3G3AX-MX2-ECT/3G3AX-RX-ECT).
The information provided here is vital to safety. Strictly observe the precautions provided.
The precautions and symbols are as follows.
Indications and Meanings of Safety Information
Meanings of Signal Words
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or may result in serious injury or death. Additionally
there may be significant property damage.
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or in property damage.
Example of Symbols
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol 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 shown to the left indicates "typical compulsory items".
WARNING
Caution
5
Safety Precautions
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Do not remove the terminal block cover or the EtherCAT Communication Unit while the power is being sup-
plied, and within 10 minutes after the power 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 injury.
WARNING
Caution
Precautions for Safe Use
6EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Precautions for Safe Use
Do not store or use the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to ambient temperature exceeding the specifications.
• Locations subject to relative humidity exceeding the specifications.
• Locations subject to condensation due to severe temperature fluctuations.
• Locations subject to corrosive or flammable gases.
• Locations subject to exposure to combustibles.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to direct vibration or shock.
• Do not drop or apply strong impact on the product. Doing so may result in damaged parts or malfunc-
tion.
• If you are transporting the product installed to the 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 for the
3G3AX-MX2-ECT, the unit fastening screws are tightened to the specified torque.
• Provide an appropriate stopping device to secure safety. In particular, note that if you enable the set-
ting to continue operation in case of communication error, the Inverter will not stop when an error
occurs and equipment damage may result.
• Take sufficient shielding measures when using the product in the following locations. Not doing so
may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong magnetic fields.
Locations close to power lines.
• During installation, wiring, and network setting on the Communication Unit, please refer to applicable
sections of the manual to ensure the correct connection and configuration procedures.
• When removing the Communication Unit, do not pull on the flat cable.
• When mounting the Communication Unit, be sure that the flat cable is not pinched.
• Be careful about burrs of the break-outs on the inverter front cover when mounting the Communica-
tion Unit.
Installation and Storage
Transportation, Installation, and Wiring
7
Precautions for Safe Use
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• Be sure to confirm the permissible range of motors and machines before operation because the
inverter speed can be changed easily from low to high.
• Before starting the CPU Unit and inverter programs, check the program contents as well as the inter-
actions between these programs.
• Be sure to confirm safety before conducting maintenance, inspection or parts replacement.
Operation and Adjustment
Maintenance and Inspection
Precautions for Correct Use
8EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Precautions for Correct Use
Follow the inverter mounting direction restrictions.
If this EtherCAT Communication Unit is installed, the inverter Modbus-RTU communication becomes
disabled.
Comply with the local ordinance and regulations when disposing of the product.
• After installing the EtherCAT Communication Unit (Model: 3G3AX-MX2-ECT) to the inverter, warning
labels are pasted on the product as shown in the following illustration.
• For the 3G3AX-RX-ECT, warning labels are affixed on the inverter.
• Be sure to follow the instructions.
Note The overall appearance varies depending on the inverter capacity.
Installation
Modbus-RTU communication
Product Disposal
Warning Label Location
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
200V
3PHASE
A WARNING Risk aleleclric shock A fiflfi 7 (m - ulmfihn‘b'} zr.
'Rqsd manua‘ before ms|ang 0 Sim}. i6mfilflti1‘uifll!§fiifi(fiéu.
A dim 10 minutes (or clpacilur mums mwm-nnmnwmauymam
Ifter dxsconnectmx pom suw‘y mm'rzu.
,— IN —. rOUT-l ,— IN —. rOUT-l
9
Precautions for Correct Use
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The English warning label is affixed when the 3G3AX-MX2-ECT for MX2-series Inverters is shipped
from the factory.
Affix the Japanese warning label included with the product on it if necessary.
The following restrictions apply to the inverters to which the Communication Unit can be connected.
The EtherCAT Communication Unit can be connected to inverters with a unit version of 1.1 or later.
The EtherCAT Communication Unit can be connected to a 3G3RX-V1-series Inverter (unit version of
2.0 or later).
Note The unit version of the inverter can be checked on the nameplate of the inverter.
Warning Description
Inverter Version
||'|'|
‘
EtherCA'IE“
Conformance tested
Applicable Standards
10 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Applicable Standards
Note To conform to EMC Directives, the product must be installed under the conditions described in "2-5-4
Wiring Conforming to EMC Directives".
This product is designed not to interfere with the safety function (STO) of the inverter.
The 3G3AX-MX2-ECT is not a safety device and does not implement any safety protocols.
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 Conformance Test
11
Trademarks
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Trademarks
• EtherCAT is a registered trademark of Beckhoff Automation GmbH (Germany). EtherCAT technology
is protected by patents.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff 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 and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
• CX-One is a registered trademark of OMRON's FA Integrated Tool Package.
• Other system names and product names that appear in this manual are the trademarks or registered
trademarks of the relevant companies.
mm WAX MXZ—ECI' mm MAX-“Kim
MT m Unlt IEE "“1!”an ml In! |ll|ll E mm
=®- :a‘mm c E =®u mm c E
|I1I WEI
W m .m m
DMRDN WWIIlan MADE IN JAPAN DMRON “Willa" MADE IN JAPAN
Items to Check After Unpacking
12 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Items to Check After Unpacking
On delivery, be sure to check that the delivered product is the EtherCAT Communication Unit (Model:
3G3AX-MX2-ECT/3G3AX-RX-ECT) model that you ordered. In case that you find any problems 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.
Checking the Product
Checking the Nameplate
Checking the Model
3G3AX-MX2-ECT
EtherCAT Communication Unit
For MX2 series only
3G3AX-RX-ECT
EtherCAT Communication Unit
For RX-V1 series only
E
13
Items to Check After Unpacking
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The following accessories are provided with the EtherCAT Communication Unit (Model:
3G3AX-MX2-ECT/3G3AX-RX-ECT).
Checking the Accessories
EtherCAT Communication Unit Instruction Sheet Warning Label (Japa-
nese)
OMRON
EtherCAT Communications Unit
3G3AX-MX2-ECT
(For MX2 Series)
Thank you for purchasing an OMRON product.
Please check that this is the one you intended and
read this manual carefully before use.
Always keep this manual in a safe and handy place.
Instruction Sheet
Catalog Type
Catalog Number
3G3AX-MX2-ECT/3G3AX-RX-ECT
User's Manual I581
OMRON Corporation
©OMRON Corporation 2012 All Right Reserved.
EtherCAT Communication Unit Instruction Sheet Fastening screws for the conver-
sion board (M3 x 5 mm)
OMRON
EtherCAT Communications Unit
3G3AX-RX-ECT
(For RX-V1 Series)
Thank you for purchasing an OMRON product.
Please check that this is the one you intended and
read this manual carefully before use.
Always keep this manual in a safe and handy place.
Instruction Sheet
Catalog Type
Catalog Number
3G3AX-MX2-ECT/3G3AX-RX-ECT
User's Manual I581
OMRON Corporation
©OMRON Corporation 2012 All Right Reserved.
Conversion board
Revision History
14 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Revision History
A manual revision code appears as a suffix to the catalog number located at the bottom right corner 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.
03 August 2012 Added information on 3G3AX-RX-ECT
04 October 2013 Limitation of Functional Safety (Safety function of MX2) is changed.
Man.No. I574-E1-04
Revision code
15
Related Manuals
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Related Manuals
When operating this product, it is necessary to have information about the device you are connecting.
Please see the manuals below for related product information.
Note Refer to the user’s manual of the Inverter for information on Inverter operation.
Note When using the Master Unit other than as specified above, refer to the manual (operation manual) for
that Master Unit.
Inverter manual
Model/Name Manual number
Multi-function Compact Inverter MX2 SERIES USER’S MANUAL I585
High-function General-purpose Inverter RX-V1 SERIES USER'S MANUAL I578
EtherCAT Master manual
Model/Name Manual number
Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERA-
TION MANUAL W487
NJ-series CPU Unit Software User's Manual W501
NJ-series CPU Unit Built-in EtherCAT® Port User’s Manual W505
Manual Configuration
16 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Manual Configuration
This User's Manual consists of sections listed below.
Understanding the following configuration ensures more effective use of the product.
Overview
Section 1 Section 1 EtherCAT Network This section explains the overview and features of the EtherCAT Com-
munication Unit and the EtherCAT network.
Section 2 Section 2 Starting a Sample Sys-
tem This section explains information such as the mounting, wiring and set-
ting methods for the EtherCAT Communication Unit.
Section 3 Section 3 Common Slave Specifi-
cations This section explains the common slave specifications during EtherCAT
communication, and about the PDOs and SDOs.
Section 4 Section 4 Inverter Control This section describes the profiles that are used to control inverters.
Section 5 Section 5 CiA402 Drive Profile This section explains about the CiA402 drive profile.
Section 6 Section 6 Handling of Errors and
Maintenance This section explains how to handle errors that occur in the EtherCAT
Communication Unit.
Appendices This section explains the specifications of the EtherCAT Communication
Unit as well as objects and inverter parameters handled by/set in the
EtherCAT Communication Unit.
9W3
+
+
17
Manual Structure
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Manual Structure
The following page structure and symbol icons are used in this manual.
Note The above page is only a sample for illustrative purposes. It is not the actual content of the manual.
Page Structure and Symbol Icons
3 Network Startup
3 - 2 DeviceNet Communications Unit User’s Manual (I581-E1)
3-1 Inverter Configuration
To use the DeviceNet Communications Unit, you need to configure node addresses and the necessary
Remote I/O and other functions
The configuration of the DeviceNet Communications Unit is all done through parameters built into the
MX2-series inverter.
This section describes the inverter parameters that must be configured to use the DeviceNet
Communications Unit.
Because the settings of the DeviceNet Communications Unit vary depending on the type of the Remote
I/O function to be used, information in this section is described for each of the following three types of
Remote I/O.
Precautions for Correct UsePrecautions for Correct Use
For details about the Remote I/O function, refer to Section 4 Remote I/O on page 4-1.
Parameter configuration is required if you are installing the DeviceNet Communications Unit
on an MX2-series inverter for the first time.
After replacing the DeviceNet Communications Unit with new one, the inverter parameters is
retained and thus parameter configuration is not required.
Normally, Inverter operation can be controlled using the Basic Speed I/O or Extended Speed I/O function
included as standard in DeviceNet.
To set the acceleration/deceleration time, however, you need to use OMRON's unique Extended Speed
and Acceleration Control function.
This section explains how to configure these three types of Remote I/O.
Inverter parameters can be configured using the Digital Operator, CX-Drive, or a DeviceNet EDS file (in
CX-Integrator).
Section Name Applicable Remote I/O Outline
3-1-1 Basic and Extended
Speed I/O Settings Basic Speed I/O
Extended Speed I/O
Extended Speed and Acceleration
Control
Types of Remote I/O that support
general sp eed control
applications.
3-1-2 Remote I/O Settings
Using Torque
Reference
Extended Speed and Torque Control
Extended Control I/O
Extended Control I/O and Multi function
I/O Monitor
Types of Remote I/O that include
the torque reference and other
interfaces related to torque
control. These Remote I/O types
can be configured even if the
torque reference is not used.
3-1-3 Special I/O and
Flexible Format
Settings
Special I/O
Flexible Format
Types of Remote I/O that utilize
Modbus communications,
allowing flexible function
selection.
3-1-1 Basic and Extended Speed I/O Settings
Level 2 heading
Level 1 heading
Manual Name
Note,
Supplementary
Information,
Reference Target
A note, supplementary
information, reference
target, etc. are provided
with difference icons. Level 3 heading
Manual Structure
18 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Note The above page is only a sample for illustrative purposes. It is not the actual content of the manual.
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Special Information
3 - 17
3 Network Startup
DeviceNet Communications Unit User’s Manual (I581-E1)
3-2 Network Configuration (Scan List Configuration)
3
3-2-2 Fixed Allocation Steps
The actual fixed allocation steps for the DeviceNet Communications Unit are shown below.
1
Power on the inverter(s) first and configure the following settings according to 3-1 Inverter
Configuration on page 3-2.
Set the node address. According to the fixed allocation node address setting example above,
set inverter parameter P192 (DeviceNet Node Address).
Set the type of Remote I/O. Set inverter parameter P046 (Assembly Instance No.) that best
suits your application.
Precautions for Correct UsePrecautions for Correct Use
Be sure to set the type of Remote I/O at this point. The number of words occupied by the
DeviceNet Communications Unit varies depending on the set Remote I/O type. Unless the
Remote I/O type is set correctly, automatic network configuration cannot be completed
successfully.
To connect additional DeviceNet Slaves, set the node addresses for them simultaneously at
this point.
2
Turn off and then on the inverter(s) again. Then, power on all network components (Master Unit,
other Slaves, and Communications power supply).
3
Once the network is restarted with the new settings, check that the DeviceNet Communications
Unit's LED indicators indicate normal operation.
Following the steps below to configure the Master Unit causes both the MS (Module Status) and
NS (Network Status) LED indicators to light green.
If the LED indicators indicate a different pattern, please refer to Section 6 Troubleshooting on
page 6-1 to take corrective action.
(1) Change the CS/CJ-series CPU Unit to Program mode.
(2) Set the Master Function Enable switch (Master Unit's allocation relay area word n, bit
06) from OFF to ON.
Note Skip this step if the Master function is already enabled.
(3) Set the Scan List Clear switch (Master Unit's allocation relay area word n, bit 01)
from OFF to ON.
Note Skip this step if the Scan List is already enabled.
(4) Select a fixed allocation area between 1 and 3 (Master Unit's allocation relay area
word n, bit 08 to 10).
(5) Set the Scan List Enable switch (Master Unit's allocation relay area word n, bit 00)
from OFF to ON to enable the Scan List.
04 word 3204 This DeviceNet Communications
Unit [Node address 4]
Extended Control I/O setting:
Occupies 4 output words
word 3304 This DeviceNet Communications
Unit [Node address 4]
Extended Control I/O setting:
Occupies 4 input words
word 3305word 320505
word 3306word 320606
word 3307word 320707
08 word 3208 – (Not allocatable) word 3308 16-point Input Unit
[Node Address 8]
09 word 3209 ··· word 3309 ···
Fixed
Allocations
Address
Output Allocation Relay Area Input Allocation Relay Area
Allocation
Relay 15 ~ 0 Allocation
Relay 15 ~ 0
Level 2 heading
Section Number of
Level 1 heading
Level 3 heading
Shows which section the
content of the current
page belongs to.
Shows which sub-section
the content of the current
page belongs to.
Shows which paragraph
the content of the
current page belongs to.
Operation Steps
Describes the
operation steps.
19
Sections in this Manual
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1
2
3
4
5
6
A
I
1
2
3
4
5
6
A
I
EtherCAT Network
Starting a Sample Program
Common Slave Specifications
Inverter Control
CiA402 Drive Profile
Handling of Errors and Maintenance
Appendices
Index
Sections in this Manual
20 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Terms and Conditions Agreement...........................................................................2
Safety Precautions....................................................................................................4
Precautions for Safe Use..........................................................................................6
Precautions for Correct Use.....................................................................................8
Applicable Standards..............................................................................................10
Trademarks ..............................................................................................................11
Items to Check After Unpacking ............................................................................12
Revision History......................................................................................................14
Related Manuals......................................................................................................15
Manual Configuration .............................................................................................16
Manual Structure.....................................................................................................17
Sections in this Manual ..........................................................................................20
Section 1 EtherCAT Network
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
Section 2 Starting a Sample System
2-1 Part Names and Settings ........................................................................................................ 2-3
2-1-1 Part Names .................................................................................................................................2-3
2-1-2 Status Indicator Names...............................................................................................................2-4
2-1-3 Rotary Switches for Node Address Setting.................................................................................2-5
2-1-4 Communications Connector........................................................................................................2-6
2-1-5 Recommended Products.............................................................................................................2-7
2-1-6 Connection between Communications Cables and Connectors.................................................2-8
2-2 Basic Usage Procedures and Configuration Example......................................................... 2-9
2-2-1 Basic Usage Procedures.............................................................................................................2-9
2-2-2 System Configuration Example................................................................................................. 2-10
2-3 CJ1W-NCx82 Master Setting................................................................................................. 2-12
2-3-1 Mounting the CJ1W-NCx82 ......................................................................................................2-12
21
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
2-3-2 CJ1W-NCx82 Setting................................................................................................................ 2-12
2-4 NJ501-1x00 Master Setting ................................................................................................... 2-13
2-4-1 Mounting the NJ501-1x00......................................................................................................... 2-13
2-4-2 NJ501-1x00 Setting .................................................................................................................. 2-13
2-5 Mounting and Wiring for the EtherCAT Communication Unit ........................................... 2-14
2-5-1 Mounting the EtherCAT Communication Unit on the MX2 Inverter .......................................... 2-14
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter ....................................... 2-17
2-5-3 Wiring the EtherCAT Communication Unit................................................................................ 2-20
2-5-4 Wiring Conforming to EMC Directives ...................................................................................... 2-22
2-5-5 Node Address Settings for the EtherCAT Communication Unit................................................ 2-23
2-6 MX2/RX-V1 Inverter Settings ................................................................................................ 2-24
2-6-1 Frequency Reference/RUN Command Setting......................................................................... 2-24
2-6-2 Reset Selection Setting ............................................................................................................ 2-24
2-7 Communication with CJ1W-NCx82 Master ......................................................................... 2-25
2-7-1 Starting the System................................................................................................................... 2-25
2-7-2 Network Setup .......................................................................................................................... 2-25
2-7-3 Checking the Master Unit ......................................................................................................... 2-25
2-7-4 Checking the Inverter and EtherCAT Communication Unit....................................................... 2-26
2-7-5 Checking the Operation............................................................................................................ 2-26
2-8 Communication with NJ501-1x00 Master............................................................................ 2-27
2-8-1 Starting the System................................................................................................................... 2-27
2-8-2 Network Setup .......................................................................................................................... 2-27
2-8-3 Checking the NJ501-1x00 Master ............................................................................................ 2-31
2-8-4 Checking the Inverter and EtherCAT Communication Unit....................................................... 2-31
2-8-5 Checking the Operation............................................................................................................ 2-31
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 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
Section 4 Inverter Control
4-1 Outline ...................................................................................................................................... 4-2
4-1-1 Function Object Selection........................................................................................................... 4-2
4-1-2 Function Object Mapping............................................................................................................ 4-3
4-2 Control with the Position Control Unit .................................................................................. 4-5
4-2-1 Inverter Setting ........................................................................................................................... 4-5
4-2-2 Function Object Mapping............................................................................................................ 4-5
4-2-3 Control Method........................................................................................................................... 4-6
4-2-4 Sample Program......................................................................................................................... 4-9
4-3 Control with the Independent Profile................................................................................... 4-12
4-3-1 Inverter Setting ......................................................................................................................... 4-12
22 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
4-3-2 Profile Allocation .......................................................................................................................4-12
4-3-3 Control Method..........................................................................................................................4-12
4-4 Control with the CiA402 Profile............................................................................................ 4-14
4-4-1 Inverter Setting..........................................................................................................................4-14
4-4-2 Profile Allocation .......................................................................................................................4-14
4-4-3 Control Method..........................................................................................................................4-15
4-5 Control with the PDO Free Format....................................................................................... 4-17
4-5-1 Inverter Setting..........................................................................................................................4-17
4-5-2 Object Mapping.........................................................................................................................4-17
4-5-3 Objects Allocation in Sysmac Studio.........................................................................................4-18
4-5-4 Restrictions ...............................................................................................................................4-20
4-6 Trial operation via EtherCAT Communication Unit ............................................................ 4-21
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................................................................................................................................5-4
5-2 Modes of Operation................................................................................................................. 5-5
5-3 Velocity Mode........................................................................................................................... 5-6
5-4 Object Dictionary..................................................................................................................... 5-7
5-4-1 Object Dictionary Area ................................................................................................................5-7
5-4-2 Data Types..................................................................................................................................5-7
5-4-3 Object Description Format ..........................................................................................................5-8
5-5 CoE Communications Area .................................................................................................... 5-9
5-5-1 Communication Objects..............................................................................................................5-9
5-5-2 PDO Mapping Objects ..............................................................................................................5-12
5-5-3 Sync Manager Communication Objects....................................................................................5-14
5-6 Manufacturer Specific Area .................................................................................................. 5-17
5-6-1 Manufacturer Specific Objects .................................................................................................. 5-17
5-6-2 Inverter Parameter Objects.......................................................................................................5-18
5-6-3 Independent Profile Objects......................................................................................................5-20
5-7 Device Profile area ................................................................................................................ 5-23
5-7-1 Drive Profile Objects .................................................................................................................5-23
Section 6 Handling of Errors and Maintenance
6-1 Communication Line Errors ................................................................................................... 6-2
6-1-1 Status Indicator Explanations 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
23
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
Appendices
A-1 Specifications ..........................................................................................................................A-2
A-1-1 Appearance and Dimensions......................................................................................................A-2
A-1-2 Common Specifications..............................................................................................................A-3
A-1-3 EtherCAT Communications Specifications .................................................................................A-4
A-2 Communications Response Time..........................................................................................A-5
A-3 Object List................................................................................................................................A-6
A-3-1 Object List...................................................................................................................................A-6
A-4 MX2 Series Parameter List ...................................................................................................A-10
A-5 RX-V1 Series Parameter List ................................................................................................A-34
A-6 Sysmac Error Status Codes .................................................................................................A-61
A-6-1 Error Table ................................................................................................................................A-61
A-6-2 Error Descriptions.....................................................................................................................A-62
Index
24 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
1 - 1
1
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section explains the overview and features of the EtherCAT Communication Unit
and the EtherCAT network.
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
1 EtherCAT Network
1 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1-1 Overview of the EtherCAT Communi-
cation Unit
The EtherCAT Communication Unit is an interface unit. When installed to an MX2-series multi-function
compact inverter or RX-V1-series high-function general-purpose inverter, it provides support for
100-Mbps EtherCAT.
Support for EtherCAT enables operating and stopping with high-speed communication, monitoring the
operation status, and changing the various set values, and provides support for a wide range of appli-
cations.
The EtherCAT Communication Unit has the features shown below.
As a Sysmac Device, you can use the MX2 and RX-V1 Series EtherCAT Communication Unit together
with the NJ-series Machine Automation Controller and the Sysmac Studio Automation Software to
achieve optimum functionality and ease of operation.
* Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with unified
communications specifications and user interface specifications.
When the CJ1W-NCx82 Master Unit, or Machine Automation Controller 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 profile (CiA402) enables common control that does not vary
with the manufacturer.
When a communication master that supports the process data mapping is used, user can assign the
inverter parameters to the process data.
This product can be used when the communication master is a Machine Automation Controller
NJ501-1x00 series.
EtherCAT supports connection with Servo Drives and digital I/O slaves, as well as Inverters, allowing
flexible network building.
1-1-1 Features of the EtherCAT Communication Unit
Optimal functionality and ease of operation by standardizing specifi-
cations
Communication function as easy as I/O control
Supports the Velocity mode of CiA402
PDO free format
Using together with slaves
1 - 3
1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1-2 Overview of EtherCAT
1
1-2-1 Features of EtherCAT
1-2 Overview of EtherCAT
Ethernet Control Automation Technology (EtherCAT) is a high-performance industrial network system
based on Ethernet system and can realize faster and more efficient communications.
Each node achieves a short cycle time by transmitting Ethernet frames at high speed.
In addition, even though EtherCAT has its own communication protocol, it uses standard Ethernet tech-
nology in its physical layer. This provides a universal design feature because commercially available
Ethernet cables can be used. 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.
zUltra 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 Ethernet frame band is fully utilized and transfer is performed with
the high-speed repeat method, which enables the highly efficient transmission of various types of
data.
zUse of standard Ethernet technology
EtherCAT is a global open network that uses standard Ethernet technology in its physical layer. This
means that universally available parts can be used, such as commercially available Ethernet cables,
connectors and tools.
1-2-1 Features of EtherCAT
header
1 EtherCAT Network
1 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
In EtherCAT, data is not sent to each node in the network, but the Ethernet frame is made to pass
through each node.
As the frame passes through, data is read and written at each node in the node's own area inside the
frame in several nanoseconds.
The Ethernet frame that was sent by the EtherCAT master passes through all the EtherCAT slaves
without stopping midway. Then, the frame is sent back by the final slave, and passes through all the
slaves again before returning to the EtherCAT master.
This system ensures high-speed data transmission and realtime performance.
The periodic data exchange between the EtherCAT master and EtherCAT slaves is performed with the
"EtherCAT datagrams" that are stored directly inside the Ethernet frame.
Each "EtherCAT datagram" 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 datagrams can be considered as the carriages.
1-2-2 EtherCAT System
EtherCAT master Slave Slave Slave
Ethernet frame
IN
OUT
Data
• Reading of output data addressed to self
• Writing of input data
Ethernet
header CRC
Ethernet data (Max. of 1,498 bytes)
DataHeader WKC
1…n EtherCAT datagram
EtherCAT
header
1st EtherCAT
datagram
2nd EtherCAT
datagram n th EtherCAT
datagram
. . . . .
Ethernet frame
Ethernet frame
WKC: Working counter
1 EtherCAT Network
mmunications)
pace) to each s‘ave node,
.LVOJEWE W mawano Z‘l
saduummunmmoo New; ”1
1 - 5
1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1-2 Overview of EtherCAT
1
1-2-3 EtherCAT Communication Types
EtherCAT provides the following two types of communication functions.
This is cyclic (I/O) communication.
The EtherCAT Master Unit maps logical process data space (cyclic data space) to each slave node,
and realizes cyclic (I/O) communications with Slave Units.
This is message communication.
The EtherCAT Master Unit transmits commands to Slave Units, and the Slave 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)
EtherCAT master Slave
Ethernet frame
Slave Slave Slave
Ethernet
header
EtherCAT
header
1st EtherCAT
datagram
2nd EtherCAT
datagram
3rd EtherCAT
datagram CRC
• • •
Logic process data
Data a
Data b
Data c
• • •• • •• • •
EthercAT master Configuration Tool
EtherCAT slave
1 EtherCAT Network
1 - 6 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1-3 EtherCAT System Configuration
A typical system configuration is shown below.
1-3-1 System Configuration
EtherCAT
Communication Unit
3G3AX-MX2-ECT
MX2 series
EtherCAT
Communication Unit
3G3AX-RX-ECT
RX-V1 series
EtherCAT slave
Communications
cable
EtherCAT slave
Other slaves
Servo Drive
Digital I/O
Analog I/O
Pulse input, etc
Position Control
Unit
CJ1W-NCx82
Programmable
Controller
CJ2 series
CX-One FA Integrated
Tool Package
or
Configuration Tool
EtherCAT master
Machine Automation Controller
NJ501-1x00 series
Sysmac Studio
or
1 - 7
1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1-3 EtherCAT System Configu-
ration
1
1-3-2 Overview of Component Equipment
The overview of each structural device is as follows.
zEtherCAT master
Manages the EtherCAT network, and performs slave status monitoring and data exchange with the
slaves.
zEtherCAT slave
Receives data from the Master Unit and sends data to the Master Unit across the EtherCAT net-
work. The sent and received data can be output externally, input from an external source, or used to
perform various types of control for slave equipment.
The EtherCAT slave types shown below are available.
• Field network slaves
Slave devices that perform sequence control.
Examples: Digital I/O slaves, analog I/O slaves
• Motion network slaves
Slave devices that perform motion control.
Examples: Servo Units, 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.
zConfiguration tool
Computer software for setting the EtherCAT network and each slave.
zCommunications 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 STP double-shield cable of Ethernet category 5 or higher.
zEtherCAT Slave Information (ESI) file
A file in XML format that contains the information unique to the EtherCAT slave.
When this ESI file is loaded into the tool, it makes it easy to perform the various settings, such as the
mapping of the EtherCAT slave's I/O memory.
If OMRON's Configuration Tool is used, the ESI file is used together with the Configuration Tool, so
you need not worry about installing this file.
If a master by other manufacturer is connected, the ESI file must be loaded into a Configuration Tool
supporting that master.
1-3-2 Overview of Component Equipment
1 EtherCAT Network
1 - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2 - 1
2
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section explains information such as the mounting, wiring and setting methods for
the EtherCAT Communication Unit.
2-1 Part Names and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-1 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-2 Status Indicator Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-1-3 Rotary Switches for Node Address Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-1-4 Communications Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-1-5 Recommended Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-1-6 Connection between Communications Cables and Connectors . . . . . . . . . . . . 2-8
2-2 Basic Usage Procedures and Configuration Example . . . . . . . . . . . . . . . . 2-9
2-2-1 Basic Usage Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2-2-2 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2-3 CJ1W-NCx82 Master Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-3-1 Mounting the CJ1W-NCx82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-3-2 CJ1W-NCx82 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-4 NJ501-1x00 Master Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-4-1 Mounting the NJ501-1x00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-4-2 NJ501-1x00 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-5 Mounting and Wiring for the EtherCAT Communication Unit . . . . . . . . . 2-14
2-5-1 Mounting the EtherCAT Communication Unit on the MX2 Inverter . . . . . . . . . 2-14
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter . . . . . . . 2-17
2-5-3 Wiring the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2-5-4 Wiring Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2-5-5 Node Address Settings for the EtherCAT Communication Unit . . . . . . . . . . . 2-23
2-6 MX2/RX-V1 Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2-6-1 Frequency Reference/RUN Command Setting . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2-6-2 Reset Selection Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2-7 Communication with CJ1W-NCx82 Master . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2-7-1 Starting the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2-7-2 Network Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2-7-3 Checking the Master Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2-7-4 Checking the Inverter and EtherCAT Communication Unit . . . . . . . . . . . . . . . 2-26
2-7-5 Checking the Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Starting a Sample System
2 Starting a Sample System
2 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-8 Communication with NJ501-1x00 Master . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2-8-1 Starting the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27
2-8-2 Network Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27
2-8-3 Checking the NJ501-1x00 Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-31
2-8-4 Checking the Inverter and EtherCAT Communication Unit . . . . . . . . . . . . . . .2-31
2-8-5 Checking the Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-31
MX2
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2 - 3
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-1 Part Names and Settings
2
2-1-1 Part Names
2-1 Part Names and Settings
• Before use, cut the FG cable to an appropriate length for the distance to the Inverter's grounding ter-
minal and the size of the terminal block, and crimp the cable to the crimp terminal.
• For the position of the grounding terminal and the size of the terminal block, refer to Arrangement of
Main Circuit Terminal Block and External Dimensions in the user's manual for MX2 or RX-V1 Invert-
ers (Cat No.I585 or I578).
2-1-1 Part Names
FG cable (500 mm)
Status indicator
(L/A IN, L/A OUT,
RUN, ERR)
Rotary switches
for node address
setting (× 10, × 1)
Communications connector
(IN, OUT)
FG cable (700 mm)
Flat cable
Status indicator Rotary switches for
node address setting
Inverter connection board Communications
connector
(IN, OUT)
—, OL/AO O O
:Nfigsfi IN OUT RUN ERR
2 Starting a Sample System
2 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The following table shows the EtherCAT status indicators and their meanings.
Additional Information
The timing of each flashing state of indicator is as follows.
2-1-2 Status Indicator Names
Name Color State Meaning
L/A IN Green OFF Link not established in physical layer
ON Link established 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 Synchronization error or communications data error
Double flash Application WDT timeout
Flickering Boot error
ON PDI WDT timeout
50
ms
200
ms 200
ms
200
ms 1000
ms 200
ms
200
ms 200
ms 1000
ms
200
ms
off
on
off
on
off
on
off
on
Flickering
Blinking
Single flash
Double flash
2 - 5
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-1 Part Names and Settings
2
2-1-3 Rotary Switches for Node Address Setting
These switches are used to set the node addresses of slaves in the EtherCAT network (decimal).
The 10s digit is set on the left rotary switch and the 1s digit is set on the right rotary switch.
The setting range is 00 to 99.
Note that the node address settings vary as shown below when the Host Controller is made by
OMRON and when it is made by other manufacturers.
Precautions for Correct Use
• The set node address is read only once when the inverter power 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.
• When setting node address to 100 or higher, set the rotary switch to 00 in order to enable the
node address setting by Sysmac Studio.
2-1-3 Rotary Switches for Node Address Setting
Set value for rotary switch
Set value for node address
OMRON Host Controller Host Controller from another
manufacturer
00 The Host Controller set value is used as the
node address.
Depends on the Host Controller specifica-
tions.
01 to 99 The rotary switch set value is used as the
node address.
Node address setting
(× 1)
Node address setting
(× 10)
The EtherCAT connector specifications are shown below.
- Electrrcal characterrstrcs
- Connector structure
- Terminat arrangement
:Contorm to IEEE 802.3.
:RJ45 Brprn modutar connectcr (contorms to ISO 8877)
Pln No. Slgnnl Abbrovlatloll Functlon
1 Send data + TD 4- Send data +
2 Send data , TD , Send data ,
3 Recerve data + RD+ Recerve data +
4 Not used , ,
5 Not used , ,
e Recerve data , RD , Recerve data ,
7 Not used , ,
8 Not used , ,
Hood Frame ground FG ,
n Unit USER'S MANUAL (I574-E1)
2 Starting a Sample System
2 - 6 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
An Ethernet twisted-pair cable is connected to this connector.
The EtherCAT connector specifications 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 Frame ground FG −
1
8
Communications
connector (IN)
Communications
connector (OUT)
2 - 7
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-1 Part Names and Settings
2
2-1-5 Recommended Products
For the communications cable, use a category 5 or higher straight type cable that is double-shielded
with aluminum tape and braided shielding. Use a shielded connector of category 5 or higher.
Precautions for Correct Use
• The maximum cable length between nodes is 100 m. However, some cables are specified for
less than 100 m. Generally, transmission performance of twisted wire conductor 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 or higher is used, communications will be possible even if the
cable is not shielded. However, we recommend a cable with double, aluminum tape and
braided shielding to ensure sufficient noise immunity.
Even when using a recommended material for cable and RJ45 connector, communication error may
occur. In such case, please consider of using a clamp core. Typical clamp type ferrite products would
have a certain effect on noise reduction.
2-1-5 Recommended Products
Connection cables and RJ45 connectors
Clamp Core
Name Manufacturer Model
Clamp core NEC TOKIN ESD-SR-160
2 Starting a Sample System
2 - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Connect the communications cable and the connector by wiring them straight as shown below.
* Connect both ends of cable shielded wires to the connector hoods.
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
7
8
Shielded cable*
Wire color
Pin No.
White-Green
Green
White-Orange
Blue
White-Blue
Orange
White-Brown
Brown
Connector
hood
1
2
3
4
5
6
7
8
Shielded cable*
Wire color Pin No.
\
$ H H \
\ H H \
I:|
\ H
I H 2
¢
I:|
\
w H 1
$
\ H \
I:|
\ H H \
I H H \
I H H \
I H H \
l
\ H H \
2 - 9
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-2 Basic Usage Procedures and Configura-
tion Example
2
2-2-1 Basic Usage Procedures
2-2 Basic Usage Procedures and Config-
uration Example
The basic usage procedures are shown below. For details on settings and connections, refer to the
manual for each Master Unit, and the slave manuals.
2-2-1 Basic Usage Procedures
Ref section 2-3-1.
Ref section 2-3-2.
CJ1W-NCx82
Master
1Master Unit setting
2Mounting and wiring of EtherCAT Communication Unit
3Setting MX2/RX-V1 Inverter
Checking communication start/operation
Network setup
Master Unit setting
ESI file setting
Mounting of EtherCAT Communication Unit
Wiring of EtherCAT Communication Unit
Setting reset selection
Setting RUN command
Setting frequency reference
Setting the node address of the EtherCAT
Communication Unit
4
Starting system
Checking Master Unit
Checking Inverter and EtherCAT Communication Unit
Checking operation
NJ501-1x00
Master
Ref section 2-4-1.
Ref section 2-4-2.
Ref section 2-5-3.
Ref section 2-5-1.
Ref section 2-5-2.
Ref section 2-6-3.
Ref section 2-6-1.
Ref section 2-6-2.
Ref section 2-7-3.
Ref section 2-7-1.
Ref section 2-7-2.
Ref section 2-7-5.
Ref section 2-7-4.
Ref section 2-8-3.
Ref section 2-8-1.
Ref section 2-8-2.
Ref section 2-8-5.
Ref section 2-8-4.
-@
PC Power CJ2 series
CX rogrammer Supply Unit CPU Unii
Peripheral (USB)
pon connection
RS-ZSZC pon connection
Comm
Length
2 Starting a Sample System
2 - 10 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section describes the usage procedures using the system configuration example shown below.
When configuring your actual system, select the units that are required for your system.
3G3AX-RX-ECT can be operated using the same user interface as for 3G3AX-MX2-ECT. Information
that differs for MX2-series and RX-V1-series inverters is marked with and tags.
Master Unit : CJ2-series PLC + CJ1W-NCx82
Slave Unit (× 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT (× 2 sets)
Note: This Communication Unit can be used with all the capacities in the MX2 series.
Refer to 2-3 CJ1W-NCx82 Master Setting on page P. 2-12 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
Communications cable 1
Length: 5 m Communications cable 2
Length: 1 m
CJ2 series
CPU Unit
PC
CX-Programmer Power
Supply Unit
Peripheral (USB)
port connection
RS-232C port connection
Used for data
setting
and
monitoring
• Monitoring status
• File management, etc
l
Sysmac Studio Power
Supply Unit
\ :_7 ., , ,
‘\
Pen heval USB /
p ( ) / Slave Un
First unit
p0" connection
Corn
Len
2 - 11
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-2 Basic Usage Procedures and Configura-
tion Example
2
2-2-2 System Configuration Example
Master Unit : Machine Automation Controller NJ501-1x00 series
Slave Unit (× 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT (× 2 sets)
Note: This Communication Unit can be used with all the capacities in the MX2 series.
Refer to 2-4 NJ501-1x00 Master Setting on page P. 2-13 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 management, etc
Master Unit
Machine Automation Controller
NJ501-1x00 series
Built-in EtherCAT port
2 Starting a Sample System
2 - 12 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-3 CJ1W-NCx82 Master Setting
Connect the CJ2-series PLC and the CJ1W-NCx82 Master Unit by fitting their connectors together. For
specific details on mounting onto the PLC and the control panel of the PLC, refer to the User Manual for
the 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, check the version of CX-One that is compatible with each inverter model in the fol-
lowing table.
2-3-1 Mounting the CJ1W-NCx82
2-3-2 CJ1W-NCx82 Setting
Model Supported CX-One version
3G3AX-MX2-ECT Ver. 4.22 or higher (September 2011)
3G3AX-RX-ECT Ver. 4.25 or higher (May 2012)
2 - 13
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-4 NJ501-1x00 Master Setting
2
2-4-1 Mounting the NJ501-1x00
2-4 NJ501-1x00 Master Setting
Perform 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
2 Starting a Sample System
2 - 14 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the Ether-
CAT Communication Unit
Mount the EtherCAT Communication Unit onto the inverter. Before performing this procedure, turn OFF
the main power supply of the inverter. Wait at least 10 minutes after the inverter's LED indicator lamp
and charge indicator have turned OFF, and then start the procedure.
Only certain unit versions of the inverter support the Communication Unit.
For the compatible unit versions of the inverter, refer to Inverter Version under Precautions for Correct
Use on page 9.
1Loosen the mounting screw (× 1) from the optional board cover of the inverter front panel.
2Remove the optional board cover.
2-5-1 Mounting the EtherCAT Communication Unit on the MX2 Inverter
Removing the optional board cover from the inverter front panel
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
fig???
gay/fig?
n
mm
m cm RUN ERR
3G3AX-MX2-ECT
00
-Read mam aelove ms-auw
A'
m m n
aflev an.
A WARNING Rwskde‘ecmcshuck
0L0
2 - 15
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the EtherCAT
Communication Unit
2
2-5-1 Mounting the EtherCAT Communication Unit on the MX2 Inverter
1Mount the EtherCAT Communication Unit onto the location where the inverter optional board
cover that you removed was attached. Check that the connector is firmly connected.
Note: When the EtherCAT Communication Unit is 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.
2Tighten 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 EtherCAT Communication Unit onto the inverter
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
2 Starting a Sample System
2 - 16 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1Ground the FG cable of the EtherCAT Communication Unit.
Cut the ground wire of the unit's FG cable to an appropriate length and ground it to the closest
possible ground location. Also refer to the inverter manual.
Note Do not force the FG cable into the EtherCAT Communication Unit during wiring.
Connecting the ground cable of the EtherCAT Communication Unit
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
2 - 17
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the EtherCAT
Communication Unit
2
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter
[Advance Preparations]
• Before use, cut the FG cable to an appropriate length for the distance to the Inverter's grounding ter-
minal and the size of the terminal block, and crimp the cable to the crimp terminal.
• For the position of the grounding terminal and the size of the terminal block, refer to Arrangement of
Main Circuit Terminal Block under 2-2 Wiring in the user's manual for MX2 or RX-V1 Inverters (Cat
No.I585 or I578).
1Remove the following parts from the RX-V1
Inverter.
A. Digital operator
B. Spacer cover
C. Terminal cover
D. Front cover
2Remove the two break-outs from the front cover.
Check that there are no burrs left on the
break-outs.
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter
A
B
C
D
2 Starting a Sample System
2 - 18 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3Mount the conversion board onto the inverter.
4
Mount the front cover as before and tighten the
screws.
5Connect the connector on the inverter connection
board of the EtherCAT Communication Unit to the
conversion board mounted on the inverter.
2 - 19
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the EtherCAT
Communication Unit
2
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter
6Mount the EtherCAT Communication Unit onto the
inverter.
1) Put the two lock pins of the EtherCAT
Communication Unit in the inverter and
push up.
1) Insert the bottom part of the EtherCAT
Communication Unit.
1) Push down the EtherCAT Communication
Unit to fix.
7Connect the grounding cable of the EtherCAT
Communication Unit to the grounding terminal of the
inverter.
Make sure that the grounding terminal is marked with a
grounding symbol.
The position of the grounding terminal varies depending
on the inverter capacity. The figure shows an example.
8Mount the Digital Operator (A) and the terminal cover
and tighten the screws to fix the terminal cover.
Mount the terminal cover below the EtherCAT Commu-
nication Unit to the inverter as before (a).
Tighten the two screws (B).
Note: Keep the removed spacer cover safely.
(c) Push down.
(b) Insert the bottom part.
(a) Push up.
G
a
B
A
B
2 Starting a Sample System
2 - 20 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Perform the wiring for the communications cables.
Determine the number and length of communications cables that are appropriate for your system con-
figuration.
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 section, 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 shielded
wires of the cable to the hoods.
For details on preparing the cables, refer to 2-1-6 Connection between Communications Cables and
Connectors on page P. 2-8.
Securely connect the EtherCAT communication cable connector to the EtherCAT Communication Unit
by inserting the connector all the way until it clicks.
Connect the communication cable from the EtherCAT master side to the communication connector IN
of the Communication Unit.
Connect the communication connector OUT to the communication connector IN of the next EtherCAT
slave.
Do not connect the communication connector OUT of the last EtherCAT slave.
Data will not be communicated correctly if the input/output are connected in reverse.
In the system configuration example used in this section, the connectors below are connected with the
communications cables.
Note: Do not connect anything to 2nd inverter OUT.
If a slave other than this product is used in your system configuration, set the unit in the same way by
referring to its User Manual.
2-5-3 Wiring the EtherCAT Communication Unit
Preparing the communications cables
Wiring the communications cables
Connecting from Connecting to
Communications cable 1 Master Unit 1st inverter IN
Communications cable 2 1st inverter OUT 2nd inverter IN
Master Unit side
Slave Unit side
OUT
OUT
IN
IN
OUT
IN
FG cable
2 - 21
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the EtherCAT
Communication Unit
2
2-5-3 Wiring the EtherCAT Communication Unit
• When constructing an EtherCAT network, take sufficient 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 each device in metal cases.
• To connect a cable to the communications connector of a device, insert it securely until the connector
of the communications cable is locked.
• Install and wire the communications cables separately from high-voltage electrical power lines.
• Do not install the cables near devices generating noise.
• Do not install the cables in high-temperature and high-humidity environments.
• Use the cables in locations without powder dust or oil mist.
Precautions when constructing the network
Precautions when installing communications cables
3‘ 29,7 0 fifilfil
2 Starting a Sample System
2 - 22 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
To conform to the EMC directives (EN61800-3), conduct the wiring work for the EtherCAT Communica-
tion Unit, so that it meets the wiring conditions described in this section. These conditions are for con-
formance of products to the EMC directives when an EtherCAT Communication Unit is installed on an
MX2/RX-V1-series inverter. The installation and wiring conditions, however, may be affected by the
devices that are connected and wiring of the system where the EtherCAT Communication Unit is
installed. It is necessary to conform to the EMC directives as an overall system.
This section describes only the parts related to the addition of the EtherCAT Communication Unit. Fol-
low the instructions in the inverter manual for the inverter installation conditions, such as the power sup-
ply 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). (If the communications cable on the OUT side is not connected, install them for the IN side
only.)
Note: Conformance to the EMC Directives can also be ensured for the 3G3AX-RX-ECT by wiring
under the conditions.
Install the FG cable with the shortest possible wiring.
Note: The overall appearance varies depending on the inverter capacity. Do not squeeze the FG cable
into the EtherCAT Communication Unit.
2-5-4 Wiring Conforming to EMC Directives
Wiring the communications cables
Symbol Name Manufacturer Model
FC1, FC2, FC3 Clamp core NEC TOKIN ESD-SR-160
Wiring the FG cable
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
200V
3PHASE
FC1
FC2
FC3
FG cable
Communications cable
(IN) Communications cable
(OUT)
FC1
FC2
FC3
2 - 23
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-5 Mounting and Wiring for the EtherCAT
Communication Unit
2
2-5-5 Node Address Settings for the EtherCAT Communication Unit
Set the rotary switches of the EtherCAT Communication Unit to determine the node address.
In the system configuration example used in this section, the settings are as follows.
Both 3G3AX-MX2-ECT and 3G3AX-RX-ECT can be used with the following settings.
Notes on setting are provided below for each Master Unit.
<CJ1W-NCx82 Master>
1 The EtherCAT Communication Unit uses input and output areas for 5 node addresses.
For this reason, when using the inverter with a fixed allocation, set 5 or larger number to the node
address of the next unit.
2 Node addresses can be set in a range of 17 to 80. Make sure the node addresses set for the Unit do
not overlap with other slave.
3 For the restrictions related to CJ1W-NCx82 Master, refer to Position Control Units
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL (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).
* The setting range for the rotary switch.
Set the rotary switch to 00 in order to enable the node address setting by Sysmac Studio. Then, node
addresses can be set in a range of 1 to 192.
For details, refer to NJ-series CPU Unit Built-in EtherCAT® Port User’s Manual (Cat No.W505).
Note If a slave other than this product is also connected to the same network, set the unit by referring to its User
Manual. In such cases, check that the node addresses do not overlap with other units.
2-5-5 Node Address Settings for the EtherCAT Communication Unit
Node address settings
Inverter CJ1W-NCx82 Master NJ501-1x00 Master
1st unit Node address 17 1
Rotary switch x 10 Set to the 1 position. Set to the 0 position.
Rotary switch x 1 Set to the 7 position. Set to the 1 position.
2nd unit Node address 22 2
Rotary switch x 10 Set to the 2 position. Set to the 0 position.
Rotary switch x 1 Set to the 2 position. Set to the 2 position.
2 Starting a Sample System
2 - 24 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-6 MX2/RX-V1 Inverter Settings
To perform control from the Communication Unit, the parameter must be changed from the inverter.
In this procedure, the inverter power supply must be turned OFF and then ON again. When the power
supply is turned ON, the inverter may operate in unintended way. Check the condition of the wiring and
system carefully before starting the procedure.
Refer to the User Manual (Cat No.I585 or I578) for the MX2/RX-V1-series inverter for details on operat-
ing the inverter parameter settings and for the meaning of the parameter values.
Set the control method for frequency reference selection and RUN command selection using the
parameters A001 and A002.
Destination Selection Parameter Settings
Destination Selection Parameter Settings
Set the operation of the reset signal.
Note If parameter C102 is not displayed, first set parameter b037 to 01.
Note If parameter C102 is not displayed, first set parameter b037 to 01.
2-6-1 Frequency Reference/RUN Command Setting
Parameter Description Setting
A001 Frequency Reference Selection 1 04: Option
A002 RUN Command Selection 1
Parameter Description Setting
A001 Frequency Reference Selection 05: Option 2
A002 RUN Command Selection
2-6-2 Reset Selection Setting
Parameter
No. Function name Data Default value
C102 Reset Selection 03 (Trip reset only) 00 (Trip reset at power-ON)
Parameter
No. Function name Data Default value
C102 Reset Selection 03 (Trip reset only) 00 (Trip reset at power-ON)
2 - 25
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-7 Communication with CJ1W-NCx82 Mas-
ter
2
2-7-1 Starting the System
2-7
Communication with CJ1W-NCx82
Master
After completing the settings and wiring, turn ON the power and check that the communication starts.
The inverter power supply must be turned ON to set the inverter. When the power supply is turned ON,
the inverter may operate in unintended way. Check the condition of the wiring and system carefully
before starting the operation.
Check the condition of the wiring and system carefully, and then turn ON the power supply for all the
inverters and PLC. It does not matter whether the inverter or PLC power supply is turned ON first. How-
ever, an error occurs unless the power supply for all the inverters is turned ON within a certain time (All
Registered Slave Participation Standby Time parameter of CJ1W-NCx82, default value is 10 seconds)
after turning ON the PLC power supply.
Firstly, enter the network settings. Until the settings are performed, the indicators show "Initial process-
ing 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, select Network Auto Setup from Network in the support tool menu, and
perform network setup by following the dialog box instructions.
For details on network setting, refer to Position Control Units
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL (Cat No.W487).
Check that the Master Unit has transitioned to normal operation from initial processing.
The indicators of the CJ1W-NCx82 make it easy to check the changes in status.
For details, refer to Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPER-
ATION MANUAL (Cat No.W487).
2-7-1 Starting the System
2-7-2 Network Setup
2-7-3 Checking the Master Unit
7-segment
display RUN ERC ERH ECAT
RUN ECAT
ERR L/A
Initial processing Flashing ON OFF OFF OFF OFF ON
Normal operation “00” ON OFF OFF ON OFF Flashing
2 Starting a Sample System
2 - 26 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Check the POWER indicator and other indications of the inverter to confirm that power is being sup-
plied to the inverter.
Check the status indicators of the EtherCAT Communication Unit to see 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 L/A OUT RUN ERR
Initial processing ON ON OFF OFF
Normal operation Flashing Flashing ON OFF
L/A IN L/A OUT RUN ERR
Initial processing ON OFF OFF OFF
Normal operation Flashing OFF ON OFF
2-7-5 Checking the Operation
2 - 27
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-8 Communication with NJ501-1x00 Master
2
2-8-1 Starting the System
2-8
Communication with NJ501-1x00 Master
After completing the settings and wiring, turn ON the power and check that the communication starts.
The inverter power supply must be turned ON to set the inverter. When the power supply is turned ON,
the inverter may operate in unintended way. Check the condition of the wiring and system carefully
before starting the operation.
Check the condition of the wiring and system 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 power supply.
Firstly, enter the network settings. How to set the network is explained below by taking the "New Proj-
ect" project as an example.
1Starting the Sysmac Studio
<Project Window>
Click the New Project Button, enter New Project under the Project name, and then click the
Create Button.
2-8-1 Starting the System
2-8-2 Network Setup
2 Starting a Sample System
2 - 28 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2Registering an EtherCAT slave
<Controller Configurations 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 registered as an EtherCAT slave.
Precautions for Correct Use
When 3G3AX-RX-ECT is registered as a slave, drag and drop the 3G3AX-RX-ECT icon.
drag & drop
2 - 29
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-8 Communication with NJ501-1x00 Master
2
2-8-2 Network Setup
<Pane when 2 inverters are registered>
The pane after 2 inverters are registered is shown below.
3Registering 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.
Right-click 3G3AX-MX2-ECT and click Create Device Variable to create variables automati-
cally.
<I/O Map Pane>
2 Starting a Sample System
2 - 30 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4Synchronizing 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, the message The Synchronization process successfully
finished. is displayed. Also, the RUN indicator on the communication unit turns ON. The
inverter is now ready.
<Synchronization Pane>
2 - 31
2 Starting a Sample System
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
2-8 Communication with NJ501-1x00 Master
2
2-8-3 Checking the NJ501-1x00 Master
Check that the NJ501-1x00 Master is operating normally in the RUN Mode.
Check the POWER indicator and other indications of the inverter to confirm that power is being sup-
plied to the inverter.
Check the status indicators of the EtherCAT Communication Unit to see 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 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 indica-
tors
PWR (Green) ON ON
RUN (Green) ON OFF
ERROR (Red) OFF OFF
2-8-4 Checking the Inverter and EtherCAT Communication Unit
L/A IN L/A OUT RUN ERR
Initial processing ON ON OFF OFF
Normal operation Flashing Flashing ON OFF
L/A IN L/A OUT RUN ERR
Initial processing ON OFF OFF OFF
Normal operation Flashing OFF ON OFF
2-8-5 Checking the Operation
2 Starting a Sample System
2 - 32 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3 - 1
3
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section explains the common slave specifications during EtherCAT communica-
tion, and about the PDOs and SDOs.
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 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 Specifications
I:
‘ Regi ster
Normaily, multiple protocols can be transmitted using Ethe
tor MX2/RXVV1 inverters, the CANopen communication pr
the drive proiile (CiA 402) are used.
The object dictionary in the application layer contains para
mation on the PDO mapping between the process data an
The process data object (PDO) consists of objects in the o
PDO. The contents of the process data are defined by the
Process data communications cyclicaily reads and writes
uses asynchronous message communications where ali o
and written.
Elherc
3 Common Slave Specifications
3 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-1 Structure of CANopen over EtherCAT
The figure below shows the structure of CANopen over EtherCAT (CoE).
Normally, multiple protocols can be transmitted using EtherCAT. In the EtherCAT Communication Unit
for MX2/RX-V1 inverters, the CANopen communication profile (CiA 301) that is popular in Europe, and
the drive profile (CiA 402) are used.
The object dictionary in the application layer contains parameters and application data as well as infor-
mation 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 where all objects in the object dictionary can be read
and written.
Process dataMailboxRegister
FMMU
SyncManager
SDO
(Mailbox)
PDO mapping
Object dictionary
PDO (Cyclic)
Inverter
EtherCAT data link layer
EtherCAT physical layer
Application layer
Communications
status transitions
Inverter application
3 - 3
3 Common Slave Specifications
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-2 Communications Status Transitions
3
3-2 Communications Status Transitions
The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master.
State SDO communi-
cations PDO recep-
tion PDO trans-
mission Details
Initialization (Init) Not supported Not supported Not supported Communications are being initialized. Communica-
tions are not possible.
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 set-
tings.
Safe-Opera-
tional (Safe-Op)
Supported Not supported Supported In this state, PDO transmissions are possible in
addition to mailbox communications. Cyclic com-
munications can be used to send information such
as status from the inverter.
Operational (Op) Supported Supported Supported This is a normal operating state. Cyclic communi-
cations can be used to control the motor.
Safe-operational
Pre-operational
Initialization
Operational
3 Common Slave Specifications
3 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-3 Process Data Objects (PDO)
The process data objects (PDOs) are used to transfer data during cyclic communications in realtime.
There are two types of PDOs: reception PDOs (RxPDOs) which receive data from the controller, and
transmission PDOs (TxPDOs) which send statuses from the inverter to the Host Controller.
The EtherCAT application layer can hold multiple objects to enable the transferring of inverter process
data. The contents of the process data are described in the PDO mapping object and the Sync Man-
ager PDO assignment object.
The PDO mapping 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
Operation status, present value, etc
RxPDO
Operation command, target value, etc
Inverter
6TTT hex
ZZ hex
Index Sub
6UUU hex UU hex
16
Object contents
1ZZZ hex
1ZZZ hex
1ZZZ hex
01 hex
02 hex
03 hex
6TTT hex TT hex
YYYY hex YY hex
8
8
6UUU hex
6VVV hex
6YYY hex
UU hex
VV hex
YY hex
TT hex
6ZZZ hex
Object A Object B
Object D
PDO_1
PDO length: 32 bits
Object dictionary
Mapping
objects
Application
objects
Object A
Object B
Object C
Object D
Object E
3 - 5
3 Common Slave Specifications
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-3 Process Data Objects (PDO)
3
3-3-3 Sync Manager PDO Assignment Settings
A Sync Manager channel consists of several PDOs. The Sync Manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 00 hex of the Sync Manager PDO assignment table. In this
table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of Sync Manager PDO mapping.
This section describes the contents of fixed PDO mapping for MX2/RX-V1 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 target velocity
TxPDO
(1B00 hex)
6041 hex Statusword
6043 hex vl velocity demand
Index Sub Object contents
1C1Z hex
1C1Z hex
1C1Z hex
1A00 hex
1A01 hex
1A03 hex
PDO A
PDO B
PDO C
PDO F
PDO E
PDO D
PDO G
PDO A PDO B PDO D
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1A05 hex
1A06 hex
1 hex
2 hex
3 hex
Sync Manager PDO
assignment objects
Object dictionary
Mapping objects
Sync Manager entity Z
3 Common Slave Specifications
3 - 6 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-4 Service Data Objects (SDO)
The EtherCAT Communication Unit for MX2/RX-V1 inverters supports SDO communications as mes-
sage communications. SDO communications are used for setting objects and monitoring the status of
MX2/RX-V1 inverters. Objects can be set and the status monitored by reading and writing data to the
entries in the object dictionary of the Host Controller.
The following table lists the abort codes for when an SDO communications error occurs.
3-4-1 Outline
3-4-2 Abort Codes
Value Meaning
05030000 hex Toggle bit not changed
05040000 hex SDO protocol timeout
05040001 hex Client/Server command specifier not valid or unknown
05040005 hex Out of memory
06010000 hex Unsupported access to an object
06010001 hex Attempt to read a write only object
06010002 hex Attempt to write to a read only object
06020000 hex The object does not exist in the object directory
06040041 hex The 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 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 Value range of parameter exceeded (only for write access)
06090031 hex Value of parameter written too high
06090032 hex Value of parameter written too low
06090036 hex Maximum value is less than minimum value
08000000 hex General error
08000020 hex Data cannot be transferred or stored to the application
08000021 hex Data cannot be transferred or stored to the application because of local
control
08000022 hex Data cannot be transferred or stored to the application because of the
present device state
08000023 hex Object dictionary dynamic generation fails or no object dictionary is pres-
ent
H1 |
3 - 7
3 Common Slave Specifications
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-5 Emergency Messages
3
3-5-1 Outline
3-5 Emergency Messages
When an error or warning occurs in an MX2/RX-V1 inverter, an emergency message is sent to the mas-
ter using mailbox communications. An emergency message is not sent for a communications error.
You can select whether to send emergency messages by setting Diagnosis history (10F3 hex).
The default setting is to send emergency messages. (10F3 hex, sub-index: 05 hex (Flags) = 1)
Set the sub-index 05 hex (Flags) in object 10F3 hex to 0 every time the power is turned ON to disable
the sending of emergency messages.
Emergency messages consist of 8 bytes of data.
3-5-1 Outline
Byte 0 1 2 3 4 5 6 7
Meaning Error code Error register
(Object 1001 hex)
Manufacturer specific error
field (reserved)
3-5-2 Error Code List
Error code Meaning Possible correction
5300 hex Error in the option and inverter
connection
• Check that the Communication Unit is mounted correctly
onto the inverter.
• The Communication Unit is faulty. Replace the Communi-
cation Unit.
• If a trip reset was performed with the inverter, set the
inverter C102 to 3: Trip reset only, and turn the power sup-
ply 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 set value in PDO mapping is invalid. Check the value of
object 5200 and the AL Status code, and then review the PDO
assignment settings.
6331 hex EEPROM data error • An error was detected in data inside EEPROM when the
power supply was turned ON. Replace the Communication
Unit.
• The Diagnosis history cannot be saved because the
EEPROM has reached the end of its service life. There is
no effect on operations, but if you want to use the Diagno-
sis history, replace the unit.
FF00 hex A warning occurred for the
inverter
Eliminate the cause and turn on the bit 7: Fault reset of 5000
hex (Command) or 6040 hex (Controlword).
FF01 hex A trip occurred for the inverter Eliminate the cause and turn on the bit 7: Fault reset of 5000
hex (Command) or 6040 hex (Controlword).
3 Common Slave Specifications
3 - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-6 Sysmac Device Functions
The control device products designed according to the unified communication specifications and user
interface specifications applicable to OMRON's control devices are called Sysmac devices.
In addition, the functions of these devices are called Sysmac device functions.
The following explains the functions available when this product is combined with the Machine Automa-
tion Controller including NJ Series or automation software.
The EtherCAT Communication Unit for the MX2/RX-V1 Inverters supports the Sysmac device functions
from the following unit versions.
zSysmac error status
Errors generated by slaves are systematically defined in Sysmac devices. When Sysmac Studio is
used, error messages and remedial actions can be checked by following common operating proce-
dures.
Errors are notified by 2002 hex-01 hex: Sysmac Error status. If errors detected by the EtherCAT Com-
munication 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 : 512th transmit PDO Mapping.
Additional Information
• For the Sysmac error status, refer to 5-6-1 Manufacturer Specific Objects on page P. 5-17.
• For the errors displayed in Sysmac Studio, refer to A-6 Sysmac Error Status Codes on page
P. A-61.
zSaving the node address settings
When the node address switch is set to 00, it means that the system is in the software setting mode and
the node address values set by Sysmac Studio become effective.
In the software setting mode, execute Write Slave Node Address on the EtherCAT Edit Screen of
Sysmac Studio to save the set values to the nonvolatile memory on the EtherCAT Communication Unit
side.
Model Unit version that supports Sysmac device functions
3G3AX-MX2-ECT Ver. 1.1 or later
3G3AX-RX-ECT Ver. 1.0 or later
3 - 9
3 Common Slave Specifications
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3-6 Sysmac Device Functions
3
Software setting
The value saved in the non-volatile memory on the slave side as SII (Slave Information Inter-
face) information becomes the node address.
Node address switch setting
The value set by the node address switches on the slave becomes the node address.
zDisplaying the serial number
The serial number saved in the nonvolatile memory on the Servo Drive side is displayed under 1018
hex-04 hex: Serial number. With controllers conforming to the Sysmac device functions, the network
configuration can be checked using this serial number.
To check the network configuration, set Setting = Actual device under Serial Number Check Method
on the EtherCAT Edit Screen of Sysmac Studio.
If the specified criteria cannot be met, a Network Configuration Verification Error will occur.
Additional Information
Since replacement of slave device can be detected, all slave parameters 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 the value at the
address 0012 hex to the address 0010 hex as
the node address.
Register: 0010 hex
EtherCAT
Slave Controller
Node address
switch
(2)
(3)
(1)
EtherCAT Slave
(EtherCAT Communication Unit)
(4) (5) Nonvolatile
memory
SII
EtherCAT Master
Register: 0012 hex
(2)
(1) While the power is off, set the node address
switches.
(2) When the slave power is turned on, the value
set by the node address switches is reflected
in the register address 0012 hex.
(3) The EtherCAT master reads the set value at
the register address 0012 hex.
(4) The EtherCAT master writes the value at the
address 0012 hex to the address 0010 hex as
the node address.
Register: 0010 hex
EtherCAT
Slave Controller
Node address
switch
(1)
EtherCAT Slave
(EtherCAT Communication Unit)
(3) (4) Nonvolatile
memory
SII
EtherCAT Master
Register: 0012 hex
3 Common Slave Specifications
3 - 10 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zConforming to the ESI Specification (ETG.2000 S (R) V1.0.1)
The ESI Specification is a specification document defining the items described in the EtherCAT Slave
Information (ESI) file.
With controllers conforming to the Sysmac device functions, optional functions defined in the ESI Spec-
ification can be used to specify backup parameters on the slave side.
Specified backup parameters on the slave side can be backed up and restored by Sysmac Studio.
zSII 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 written, a SII verification error will occur. If the
error still occurs after turning the power OFF and then ON again, contact your OMRON sales represen-
tative.
Precautions for Correct Use
Do not modify the SII information using a setting tool by other manufacturer.
4 - 1
4
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section describes the profiles that are used to control inverters.
4-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-1 Function Object Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-2 Function Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-2 Control with the Position Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-2 Function Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4-2-4 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-3 Control with the Independent Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-3-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-3-2 Profile Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-3-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4 Control with the CiA402 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-4-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-4-2 Profile Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-4-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4-5 Control with the PDO Free Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-5-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-5-2 Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-5-3 Objects Allocation in Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4-5-4 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4-6 Trial operation via EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . 4-21
Inverter Control
4 Inverter Control
4 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-1 Outline
This section describes how to use the EtherCAT Communication Unit to control the inverter.
Inverter control is performed by allocating a function object to a PDO.
Various inverter functions can be utilized by allocating a function object to a PDO.
However, some function object allocations may be fixed due to the restrictions at the Master Unit, and
PDO mapping of some function objects are not supported.
Note 1. When using a Master Unit from another manufacturer, check yourself whether it supports the above
functions.
2. If you are using your NJ501-1x00 as the master, refer to the explanation on allocation in PDO free
format.
4-1-1 Function Object Selection
Type Details
Allocation when using CJ1W-NCx82 The fixed allocation when connected with 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 - 3
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-1 Outline
4
4-1-2 Function Object Mapping
Allocation of function objects is realized through the hierarchical structure shown in the figure below.
Allocation is performed using a tool that is compatible with the Master Unit.
4-1-2 Function Object Mapping
Master to slave
Slave to master
1C13 hex
1C12 hex
Fixed allocation
1701 hex
1700 hex
1604 hex
1603 hex
1602 hex
1601 hex
1600 hex
6040 hex
6042 hex
5000 hex
5010 hex
Fixed allocation
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1B00 hex
1B01 hex
6041 hex
5100 hex
5110 hex
2002 hex
6043 hex
Function object
Function object
Up to two function
objects (4 bytes
maximum) can be
allocated to each
object.
Sync
Manager
Sync
Manager
PDO Mapping
object
PDO Mapping
object
Up to two function
objects (4 bytes
maximum) can be
allocated to each
object.
1A00 hex
1BFF hex
Up to 5 PDO Mapping objects can be
allocated.
Up to 5 PDO Mapping objects can be
allocated.
4 Inverter Control
4 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zRxPDO (master to slave)
zTxPDO (slave to master)
PDO Mapping Object
Object index (name) Details
1600 hex to 1604 hex
(1st receive PDO Mapping to
5th receive PDO Mapping)
Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be allo-
cated to each PDO.
1700 hex
(257th receive PDO Mapping)
The fixed allocation that conforms to the CiA402 drive profile.
1701 hex
(258th receive PDO Mapping)
The fixed allocation of the independent profile.
Object index (name) Details
1A00 to 1A04 hex
(1st transmit PDO Mapping to
5th transmit PDO Mapping)
Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be allo-
cated to each PDO.
1B00 hex
(257th transmit PDO Mapping)
The fixed allocation that conforms to the CiA402 drive profile.
1B01 hex
(258th transmit PDO Mapping)
The fixed allocation of the independent profile.
1BFF hex
(512th transmit PDO Mapping)
By default, Sysmac Studio allocates 2002 hex: Sysmac error status.
Sync Manager Object
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.
MXZ
RX
4 - 5
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-2 Control with the Position Control Unit
4
4-2-1 Inverter Setting
4-2 Control with the Position Control Unit
This section describes how to connect the OMRON CJ1W-NCx82 and the EtherCAT Communication
Unit to control the inverter. Both 3G3AX-MX2-ECT and 3G3RX-ECT can be operated using the same
user interface.
Set the inverter parameters as follows.
Note 1. Select speed control or Simple position control by setting inverter parameter P012: Simple Position
Control Selection.
To use the Simple position control function, set the required parameters in accordance with the
inverter manual.
2. If parameter C102 is not displayed, set b037 to 01.
3. Do not use motor 2 control of the inverter. The motor 1 control only can be used.
Note Select speed control or absolute position control by setting inverter parameter P012: V2 Control Mode
Selection.
To use absolute position control function, set the required parameters in accordance with the inverter
manual.
The function object that is used is allocated with the fixed settings below.
zPDO mapping
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
Parameter Description
A001 Frequency Reference Selection 05: Option 2
A002 RUN Command Selection 05: Option 2
C102 Reset Selection 03: Trip reset only
P012 V2 Control Mode Selection 00: ASR (Speed control mode)
02: APR2 (Absolute position control mode)
03: HAPR (High-resolution absolute position control mode)
4-2-2 Function Object Mapping
PDO Description
1701 hex 5000 (Command)
5010 (Frequency reference)
1600 hex 4016.6B (P060 Multi-step position command 0)
1601 hex 301F.40 (Multi-function input (Modbus communication register 1F01 hex coil data 0))
1B01 hex 5100 (Status)
5110 (Output frequency monitor)
1A00 hex 4010.59 (d030 Current position monitor)
1A01 hex 3010.29 (d006 Multi-function output monitor)
4 Inverter Control
4 - 6 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zSync Manager assignment
The function objects used with the NC unit are allocated to the remote I/O output relay area (CIO 3800
by default) and remote I/O input relay area (CIO 3900 by default) that are assigned to the NC unit.
Each of these units is allocated five words both at the output and input sides.
The inverter is controlled through the operation of these function objects.
zControl information (master to slave)
Note: n: Start address of the remote I/O output relay area that is assigned to the unit.
zStatus information (slave to master)
Note: m: Start address of the remote I/O input relay area that is assigned to the unit.
zCommand
The bit data for the command is shown below.
*1. Operates as a start bit when position control is enabled.
Sync Manager PDO assignment Description
1C12 hex 1701 (Fixed allocation of the independent profile)
1600 (Setting as above)
1601 (Setting as above)
1C13 hex 1B00 (Fixed allocation of the independent profile)
1A00 (Setting as above)
1A01 (Setting as above)
4-2-3 Control Method
Word Meaning
n Control command
n + 1 Frequency reference
n + 2 Multi-step position command 0 (LSW)
n + 3 Multi-step position command 0 (MSW)
n + 4 Multi-function input
Word Meaning
mStatus
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−−−−−10
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) The reserved area. Set 0.
4 - 7
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-2 Control with the Position Control Unit
4
4-2-3 Control Method
zFrequency reference
zMulti-step position command 0
zMulti-function input
The bit data for the multi-function input information is shown below.
Note Use by assigning a function to the multi-function input with the inverter parameters.
Name Meaning
Frequency reference Specify the reference frequency in increments of 0.01 Hz. When a value is set that
exceeds the maximum frequency, operation is performed at the maximum frequency.
Setting range: 0 to maximum frequency
Name Meaning
Multi-step position command 0 Specify the value of inverter parameter P060: Multi-step position command 0. Values
outside the range are not applied and operation is performed with the previous value.
Setting range: Position range setting (reverse side) to position range setting (forward
side)
−−13 12 11 10 9 8 7 −−−−−−−
Bit Name Meaning
7 Multi-function input 1 0: OFF
1: ON
8 Multi-function input 2
9 Multi-function input 3
10 Multi-function input 4
11 Multi-function input 5
12 Multi-function input 6
13 Multi-function input 7
−(Reserved) The reserved area. Set 0.
−14 13 12 11 10 9 8 7 −−−−−−−
Bit Name Meaning
7 Multi-function input 1 0: OFF
1: ON
8 Multi-function input 2
9 Multi-function input 3
10 Multi-function input 4
11 Multi-function input 5
12 Multi-function input 6
13 Multi-function input 7
14 Multi-function input 8
−(Reserved) The reserved area. Set 0.
MXZ \ \ \ \ \ \ \
RX‘ ‘
4 Inverter Control
4 - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zStatus (common to MX2 and RX-V1 series)
The bit data for the status information is shown below.
zOutput frequency monitor
zCurrent position monitor
zMulti-function output monitor
The bit data for the multi-function output monitor information is shown below.
Note Use by assigning a function to the multi-function output with the inverter parameters.
15 −−12 −−9−7−−−3−10
Bit Name Meaning
0 Forward operation in prog-
ress
0: Stopped/during reverse operation
1: During forward operation
1 Reverse operation in prog-
ress
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 EtherCAT are disabled)
1: Remote (Operations from EtherCAT are enabled)
12 Frequency matching 0: During acceleration/deceleration
1: Frequency matched
15 Connection error between the
Optional Unit and inverter
0: Normal
1: Error (Cannot update data for the inverter. To restore, turn the power OFF
and then ON again.)
−(Reserved) The reserved area. Set 0.
Name Meaning
Output frequency monitor Displays the output frequency in increments of 0.01 Hz.
Name Meaning
Current position monitor Displays the value of inverter parameter d030: Current position monitor.
−−−−−−−−−−−−−210
Bit Name Meaning
0 Multi-function output P1/EDM 0: OFF
1: ON
1 Multi-function output P2
2 Multi-function relay output
−(Reserved) The reserved area. Set 0.
−−−−−−−−−−543210
Bit Name Meaning
0 Multi-function output 1 0: OFF
1: ON
1 Multi-function output 2
2 Multi-function output 3
3 Multi-function output 4
4 Multi-function output 5
5 Multi-function relay output
−(Reserved) The reserved area. Set 0.
4 - 9
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-2 Control with the Position Control Unit
4
4-2-4 Sample Program
This section explains a configuration that uses CJ1W-NCx82 as the master, and one MX2 inverter on
which an EtherCAT Communication Unit (node address: 17) is mounted as the slave.
The shared parameter settings of CJ1W-NCx82 are as follows.
The control information and status information of the EtherCAT Communication Unit is allocated to the
addresses 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
Bit 0: Forward/stop
Bit 1: Reverse/stop
Bit 7: Fault reset
n + 1 CIO 3801 Frequency reference (increments of 0.01 Hz)
Word Address Meaning
m CIO 3900 Command
Bit 0: During forward operation
Bit 1: During reverse operation
Bit 3: Fault
m + 1 CIO 3901 Output frequency monitor (increments of 0.01 Hz)
4 Inverter Control
4 - 10 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Ladder program example
Time chart
0.00
Frequency
setting
Forward
During reverse
operation
Reverse
Frequency
reference
Forward/stop
(word n bit 0)
Reverse/stop
(word n bit 1)
Fault reset
(word n bit 7)
0.02
0.01
0.01 3900.01 30.00 3800.00
3900.00
3900.03
30.000.02
0.03 3800.07
3800.01
END
(001)
0.033900.03
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)
Reverse (0.02)
During forward operation (word m bit 0)
During reverse operation (word m bit 1)
Frequency reference (word n + 1)
Fault occurred (30.00)
Fault reset (0.03)
4 - 11
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-2 Control with the Position Control Unit
4
4-2-4 Sample Program
(1) When the "Frequency setting" contact is turned ON, the frequency reference data that is set in
D00000 is forwarded to the remote I/O output relay area (word n + 1).
(2) When the "Forward" contact is turned ON, "Forward/stop (word n bit 0)" of the remote I/O output
relay area turns ON and forward operation starts. During forward operation, "During forward opera-
tion (word m bit 0)" of the remote I/O input relay area turns ON.
(3) When the "Forward" contact is turned 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 opera-
tion (word m bit 1)" of the remote I/O input relay area turns ON.
(5) When the "Reverse" contact is turned OFF and after decelerating and stopping, "During reverse
operation (word m bit 1)" of the remote I/O input relay area turns OFF.
(6) When "Fault (word m bit 3)" of the remote I/O input relay area turns ON, "Fault occurred" turns ON.
(7) When the "Fault reset" contact is turned ON, "Fault reset (word n bit 7)" of the remote I/O output
relay area turns ON and the fault is cancelled.
Explanation of operations
MXZ
RX
4 Inverter Control
4 - 12 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-3 Control with the Independent Profile
This section describes how to use the OMRON profile to control the inverter.
The inverter parameters must be set to match the profile.
With the independent profile, set as follows.
Note If parameter C102 is not displayed, set b037 to 01.
Note If parameter C102 is not displayed, set b037 to 01.
Assign the PDOs of the independent profile to Sync Manager.
The values below are the fixed mapping for the PDOs.
Control the inverter by operating the PDOs that allocate the profile.
zControl information (master to slave)
4-3-1 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
Parameter Description
A001 Frequency Reference Selection 05: Option 2
A002 RUN Command Selection 05: Option 2
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 hex 1B01 hex (Fixed allocation of the independent profile)
PDO Description
1701 hex 5000 hex (Command)
5010 hex (Frequency reference)
1B01 hex 5100 hex (Status)
5110 hex (Output frequency monitor)
4-3-3 Control Method
IO format
Word Meaning
n Command
n + 1 Frequency reference
4 - 13
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-3 Control with the Independent Profile
4
4-3-3 Control Method
zStatus information (slave to master)
zCommand
zFrequency reference
zStatus
The 16-bit data is as shown below.
zOutput frequency monitor
Word Meaning
mStatus
m + 1 Output frequency monitor
Bit and data information
−−−−−−−−7−−−−−10
Bit Name Meaning
0 Forward/stop 0: Stop
1: Forward command
1 Reverse/stop 0: Stop
1: Reverse command
7 Fault reset
: Resets an error or trip for the unit or inverter.
- Reserved Set 0.
Name Meaning
Frequency reference Specify the frequency reference in increments of 0.01 Hz. When a value is set that
exceeds the maximum frequency, operation is performed at the maximum frequency.
Setting range: 0 to maximum frequency
15 −−12 −−9−7−−−3−10
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 the unit or inverter
9 Remote 0: Local (Operations from EtherCAT are disabled)
1: Remote (Operations from EtherCAT are enabled)
12 Frequency matching 0: During acceleration/deceleration or stopped
1: Frequency matched
15 Connection error between the
Optional Unit and inverter
0: Normal
1: Error (Cannot update data for the inverter. To restore, turn the
power supply OFF and then ON again.)
−Reserved Set 0.
Name Meaning
Output frequency monitor Displays the output frequency in increments of 0.01 Hz.
MXZ
RX
4 Inverter Control
4 - 14 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-4 Control with the CiA402 Profile
This section describes how to use the Velocity mode of the CiA402 drive profile to control the inverter.
The inverter parameters must be set to match the profile.
With the CiA402 profile, set as follows.
Note 1. After changing H004, turn the inverter power supply OFF and ON again.
2. If parameter C102 is not displayed, set b037 to 01.
3. Do not use motor 2 control of the inverter. The motor 1 control only can be used.
Note 1. After changing H004, turn the inverter power supply OFF and ON again.
2. If parameter C102 is not displayed, set b037 to 01.
Assign the PDOs of the CiA402 profile to Sync Manager.
The values below are the fixed mapping for the PDOs.
4-4-1 Inverter Setting
Parameter Description
A001 Frequency Reference Selection 1 04: Optional board
A002 RUN Command Selection 1 04: Optional board
H004 Motor Pole Number 1 2/4/6/8/10 (Set to match the system.)
C102 Reset Selection 03 (Trip reset only)
Parameter Description
A001 Frequency Reference Selection 05: Option 2
A002 RUN Command Selection 05: Option 2
H004 Motor Pole Number 2/4/6/8/10 (Set to match the system.)
C102 Reset Selection 03: Trip reset only
4-4-2 Profile Allocation
Sync Manager PDO assignment Description
1C12 hex 1700 hex (Fixed allocation conforming to the CiA402 drive profile)
1C13 hex 1B00 hex (Fixed allocation conforming to the CiA402 drive profile)
PDO Description
1700 hex 6040 hex (Controlword)
6042 hex (vl target velocity)
1B00 hex 6041 hex (Statusword)
6043 hex (vl velocity demand)
4 - 15
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-4 Control with the CiA402 Profile
4
4-4-3 Control Method
Control the inverter by operating the PDOs that allocate the profile.
zControl information (master to slave)
zStatus information (slave to master)
zControlword
The 16-bit data is as shown below.
Note When Quick stop is set to 0 during operation, deceleration stop is made. After completely stopping, the
next operation is accepted.
zvl target velocity
4-4-3 Control Method
IO format
Word Meaning
n Controlword
n + 1 vl target velocity
Word Meaning
mStatusword
m + 1 vl velocity demand
Bit and data information
−−−−−−−−7−−−3210
Bit Name Meaning
0 Switch on The state is controlled by these bits.
For details, refer to 5-1-3 Command Coding on page P. 5-3.
1 Enable voltage
2 Quick stop
3 Enable operation
7 Fault reset
Faults and warnings are cleared when 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.
4 Inverter Control
4 - 16 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zStatusword
The 16-bit data is as shown below.
zvl velocity demand
−−−−−−9−76543210
Bit Name Meaning
0 Ready to switch on These bits indicate the state.
For details, refer to 5-1-4 State Coding on page P. 5-4.
1 Switched on
2 Operation enabled
3Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning 0: No warning occurred for the unit or inverter.
1: Warning occurred for the unit or inverter.
9 Remote 0: Control from Controlword is disabled.
1: Control from Controlword is enabled.
−Reserved Not used.
Name Meaning
vl velocity demand Displays the operation speed in rpm.
The operation direction is expressed with a symbol (−/+).
4 - 17
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-5 Control with the PDO Free Format
4
4-5-1 Inverter Setting
4-5 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 per-
form advanced control and monitoring.
To use your OMRON NJ501-1x00 as the master, allocate desired objects by referring to this section.
When using the OMRON independent profile, set A001, A002 and C102.
When using the CiA402 drive profile, set A001, A002, H004 and C102.
For details, refer to the previous sections.
Allocate the objects that you want to use to PDOs.
Set as follows to allocate the acceleration time and deceleration time to RxPDO and the current monitor
to TxPDO, based on the OMRON independent profile.
zPDO mapping
zSync Manager assignment
Following from the above allocations, the IO format is as follows.
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 Deceleration time setting 1)
1A00 hex
(1st transmit PDO Mapping)
3010.24 (d002 Output current monitor)
Sync Manager PDO assignment Description
1C12 hex 1701 hex (Fixed allocation of the independent profile)
1600 hex (Setting as above)
1601 hex (Setting as above)
1C13 hex 1B01 hex (Fixed allocation of the independent profile)
1A00 hex (Setting as above)
w w M w my
”MM
4 Inverter Control
4 - 18 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
zControl information (master to slave)
zStatus information (slave to master)
In Sysmac Studio, you can edit the PDO map settings for each slave.
Word Meaning
n Command
n + 1 Frequency reference
n + 2 Acceleration time setting 1 (LSW)
n + 3 Acceleration time setting 1 (MSW)
n + 4 Deceleration time setting 1 (LSW)
n + 5 Deceleration time setting 1 (MSW)
Word Meaning
mStatus
m + 1 Output frequency monitor
m + 2 Output current monitor
4-5-3 Objects Allocation in Sysmac Studio
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mm“...
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mum-aimwm .c
[Va-l" wwm “JV...”
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4 - 19
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-5 Control with the PDO Free Format
4
4-5-3 Objects Allocation in Sysmac Studio
Click Edit PDO Map Settings in the Configurations and Setup of the EtherCAT slave to open the
Edit PDO Map Settings pane.
To allocate an object to a PDO in Sysmac Studio, select Output (or Input) for one of 1st receive PDO
Mapping to 5th receive PDO Mapping (or 1st transmit PDO Mapping to 5th transmit PDO Mapping),
right-click Add PDO Entry on the right side of the screen, and then select a desired object from the list.
Note that up to 5 PDOs can be selected each for the target of Output (or Input).
In the example shown below, Jogging Frequency (Index: 3012.5D hex) and Manual Torque Boost
Frequency 1 (Index: 3012.62 hex) are allocated to 1st receive PDO Mapping.
4 Inverter Control
4 - 20 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The PDO free format has the restrictions that are described below.
• Up to 2 objects can be allocated to each PDO mapping from 1st receive PDO Mapping to 5th receive
PDO Mapping and 1st transmit PDO Mapping to 5th transmit PDO Mapping. Keep the total size of
the allocated objects to within 4 bytes.
• Up to five PDOs can be selected for both of the output and input sides.
• An object from 5000 to 5999 cannot be allocated to RxPDO (master to slave) together with an object
from 6000 to 6999.
• The inverter parameters (objects 3000 to 3999 and 4000 to 4999) that can be allocated to RxPDO
(master to slave) are limited to those that can be changed during operation.
• It is not possible to allocate only the LSW or only the MSW to RxPDO or TxPDO.
• The greater the number of RxPDOs or TxPDOs is, the longer the data updating cycle becomes.
4-5-4 Restrictions
4 - 21
4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-6 Trial operation via EtherCAT Communication Unit
4
4-6 Trial operation via EtherCAT Commu-
nication Unit
You can use the "Test Operation" function of your parameter setting tool (CX-Drive, etc.) to operate the
inverter on a trial basis.
Before performing trial operation of the inverter via the EtherCAT Communication Unit, make sure
EtherCAT network communications have been established properly. The main purpose of trial opera-
tion 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 Section 6, Handling of Errors
and Maintenance or the User's Manual for MX2/RX-V1 Series, and resume operation after conforming
safety.
zHow to perform trial operation using a parameter setting tool
1Start your parameter setting tool and make online connection via EtherCAT.
2Select the Test Operation function.
3Set a desired frequency, acceleration time and deceleration time, and then select Forward or
Reverse and run the motor.
The motor will keep running until Stop is selected.
4 Inverter Control
4 - 22 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5 - 1
5
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3 Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-4 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4-1 Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4-2 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4-3 Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-5 CoE Communications Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5-5-1 Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5-5-2 PDO Mapping Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-5-3 Sync Manager Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5-6 Manufacturer Specific Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5-6-1 Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5-6-2 Inverter Parameter Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5-6-3 Independent Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5-7 Device Profile area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5-7-1 Drive Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
CiA402 Drive Profile
Note The Quick slop active state \5 not supported. If Quick stop is en
lransiuon 9 \s executed.
ElherCAT Com
5 CiA402 Drive Profile
5 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-1 Inverter State Control
The state of the MX2/RX-V1 inverter is controlled by using the Controlword (6040 hex). Control state is
given in the Statusword (6041 hex).
The state of the MX2/RX-V1 inverter changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to 5-1-2 State Descriptions on page P. 5-3, and for details on the com-
mand codings, refer to 5-1-3 Command Coding on page P. 5-3.
Note 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: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation
enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault
reaction active
14: Error
response
operation
completed
5 - 3
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-1 Inverter State Control
5
5-1-2 State Descriptions
The state is controlled by combining the bits in Controlword (6040 hex), as shown in the following table.
Note fr = Fault reset, eo = Enable operation, qs = Quick stop, ev = Enable voltage, so = Switch on
*1. The state automatically transitions to the Enable operation state after the Switch on state.
*2. Operation when bit 7: Fault reset turns ON.
Fault state : Fault are cleared and the state transitions to Switch on disabled.
: If there are any warnings (6401 hex: Statusword bit 7), they are reset.
State other than Fault : If there are any warnings (6041 hex: Statusword bit 7), they are reset.
: The state will change according to command bits 0 to 3.
*3. When Fault reset is executed with bit 7, set the bit back to 0 before giving the next command.
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 controlled.
Parameters can be set.
Fault reaction active There was an error in the inverter and the cause is being determined.
Parameters can be set.
Fault There is an error in the inverter.
Parameters can be set.
5-1-3 Command Coding
Command
Controlword bit
Transition
Bit 7
fr Bit 3
eo Bit 2
qs Bit 1
ev Bit 0
so
Shutdown - - 1 1 0 2, 6, 8
Switch on -01113
Switch on +
enable operation
-1111
3 + 4*1
Disable voltage - - - 0 - 7, 9, 10
Quick stop - - 0 1 - 7, 9, 10
Disable operation - 01115
Enable operation - 11114
Fault reset 0 → 1*2*3 ----15
5 CiA402 Drive Profile
5 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The state is indicated by the combination of bits in Statusword (6041 hex), as shown in the following
table.
Note sod = Switch on disabled, qs = Quick stop, ve = Voltage enabled, f = Fault, oe = Operation enabled,
so = Switched on, rtso = Ready to switch on
5-1-4 State Coding
State Bit 6
sod Bit 5
qs Bit 4
ve Bit 3
fBit 2
oe Bit 1
so Bit 0
rtso
Not ready to switch on 0 0 - 0 0 0 0
Switch on disabled 1 - - 0 0 0 0
Ready to switch on 0 1 - 0 0 0 1
Switched on 0110011
Operation enabled 0 1 1 0 1 1 1
Fault reaction active 0 1 - 1 1 1 1
Fault 01-1000
5 - 5
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-2 Modes of Operation
5
5-2 Modes of Operation
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).
—> . .
v\ ve‘ocxly mm/max amounl (6046 hex) I'm"
lunchon
w ve‘ocxly acce‘erahon (6048 hex) Ramp
function
v\ ve‘ocxly dece‘erahon (6049 hex)
5 CiA402 Drive Profile
5 - 6 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-3 Velocity Mode
In this operation mode, the output speed of the inverter can be controlled.
• Related objects
Note In this unit 6043 hex and 6044 hex give the same values.
Index Name Details
6040 hex Controlword Gives commands to the inverter.
6042 hex vl target velocity Gives speed commands to the inverter.
6046 hex vl velocity min max amount Sets the 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 hex) Ramp
function
Velocity
limit
function
vl velocity deceleration (6049 hex)
Velocity
control
function
vl target velocity (6042 hex)
vl velocity
demand (6043 hex)
vl velocity actual
value (6044 hex)
5 - 7
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-4 Object Dictionary
5
5-4-1 Object Dictionary Area
5-4 Object Dictionary
CANopen over EtherCAT (CoE) protocol uses the CANopen object dictionary as its base. All objects
are assigned four-digit hexadecimal numbers in the areas shown in the following table.
The data types shown in the following table are used in this profile.
5-4-1 Object Dictionary Area
Index Area Meaning
0000 to 0FFF hex Data Type area Definitions of data types.
1000 to 1FFF hex CoE Communications area Definitions of variables that can be used by all servers for
designated communications.
2000 to 2FFF hex Manufacturer Specific area 1 Variables with common definitions for all OMRON products.
3000 to 5FFF hex Manufacturer Specific 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 bytes 0 to 4,294,967,295
Integer8 INT8 1 byte −128 to 127
Integer16 INT16 2 bytes −32,768 to 327,671
Integer32 INT32 4 bytes −2,147,483,648 to 2,147,483,647
Visible string VS −−
5 CiA402 Drive Profile
5 - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
In this manual, objects are described in the following format.
• Object description format
• Object description format when there is a sub-index
5-4-3 Object Description Format
<Index> <Object name>
Setting range: <Setting range> Unit: <Unit> Default setting: <Default setting>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>
<Index> <Object name>
Sub-index 0
Setting range: <Setting range> Unit: <Unit> Default setting: <Default setting>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>
•
•
•
Sub-index N
Setting range: <Setting range> Unit: <Unit> Default setting: <Default setting>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>
• Index : Object index given by a four-digit hexadecimal 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.
Operating Mode
Operating Mode
‘ n,
‘ AH
‘ n,
‘ AH
‘ n,
‘ AH
‘ n,
‘ AH
‘ n,
A”
5 - 9
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-5 CoE Communications Area
5
5-5-1 Communication Objects
5-5 CoE Communications Area
• Gives the CoE device profile number.
• Explanation of set values
• Gives the error type that occurred.
• Explanation of set values
• Gives the model.
*1. "V*.**" which shows the hardware version is saved.
• Gives the Manufacturer hardware version of the EtherCAT Communication Unit.
*1. The version number is saved in “v*.**”.
• Gives the Manufacturer software version of the EtherCAT Communication Unit.
5-5-1 Communication Objects
1000 hex Device type
Setting range: −Unit: −Default setting: 00010192 hex
Size: 4 bytes (U32) Access: RO PDO map: Not 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 Manufacturer specific error
1008 hex Manufacturer device name
Setting range: −Unit: −Default setting: 3G3AX-MX2-ECT
Size: 20 bytes (VS) Access: RO PDO map: Not possible
1009 hex Manufacturer hardware version
Setting range: −Unit: −Default setting: *1
Size: 20 bytes (VS) Access: RO PDO map: Not possible
100A hex Manufacturer software version
Setting range: −Unit: −Default setting: *1
Size: 20 bytes (VS) Access: RO PDO map: Not possible
All
All
All
All
All
AH
AH
5 CiA402 Drive Profile
5 - 10 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• All savable parameters are saved in the Inverter EEPROM.
• Saving is executed only when a specific value is written to sub-index 1. This prevents parameter val-
ues from being accidentally overwritten.
• The specific value means “save”.
• A value of 00000001 hex (command valid) is given when reading.
• Parameters cannot be saved to the EEPROM during inverter operation.
• In the following cases, an ABORT code is returned.
• Writing with CompleteAccess.
• Writing a value other than 65766173 hex.
• Writing to the EEPROM may take up to 1 second. (This is when all objects are changed.)
• There is a limit to the number of times you can write to the EEPROM. For the life (number of writes)
of the EEPROM, refer to the user's manual for the MX2-series or RX-V1-series Inverters.
• Inverter parameters are reset to their default settings.
• A restoration operation is executed only when a specific value is written to sub-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 of times you can write to the EEPROM. For the life (number of writes)
of the EEPROM, refer to the user's manual for the MX2-series or RX-V1-series Inverters.
1010 hex Store parameters
Sub-index 0: Number of entries
Setting range: −Unit: −Default setting: 01 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Save all parameters
Setting range: −Unit: −Default setting: 00000001 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
MSB LSB
evas
65 hex 76 hex 61 hex 73 hex
1011 hex Restore default parameters
Sub-index 0: Number of entries
Setting range: −Unit: −Default setting: 01 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Restore all default parameters
Setting range: −Unit: −Default setting: 00000001 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
MSB LSB
dao l
64 hex 61 hex 6f hex 6c hex
All
All
AH
AH
5 - 11
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-5 CoE Communications Area
5
5-5-1 Communication Objects
• This object contains device information.
• Sub-index 1 (Vendor ID) gives the manufacturer identifier.
• Sub-index 2 (Product code) gives the product's identifier.
• Sub-index 3 (Revision number) gives the device revision number.
• Explanation of set values
• Sub-index 4 (Revision number) gives the serial number for each product. (This is not used by
MX2/RX-V1 inverters.)
• This object gives up to 8 diagnosis history items. It also enables or disables emergency messages.
• Sub-index 1 (Maximum messages) gives the number of error messages.
• Sub-index 2 (Newest message) gives the sub index where the latest diagnosis message is saved.
• Sub-index 5 (Flags) sets whether or not to give notification of the diagnosis history as an emergency
message. It is set to Emergency Message Enabled (0001 hex) when the power supply is turned ON.
• Sub-indexes 6 to 13 (Diagnosis messages 1 to 8) give the diagnosis history. The diagnosis history is
saved in Diagnosis messages 1 to 8 in ascending order. When the 9th error is reached, it is saved as
Diagnosis message 1 and the sequence starts again.
• The diagnosis history is retained even when the power supply is turned OFF.
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: Revision number
Setting range: −Unit: −Default setting: Refer to the table.
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 4: Serial number
Setting range: −Unit: −Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Bit Details
0 to 15 Device's minor revision number
16 to 31 Device's major revision number
10F3 hex Diagnosis history
Sub-index 0: Number of entries
Setting range: −Unit: −Default setting: 0D hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Maximum messages
Setting range: 00 to 08 hex Unit: −Default setting: 00 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 2: Newest message
Setting range: 06 to 0D hex Unit: −Default setting: 06 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 5: Flags
Setting range: 0000 to 0001 hex Unit: −Default setting: 0001 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-indexes 6 to 13: Diagnosis messages 1 to 8
Setting range: −Unit: −Default setting: −
Size: 23 bytes (VS) Access: RO PDO map: Not possible
All
All
AH
AH
5 CiA402 Drive Profile
5 - 12 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Indexes 1600 to 17FF hex are used for receive PDO mapping and indexes 1A00 to 1BFF hex are used
for transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application
object being mapped.
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Controlword (6040 hex), vl target velocity (6042 hex)
Diagnosis history details
Meaning Size Details
Error code 4 bytes (U32) The upper byte is the error code that is defined with CiA301 and CiA402. The
lower 2 bytes are the code type and are fixed at E800 hex.
Error flag 2 bytes (U16) Gives the error type.
Bit 1: Warning
Bit 2: Error
Other bits: Reserved
(Reserved) 17 bytes The reserved area.
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
Setting range: - Unit: - Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Setting range: - Unit: - Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1700 hex 257th fixed receive PDO mapping
Sub-index 0: Number of objects
Setting range: −Unit: −Default setting: 2
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Setting range: −Unit: −Default setting: 60400010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Setting range: −Unit: −Default setting: 60420010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Index Sub-index Bit length
31 16 15 8
MSB LSB
70
All
All
AH
AH
AH
5 - 13
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-5 CoE Communications Area
5
5-5-2 PDO Mapping Objects
• The PDO mapping when a fixed profile is used.
• The following objects are mapped.
• Command (5000 hex), Frequency reference (5010 hex)
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Statusword (6041 hex), vl velocity demand (6043 hex)
1701 hex 258th fixed receive PDO mapping
Sub-index 0: Number of objects
Setting range: −Unit: −Default setting: 2
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Setting range: −Unit: −Default setting: 50000010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
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
Sub-index 2: 2nd Input Object to be mapped
Setting range: −Unit: −Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1B00 hex 257th fixed transmit PDO mapping
Sub-index 0: Number of objects
Setting range: −Unit: −Default setting: 2
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Setting range: −Unit: −Default setting: 60410010 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: 60430010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
All
All
All
AH
AH
AH
5 CiA402 Drive Profile
5 - 14 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• The PDO allocation when a fixed profile is used.
• The following objects are mapped.
• Status information (5100 hex), Output frequency monitor (5110 hex)
• This is a mapping object to notify that the EtherCAT Communication Unit has detected an error.
• 2002 hex-01 hex: Sysmac Error Status has been mapped.
• When the Machine Automation Controller NJ501-1x00 series is connected, assign this object to
1C13 hex: Sync manager 3 PDO assignment.
• By default, Sysmac Studio assigns this object automatically.
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
• The Sync Manager has the following settings.
• SM0 : Mailbox reception (master to slave)
• SM1 : Mailbox send (slave to master)
• SM2 : Process data output (master to slave)
• SM3 : Process data input (slave to master)
1B01 hex 258th fixed transmit PDO mapping
Sub-index 0: Number of objects
Setting range: −Unit: −Default setting: 2
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input 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: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Setting range: −Unit: −Default setting: 20020108 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
5-5-3 Sync Manager Communication Objects
1C00 hex Sync Manager communication type
Sub-index 0: Number of used SM channels
Setting range: −Unit: −Default setting: 04 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Communication Type SM0
Setting range: −Unit: −Default setting: 01 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 2: Communication type SM1
Setting range: −Unit: −Default setting: 02 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 3: Communication type SM2
Setting range: −Unit: −Default setting: 03 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 4: Communication type SM3
Setting range: −Unit: −Default setting: 04 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
All
All
All
AH
AH
AH
5 - 15
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-5 CoE Communications Area
5
5-5-3 Sync Manager Communication Objects
• The PDO mapping used by this Sync Manager is given. Mailbox reception Sync Manager does not
have PDOs.
• The PDO mapping used by this Sync Manager is given. Mailbox send Sync Manager does not have
PDOs.
• The receive PDOs used by this Sync Manager are given.
• Up to 5 PDOs can be assigned.
• An object from 5000 to 5999 cannot be allocated at the same time as an object from 6000 to 6999.
1C10 hex Sync Manager 0 PDO assignment
Sub-index 0: Number of assigned RxPDOs
Setting range: −Unit: −Default setting: 00 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
1C11 hex Sync Manager 1 PDO assignment
Sub-index 0: Number of assigned PDOs
Setting range: −Unit: −Default setting: 00 hex
Size: 1 byte (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 PDO
Setting range: −Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: 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: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
All
All
All
AH
AH
AH
5 CiA402 Drive Profile
5 - 16 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• The transmit PDOs used by this Sync Manager are given.
• Up to 5 PDOs can be assigned.
• Synchronization type (1C32 to 01 hex) indicates the Synchronization mode of Sync Manager 2.
• 0000 hex: Free Run mode
• Synchronization types supported (1C32 to 04 hex) indicates the types of synchronization supported.
• 0001 hex: Free Run mode
• Synchronization type (1C33 to 01 hex) indicates the Synchronization mode of Sync Manager 2.
• 0000 hex: Free Run mode
• Synchronization types supported (1C33 to 04 hex) indicates the types of synchronization supported.
• 0001 hex: Free Run mode
1C13 hex Sync Manager 3 PDO assignment
Sub-index 0: Number of assigned TxPDOs
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: 1B01 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 2: 2nd 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 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: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
1C32 hex SM 2 synchronization
Sub-index 0: Number of synchronization parameters
Setting range: −Unit: −Default setting: 20 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Synchronization type
Setting range: −Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 4: Synchronization types supported
Setting range: −Unit: −Default setting: 0001 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
1C33 hex SM 3 synchronization
Sub-index 0: Number of synchronization parameters
Setting range: −Unit: −Default setting: 20 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Synchronization type
Setting range: −Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 4: Synchronization types supported
Setting range: −Unit: −Default setting: 0001 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
All
All
All
AH
AH
5 - 17
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-6 Manufacturer Specific Area
5
5-6-1 Manufacturer Specific Objects
5-6 Manufacturer Specific Area
• Notify and clear the Sysmac Error Status.
• Sub-index 1: Sysmac Error Status
• This object is used to notify that the EtherCAT Communication Unit has detected an error.
• When the Machine Automation Controller NJ501-1x00 series, etc., is connected, this object is
mapped to the PDO.
• Sub-index 2: Sysmac Error Status Clear
• This object is used to allow the Sysmac product controller to reset the error present in the
EtherCAT Communication Unit.
Additional Information
By default, Sysmac Studio automatically maps sub-index 01 hex: Sysmac Error status to the
PDO by allocation 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
Setting range: −Unit: −Default setting: 02 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Sysmac Error Status
Setting range: −Unit: −Default setting: 00 hex
Size: 1 byte (U8) Access: RO PDO map: Possible
Sub-index 2: Sysmac Error Status Clear
Setting range: −Unit: −Default setting: 00 hex
Size: 1 byte (U8) Access: RW PDO map: Not possible
2100 hex Error history clear
Setting range: 6C636C65 hex Unit: −Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
All
All
AH
\
\
‘ Unit] ng. ,
\
\
\
AH
5 CiA402 Drive Profile
5 - 18 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex.
3000 to 3102 hex are 16-bit parameters and 4000 to 4102 hex are 32-bit parameters.
zIndex and sub-index calculation method
Index: 3000 hex + (N/254), Sub-index: 1 + (N%254)
Index: 4000 hex + (N/254), Sub-index: 1 + (N%254)
N: Inverter register number
(N/254): Integer part after N is divided by 254
(N%254): Remainder after N is divided by 254
* PDO mapping can only be performed for 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 bytes (U16) Access: RW PDO map: *
Sub-index 2: Inverter register 0001 hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U16) Access: RW PDO map: *
•
•
•
Sub-index 253 hex: Inverter register 00FC hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U16) Access: RW PDO map: *
3001 to 3101 hex Inverter parameter objects 2 to 258 (16-bit access)
Same format as 3000 hex, inverter registers 00FD to FFFB hex
All
All
All
selling. ,
All
selling. ,
All
5 - 19
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-6 Manufacturer Specific Area
5
5-6-2 Inverter Parameter Objects
* PDO mapping can only be performed for parameters that exist in the inverter. Only parameters that can be set
during operation can be mapped to RxPDO.
* PDO mapping can only be performed for parameters that exist in the inverter. Only parameters that can be set
during operation can be mapped to RxPDO.
3102 hex Inverter parameter object 259 (16-bit access)
Sub-index 0: Number of assigned
Setting range: −Unit: −Default setting: 04 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Inverter register FFFC hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U16) Access: RW PDO map: *
Sub-index 2: Inverter register FFFD hex
Setting range: −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
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Inverter register 0000 hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U32) Access: RW PDO map: *
Sub-index 2: Inverter register 0001 hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U32) Access: RW PDO map: *
• • •
Sub-index 253 hex: Inverter register 00FC hex
Setting range: −Unit: −Default setting: −
Size: 2 bytes (U32) Access: RW PDO map: *
4001 to 4101 hex Inverter parameter objects 2 to 258 (32-bit access)
Same format as 3000 hex, inverter registers 00FD to FFFB hex
All
All
All
AH
AH
AH
5 CiA402 Drive Profile
5 - 20 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
* PDO mapping can only be performed for parameters that exist in the inverter. Only parameters that can be set
during operation can be mapped to RxPDO.
This section explains about OMRON's independent profile objects.
• This object gives an operation command to the inverter.
• Bit descriptions
• This object gives an output frequency command to the inverter.
• The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode.
4102 hex Inverter parameter object 259 (32-bit access)
Sub-index 0: Number of assigned
Setting range: −Unit: −Default setting: 04 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 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 bytes (U32) Access: RW PDO map: *
5-6-3 Independent Profile Objects
5000 hex Command
Setting range: 0000 to FFFF hex Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Possible
Bit Meaning Details
0 Forward/stop 0: Stop 1: Forward
1 Reverse/stop 0: Stop 1: Reverse
2 to 6 Reserved Not used. Always keep at 0.
7 Fault reset Faults and warnings are cleared when this bit turns ON.
8 to 15 Reserved Not used. Always keep at 0.
5010 hex Frequency reference
Setting range: 0000 to FFFF hex Unit: 0.01 Hz (0.1 Hz) Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Possible
All
All
All
AH
AH
\
\
AH
\ \
\ \
\ * \
\ \
\ \
\ \
\ \
5 - 21
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-6 Manufacturer Specific Area
5
5-6-3 Independent Profile Objects
• This object gives the present state of the unit.
• Bit descriptions
• This object gives the output frequency of the inverter.
• The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode.
• Gives the cause of not being able to transit to Op when PDOs are freely mapped.
• Gives up to 6 PDO mapping error messages.
• Sub-index 1 (error cause) gives the latest cause code.
• Sub-index 4 (number of error messages) gives the number of error messages that are registered.
• Sub-indexes 5 to 10 (PDO mapping error message 1 to 6) give the cause codes when errors occur in
PDO mapping. Messages are saved in sequence from 1 to 6, and no more are saved. The history is
cleared when the power supply is turned OFF or the state transitions from initialization (Init) to
pre-operational (Pre-Op) is made.
5100 hex Status
Setting range: 0000 to FFFF hex Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
Bit Meaning Details
0 During forward operation 0: Stop/reverse 1: During Forward operation
1 During reverse operation 0: Stop/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: Frequency matching
13 to 14 Reserved Not used.
15 Connection error between the
Optional Unit and inverter
1: Error (Cannot update data for the inverter. To reset the error, turn the
power supply OFF and then ON again.)
5110 hex Output frequency monitor
Setting range: 0000 to FFFF hex Unit: 0.01 Hz (0.1 Hz) Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
5200 hex PDO mapping error history
Sub-index 0: Number of entries
Setting range: −Unit: −Default setting: 0A hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Newest PDO mapping error cause
Setting range: −Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-index 4: Number of error message
Setting range: −Unit: −Default setting: 00 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-indexes 5 to A: PDO mapping error message 1 to 6
Unit: −Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
All
All
All
5 CiA402 Drive Profile
5 - 22 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
For details, refer to Section 6 Handling of Errors and Maintenance.
Cause code list
Cause code Meaning
0001 hex Busy
0002 hex Device busy
0003 hex Unexpectedly received data
0020 hex Sync Manager assignment exceeded
0021 hex PDO map number is invalid (outside the range, does not exist)
0022 hex RxPDO map overlap
0023 hex Object specified for RxPDO mapping is invalid
0024 hex Total number of assignment exceeded
0040 hex RxPDO object overlap
0041 hex Number of PDO mapping exceeded
0042 hex PDO map size exceeded (more than 32 bits)
0043 hex Incorrect object specification (sub-index 0 is mapped)
0044 hex Object not supported
0045 hex 5000 to 5999 and 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 than FreeRun is specified)
00E0 hex Start address of the Refresh area is 1000 hex or lower, or an odd number
00E1 hex Specified size of the Refresh area exceeds the range
00E2 hex Start address of the Refresh area is different from the value in pre-operational (Pre-Op)
00E3 hex Sync Manager buffer overlap
00E4 hex Map size and Sync Manager size are different
00E5 hex Sync Manager operation invalid
00E6 hex Sync Manager size is 0
00E7 hex Incorrect direction setting
00E8 hex Buffer mode is incorrect
8000 hex Resource depletion
8001 hex Internal inconsistency
8002 hex Other error
FFFF hex No error
AH
\
\
AH
\
\
AH
5 - 23
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-7 Device Profile area
5
5-7-1 Drive Profile Objects
5-7 Device Profile area
This section explains about the supported CiA402 drive profile.
• This object gives the latest error code or warning code that occurred in the unit.
• This object controls the state transitions of the unit.
• Bit descriptions
• This object gives the present state of the unit.
• Bit descriptions
5-7-1 Drive Profile Objects
603F hex Error code
Setting range: 0000 to FFFF hex Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
Index Name Data type Specifications
603F hex Error code U16 0000 hex: No error
5300 hex: No response from the inverter
6331 hex: EEPROM data error
6341 hex: PDO setting error
FF00 hex: Warning occurred for the inverter
FF01 hex: Trip occurred for the inverter
6040 hex Controlword
Setting range: 0000 to FFFF hex Unit: −Default 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 P. 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 this bit turns ON.
8 to 15 Reserved Not used. Always keep at 0.
6041 hex Statusword
Setting range: 0000 to FFFF hex Unit: −Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
All
All
All
5 CiA402 Drive Profile
5 - 24 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• This object gives a speed command and rotation direction command to the inverter.
• This object gives the operating speed that is sent to the inverter.
• This object normally indicates the speed detected by the encoder, however with this unit, its value is
the same as that of vl velocity demand (6043 hex).
• This object sets the maximum speed and minimum speed.
• To read and write the minimum speed, read or write the inverter parameter b082: Starting Frequency.
• To read and write the maximum speed, read or write the inverter parameter A004: Maximum Fre-
quency.
Bit Name Details
0 Ready to switch on These bits give the state.
For details, refer to 5-1-4 State Coding on page P. 5-4.
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning 0: No warning occurred for the unit or inverter.
1: Warning occurred for the unit or inverter.
8 Reserved Not used.
9 Remote 0: Control from Controlword is disabled.
1: Indicates that control is being performed by Controlword.
10 to 15 Reserved Not used.
6042 hex vl target velocity
Setting range: 8000 to 7FFF hex Unit: rpm Default setting: 0000 hex
Size: 2 bytes (INT16) Access: RW PDO map: Possible
6043 hex vl velocity demand
Setting range: 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: Not possible
Sub-index 1: vl velocity min amount
Setting range: 00000000 to FFFFFFFF hex Unit: rpm Default setting: 0000000F hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: vl velocity max amount
Setting range: 00000000 to FFFFFFFF hex Unit: rpm Default setting: 00000708 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
vl
vl
vl
vl
II
AH
AH
5 - 25
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-7 Device Profile area
5
5-7-1 Drive Profile Objects
• This object sets the acceleration time.
• To read the Speed (6048 to 01 hex), read the inverter parameter A004: Maximum Frequency.
• To read and write the Time (6048 to 02 hex), read and write the inverter parameter F002: Accelera-
tion Time Setting.
• This object sets the deceleration time.
• To read the Speed (6049 to 01 hex), read the inverter parameter A004: Maximum Frequency.
• To read and write the Time (6049 to 02 hex), read and write the inverter parameter F003: Decelera-
tion Time Setting.
• This object sets the behavior during Shutdown (Operation enable → Ready to switch on) .
• Explanation of set values
• This object sets the behavior during Disable operation (Operation enable → Switched on).
• Explanation of set values
6048 hex vl velocity acceleration
Sub-index 0: Number of entries
Setting range: −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
6049 hex vl velocity deceleration
Sub-index 0: Number of entries
Setting range: −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 code
Setting range: 1 Unit: −Default setting: 1
Size: 2 bytes (Int16) Access: RW PDO map: Not possible
Set value Stop method
1 Deceleration stop
605C hex Disable operation option code
Setting range: 1 Unit: −Default setting: 1
Size: 2 bytes (Int16) Access: RW PDO map: Not possible
Set value Stop method
1 Deceleration stop
vl
vl
All
All
AH
\
\
AH
\
\
AH
\
\
AH
\
5 CiA402 Drive Profile
5 - 26 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
• This object sets the behavior when an error occurs.
• Explanation of set values
• This object sets the operation mode.
• Explanation of set values
• This object gives the present operation mode.
• The value definitions are the same as for Modes of operation (6060 hex).
• This object indicates the supported operation modes.
• Bit descriptions
605E hex Fault reaction option code
Setting range 1: Unit: −Default setting: 1
Size: 2 bytes (Int16) Access: RW PDO map: Not possible
Set value Stop method
1 Deceleration stop
6060 hex Modes of operation
Setting range: 2 Unit: −Default setting: 02 hex
Size: 1 byte (Int8) Access: RW PDO map: Possible
Value Details
1 Velocity 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: Not supported
3 t q (Profile Torque mode) 0: Not supported
4 Reserved 0
5 hm (Homing mode) 0: Not supported
6 ip (Interpolated Position mode) 0: Not supported
7 csp (Cyclic Sync Position mode) 0: Not supported
8 csv (Cyclic Sync Velocity mode) 0: Not supported
9 cst (Cyclic Sync Torque mode) 0: Not supported
10 to 31 Reserved 0
All
All
All
All
6 - 1
6
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This section explains how to handle errors that occur in the EtherCAT Communication
Unit.
6-1 Communication Line Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-1-1 Status Indicator Explanations 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
6 Handling of Errors and Maintenance
6 - 2 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
6-1 Communication Line Errors
The 7 types of indicator lighting status are shown below.
6-1-1 Status Indicator Explanations and Error Handling
Abbreviation Name and status
ON ON
OFF OFF
F Flickering ON (50 ms) and OFF (50 ms)
B Blinking ON (200 ms) and OFF (200 ms)
SF Single flash ON (200 ms) and OFF (1,000 ms)
D Double flash ON (200 ms), OFF (200 ms), ON (200 ms) and OFF (1,000 ms)
−Undefined
RUN ERR L/A IN
L/A OUT Meaning Remarks
ON OFF ON During Ether-
CAT communi-
cations
EtherCAT communications
are being executed.
The status is normal if either process data
communications, message communications,
or both are being executed.
−−F Link estab-
lished in physi-
cal layer
The operation waiting status
after the link is established in
the physical layer.
• There was a status transition instruction
from the host system during operation, and
a transition was made to a status other
than Operational. Check that the Master
Unit is operating correctly.
Refer to the
manual for the Master Unit.
−−OFF Link not estab-
lished in physi-
cal 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
Communication Unit.
• If using a Master Unit from another manu-
facturer, refer to the user's manual for that
master.
• If there are devices that generate noise,
take necessary measures against the
noise to protect the Master Unit, Communi-
cation Unit and communications cables.
OFF OFF OFF Power supply
error
Power is not supplied cor-
rectly to the Communication
Unit.
• Check that power is supplied correctly to
the inverter (for example, check whether
the wiring of the inverter main power sup-
ply is correct, the power supply voltage has
dropped, and the inverter is operating nor-
mally).
• Check that the Communication Unit is
mounted correctly onto the inverter.
• Eliminate the cause of the error, and then
turn the inverter power supply OFF and
ON again.
OFF ON −Hardware error A hardware error has
occurred.
• Check that the Communication Unit is
mounted correctly onto the inverter.
• Replace the Communication Unit.
F
B
6 - 3
6 Handling of Errors and Maintenance
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
6-1 Communication Line Errors
6
6-1-1 Status Indicator Explanations and Error Handling
−B−Invalid node
address setting
The setting of the node
address-setting rotary
switches is invalid.
• Check the setting of the node address-set-
ting rotary switches, turn OFF the power
supply of the inverter, and then restart it.
EEPROM data
error
This is an EEPROM data
error.
Use the tool to restore the default data, and
restart.
Sync Manager
setting error
The Sync Manager setting is
invalid.
Change to a correct setting.
−D−
Process data
communications
timeout
An error occurred in commu-
nications.
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
generated by the master.
If it was generated during system operation,
check the status of the host master.
B−− Pre-operational
state
An instruction to transition to
pre-operational state was
generated by the master.
OFF −− Init state An instruction to transition to
init state was generated by
the master.
RUN ERR L/A IN
L/A OUT Meaning Remarks
6 Handling of Errors and Maintenance
6 - 4 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
6-1-2 Troubleshooting
Errors related to the EtherCAT Communication Unit
Problem Cause and possible corrections
Both the RUN and ERR indicators are
OFF
Power is not supplied correctly to the Communication Unit. Check that the Commu-
nication Unit is mounted correctly onto the inverter, and that the inverter power sup-
ply is wired correctly. Eliminate the cause of the power supply interruption, turn the
inverter power supply OFF, and then restart it.
ERR indicator is lit red • Check that the Communication Unit is mounted correctly onto the inverter.
• The Communication Unit is faulty. Replace the Communication Unit.
ERR indicator is flashing red • The setting of the rotary switches for node address setting is invalid. Check the
setting of the rotary switches for node address setting, turn OFF the power supply
of the inverter, and then restart it.
• There is an error in the Slave Unit's EEPROM memory data. Use the tool to ini-
tialize the settings.
• The Sync Manager setting is invalid. Change to a correct setting.
• An error occurred in communications. Check the connection of the communica-
tions cables and the length of the cables.
In addition, take noise control measures such as mounting the clamp core on the
communication cable.
If the ERR indicator remains flashing even after checking the above items, replace
the slave.
RUN indicator remains flashing green
and status does 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.
• Check that the Master Unit is operating correctly. If using an OMRON Master
Unit, check the Master Unit mode and the slave node addresses.
• If using a Master Unit from another manufacturer, refer to the user's manual for
that master.
• Check that the communications cable is wired correctly.
• Check that the Communication Unit is mounted correctly onto the inverter, and
that the power supply is wired correctly. Eliminate the cause of the power supply