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EtherCAT Communication Unit User's Manual

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1. NO NO NO WD rr PC Power O10 senes Master Unit Position Control Unit T CX Programmer Supply Unit CPU Unit CJ1W NCx82 9 gt E FER E i O 3 a sE m S 353 gt el 53 x 4 44 EN TE 3 ed i RS 232C port connection l Slave Unit Slave Unit Peripheral USB First unit inverter 2nd unit inverter port connection Node address 17 Node address 22 B B Le 0000 0000 de ude D D Communications cable 1 Communications cable 2 Length 5 m Length 1 m EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 9 2 Starting a Sample System 2 3 Master Unit Setting 2 3 1 Mounting the Master Unit Connect the SYSMAC CJ2 series PLC and the CJ1W NCx82 Master Unit by fitting their connectors together For specific details on mounting onto the SYSMAC Unit and the control panel of the SYSMAC Unit refer to the User Manual for the SYSMAC CJ2 series 2 3 2 Master Unit Setting Perform the settings for the CJ1W NCx82 Master Unit For the setting method of each component refer to the manual for the Master Unit 2 3 3 ESI File Setting Information on EtherCAT slave settings is stored in the EtherCAT Slave Information ESI file Information in this file XML file format is used by the master to
2. 6 2 6 1 2 Troubleshooting elleleeeee RI Inn 6 4 6 2 Message Errors ira aaa EXER Enea ee 6 5 6 3 Application Errors 5 3 eed Kee S RS OPEN GE DE Sar e dha reas cud eus 6 6 6 3 1 EITOF SIaliseS x etr ES ane an Mic une keen En 6 6 0 32 Error Code List uuo uc e dd ecc x P cam Boe ADR X 6 6 6 3 3 List of Cause Codes for PDO Mapping Errors 0 000000 eee 6 7 6 3 4 AL Status Gode List lt 6 erede cen ee AA OO eRe ae 6 9 6 4 Inverter Errors i auia ERU oie a ee aiia 6 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 1 6 Handling of Errors and Maintenance 6 1 6 1 1 Communication Line Errors Status IndicatorExplanations and Error Handling The 7 types of indicator lighting status are shown below Abbreviation ON OFF F B SF D ON Bc B OFF Name and status ON OFF Flickering ON 50 ms and OFF 50 ms Blinking ON 200 ms and OFF 200 ms Single flash ON 200 ms and OFF 1 000 ms Double flash ON 200 ms OFF 200 ms ON 200 ms and OFF 1 000 ms Undefined L A IN L A OUT During EtherCAT communications EtherCAT are being executed communications Link established The operation waiting status in physical layer after the link is established in the physical layer Link not The link is not established in established in the physical layer cannot physical layer participate in the network Power supply Power is not supplied error co
3. 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 1372 hex Free V f Voltage 6 b111 0 to 8000 0 1 V ex h 1373 hex Free V f Frequency 7 b112 O to 400 1000 1 Hz vi 9B 1374 hex Free V f Voltage 7 b113 RW 0 to 8000 0 1 V hex A2 137B Brake Control b120 RW 00 Disabled hex hex Function Selection 01 Enabled A3 137C Brake Release Wait b121 RW 0 to 500 0 01 s hex hex Time A4 137D Acceleration Wait b122 RW 0 to 500 0 01 s hex hex Time A5 137E Stop Wait Time b123 RW 0 to 500 0 01 s hex hex A6 137F Brake Wait Time for b124 RW 0 to 500 0 01 s hex hex Confirmation AT 1380 hex Brake Release b125 RW 0 to 40000 0 01 Hz hex Frequency A8 hex 1382 hex Break ON Frequency b127 udi 0 to 40000 0 01 Hz hex Overvoltage Suppression Function Selection During Deceleration AC 1385 hex hex AD 1386 hex hex AF 1388 hex hex BO 1389 hex hex 1381 hex Brake Release Current Overvoltage Suppression Level During Deceleration Overvoltage Suppression Proportional Gain Setting Overvoltage Suppression Integral Time Setting b126 b130 RW 00 Disabled 01 DC voltage kept constant 02 Acceleration enab
4. 4016 79 164C Multi step Position P067 RW Position range setting reverse to 1 Possible hex hex hex Command 7 position range setting forward Displays MSB 4 digits including 3016 7B 164E Zero Return Mode P068 RW 00 Zero return mode 1 Possible hex hex hex 01 Zero return mode 2 3016 7C 164F Zero Return Direction P069 RW 00 Forward Possible hex hex hex Selection 01 Reverse 3016 7D 1650 hex Zero Return Mode 1 P070 RW 0 to 1000 0 01 Hz Possible hex hex Frequency 3016 TE 1651 hex Zero Return Mode 2 P071 RW 0 to 4000 0 01 Hz Possible hex hex Frequency 4016 7F 1652 hex Position Range setting P072 RW 0 to 268435455 1 Possible hex hex Forward side 4016 81 1654 hex Position Range setting P073 RW 268435455 to 0 1 Possible hex hex Reverse side EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 29 A Appendix Index 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 3016 hex 301E hex 301E hex 301E hex 301E hex 301E hex 301F hex ioe hs sd BC hex BD hex BE hex BF hex hex hex hex hex hex hex hex hex hex hex CA hex co 00 N O al AR Oo N eo de 7 ii is ex ex ex ex ex ex 1657 hex Positioning Mode Selection 1659 hex Encoder Disconnection Detection Time
5. D E o e 3 D e D r 0 e 1sr119e qO 1 e Y EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 31 A Appendix Index Register Function name Parameter Monitor and setting items Data PDO No No resolution map 3022 83 223E Control Method 2 A244 RW 00 Constant torque characteristics Possible hex hex hex 01 Reduced torque characteristics TxPDO 02 Free V f setting 03 Sensorless vector control 3022 84 223F Output Voltage Gain 2 A245 RW 20 to 100 1 96 Possible hex hex hex 3022 85 2240 hex Automatic Torque A246 RW 0 to 255 1 96 Possible hex hex Boost Voltage Compensation Gain 2 3022 86 2241 hex Automatic Torque A247 0 to 255 1 96 Possible hex hex Boost Slip Compensation Gain 2 4022 94 224F Frequency Upper A261 0 01 Hz Possible hex hex hex Limit 2 EE Lower Limit 2 to Maximum Frequency 2 TxPDO 4022 96 2251 hex Frequency Lower A262 0 0 01 Hz Possible hex hex Limit 2 Starting Frequency to Frequency TxPDO Upper Limit 2 3022 AE 2269 hex AVR Selection 2 A281 00 Always ON Possible hex hex 01 Always OFF TxPDO 02 OFF during deceleration Possible TxPDO 3022 AF 226A Motor Incoming A282 hex hex hex Voltage Selection 2 400 V class 05 380 06 400 07 415 4022 B4 226F ri Acceleration Time A292 1 to 360000 0 01 s Possible hex hex hex 4022 B6 2271 hex 2nd Deceleration Time A293 1 to 360000 0 01 s Possible hex hex 2 3022 B8 2273 hex 2 step A
6. Meaning Sze 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 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 31 16 15 8 7 0 MSB LSB BitOto 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bit 8t05 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 All Sub index 0 Number of objects Setting range Default setting O Size 1 byte U8 PDO map Not possible Sub index 1 1st object Setting range Default setting 0000 0000 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd object Setting range Default setting 0000 0000 hex Size 4 bytes U32 PDO map Not possible e The PDO mapping when freely allocated objects are used e Objects can be allocated up to a total bit length of 32 bits 1700 hex 1st fixed receive PDO mapping All Sub index 0 Number of objects Setting range Default setting 2 Size 1 byte UB PDO map Not possible
7. 168E Number of Send Data of hex All Stations in Co inverter Communication 168F Recipient Station Number of hex All Stations in Co inverter Communication 1 1690 hex Recipient Register of All Stations in Co inverter Communication 1 1691 hex Sender Register of All Stations in Co inverter Communication 1 1692 hex Recipient Station Number of All Stations in Co inverter Communication 2 1693 hex Recipient Register of All Stations in Co inverter Communication 2 1694 hex Sender Register of All Stations in Co inverter Communication 2 1695 hex Recipient Station Number of All Stations in Co inverter Communication 3 1696 hex Recipient Register of All Stations in Co inverter Communication 3 1697 hex Sender Register of All Stations in Co inverter Communication 3 1698 hex Recipient Station Number of All Stations in Co inverter Communication 4 1699 hex Recipient Register of All Stations in Co inverter Communication 4 169A Sender Register of All hex Stations in Co inverter Communication 4 169B Recipient Station Number of hex All Stations in Co inverter Communication 5 169C Recipient Register of All hex Stations in Co inverter Communication 5 169D Sender Register of All hex Stations in Co inverter Communication 5 1E01 Coil Data 1 hex 1E02 Coil Data 2 hex 1E03 Coil Data 3 hex 1E04 Coil Data 4 hex 1E05 Coil Data 5 hex 1F01 Coil Data 0 hex dace Monitor and setti
8. 3014 hex 3014 hex Register No 6C 1443 hex hex Function name FEN Monitor and setting items Data i RU No resolution map 0 Hz Detection Level C063 RW 0 to 10000 0 01 Hz Possible TxPDO 6D 1444 hex Cooling Fin Overheat C064 0 to 110 1 C Possible hex Warning Level TxPDO 74 144B hex hex Communication Speed C071 RW 03 2 400 bps Possible Selection 04 4 800 bps TXPDO 05 9 600 bps 06 19 2 kbps 07 38 4 kbps 08 57 6 kbps 09 76 8 kbps 10 115 2 kbps 75 144C Communication C072 1 to 247 Possible hex hex Station No Selection TxPDO TT 144E hex hex Communication Parity C074 RW 00 Disabled Possible Selection 01 Even TxPDO 02 Odd 78 144F Communication Stop C075 RW 1 1 bit Possible hex hex Bit Selection 2 2 bits TxPDO 79 1450 hex hex Operation Selection on Communication Error C076 RW 00 Trip Possible 01 Trip after deceleration stop TxPDO 02 Ignore 03 Free run stop 04 Deceleration stop TA 1451 hex Communication Error C077 0 Timeout disabled 0 01 s Possible hex Timeout Period 1 to 9999 TxPDO 7B 1452 hex Communication Wait C078 RW O to 1000 1 ms Possible hex Time TxPDO TE 1455 hex FV Adjustment C081 RW 0 to 2000 0 1 Possible hex 7F 1456 hex FI Adjustment C082 RW 0 to 2000 0 1 Possible hex 82 1459 hex Thermistor Adjustment C085 RW 0 to 2000 0 1 76 Possible hex 145F Debug Mode Selection C091 For factory
9. 7 Su puey 40443 pue suomneue dx34ojeoipu SNJEIS 1 1 9 6 Handling of Errors and Maintenance 6 1 2 Troubleshooting Errors related to the EtherCAT Communication Unit Problem Cause and possible corrections Both the RUN and ERR indicators are Power is not supplied correctly to the Communication Unit Check that the OFF Communication Unit is mounted correctly onto the inverter and that the inverter power supply 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 ERR indicator is flashing red Check that the Communication Unit is mounted correctly onto the inverter The Communication Unit is faulty Replace the Communication Unit 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 initialize the settings The Sync Manager setting is invalid Change to a correct setting An error occurred in communications Check the connection of the communications cables and the length of the cables If the ERR indicator remains flashing even after checking the above items replace the slave RUN indicator remains flashing green There was a status transition instruction from the host system during operation
10. Bi Name o Meaning 7 0 OFF 1 ON 10 i 12 13 Reserved The reserved area Set 0 Use by assigning a function to the multi function input with the inverter parameters e Status The bit data for the status information is shown below Atte pe ette tee T JE Bit 0 Forward operation in progress 1 Reverse operation in progress 3 Fault Meaning Stopped during reverse operation During forward operation Stopped during forward operation During reverse operation No error or trip occurred for the unit or inverter Error or trip occurred for the unit or inverter Warning No warning occurred for the unit or inverter Warning occurred for the unit or inverter Local Operations from EtherCAT are disabled Remote Operations from EtherCAT are enabled During acceleration deceleration Frequency matched Normal Error Cannot update data for the inverter To restore turn the power OFF and then ON again Reserved The reserved area Set 0 9 Remote 12 Frequency matching N 2 O a O O 2 O 2O aO O 15 Connection error between the Optional Unit and inverter Output frequency monitor Name Meaning Output frequency monitor Displays the output frequency in increments of 0 01 Hz O Current position monitor Name Meaning Current position monitor Displays the value of inverter parameter d030 Current position monitor e Multi function output monitor The bit data for the
11. Boe No No resolution map 3000 1D 001C Fault Monitor 2 d082 Refer to Inverter Fault Factor List Possible hex hex hex Cause in the operation manual for the MX2 TxPDO inverter 3000 1E 001D Fault Monitor 2 Refer to Inverter Fault Factor List Possible hex hex hex Inverter Status in the operation manual for the MX2 TxPDO inverter 4000 1F 001E Fault Monitor 2 0 to 100000 0 01 Hz Possible hex hex hex Frequency TxPDO 3000 21 0020 hex Fault Monitor 2 Output current value at the time of 0 01 A Possible hex hex Current tripping TxPDO 3000 22 0021 hex Fault Monitor 2 DC input voltage at the time of 0 1 V Possible hex hex Voltage tripping TxPDO 4000 23 0022 hex Fault Monitor 2 Total RUN time at the time of 1 h Possible hex hex RUN Time tripping TxPDO 4000 25 0024 hex Fault Monitor 2 Power ON time at the time of 1 h Possible hex hex ON Time tripping TxPDO 3000 27 0026 hex Fault Monitor 3 d083 Refer to Inverter Fault Factor List Possible hex hex Cause in the operation manual for the MX2 TxPDO inverter 3000 28 0027 hex Fault Monitor 3 Refer to Inverter Fault Factor List Possible hex hex Inverter Status in the operation manual for the MX2 TxPDO inverter 4000 29 0028 hex Fault Monitor 3 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO 3000 2B 002A Fault Monitor 3 Output current value at the time of 0 01 A Possible hex hex hex Current tripping TxPDO 3000 2C 002B Fault Monitor 3
12. Checking the Model 3G3AX MX2 ECT Lo EtherCAT Communications Unit For 3G3MX2 series only Checking the Accessories Note that the Instruction manual and the Japanese warning label accessories are included with the EtherCAT Communication Unit 3G3AX MX2 ECT 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Revision History A manual revision code appears as a suffix to the catalog number located at the top left of the front and lower right of the back covers an o 1574 E1 01 t Revised symbols Revision code Changes and revision pages 01 August 2010 First printing EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 13 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 Inverter manual Multi function Compact Inverter SYSDRIVE MX2 SERIES USER S MANUAL I570 Refer to the user s manual of the Inverter for information on Inverter operation EtherCAT Master manual Position Control Units CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 OPERATION MANUAL W487 When using the Master Unit other than as specified above refer to the manual operation manual for that Master Unit 14 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT About This Manual This User s Manual consists of chapters listed below Understanding the following configuration ensure
13. Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual 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 users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Safety Precautions Indications and Meanings of Safety Information In this manual the following precautions and signal words are used to provide information to ensure the safe use of the EtherCAT Communication Unit 3G3AX MX2 ECT The information provided here is vital to safety Strictly observe the precautions provided The precautions and symbols are as follows Meanings of Signal Words Indicates a potentially hazardous situation which if not avoided may result in WAR N N G minor or moderate injury or may result in serious injury or death Additionally there may be significant property damage C ti Indicates a potentially hazardous situation which if not avoided may
14. EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 17 5 CiA402 Drive Profile 5100 hex Status All Setting range 0000 to FFFF hex Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives the present state of the unit e Bit descriptions Bit 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 Fault Reserved 1 A fault inverter trip occurred 4to6 Not used N co Warning 1 A warning occurred 0 Commands other than those from the EtherCAT Communication Unit are enabled 1 Commands from the EtherCAT Communication Unit are enabled Remote 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 All Setting range 0000 to FFFF hex Unit 0 01 Hz 0 1 Hz Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives the output frequency of the inverter e The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode 5200 hex PDO mapping error history All Setting range Default sett
15. FF01 hex A trip occurred for the inverter Eliminate the cause and set bit 7 Fault reset of Command 5000 hex or bit 7 Fault reset of Controlword 6040 hex to ON 6 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance 6 3 3 List of Cause Codes for PDO Mapping Errors Cause code Meaning Cause and possible corrections 0000 hex No registered error 0001 hex Busy Cannot accept the PDO allocation because the internal status is busy Transition again to safe operational 0002 hex Device busy Cannot accept the PDO allocation because the internal status is busy Transition again to safe operational 0003 hex Unexpectedly received data Wrote to sub index 0 of the PDO mapping in a size other than 1 byte Write in a 1 byte data size Wrote to sub index 0 of Sync Manager in a size other than 1 byte Write in a 1 byte data size Wrote to sub indexes 1 to 5 of Sync Manager in a size other than 2 bytes Write in a 2 byte data size 0020 hex Sync Manager assignment Allocated more than 5 PDOs to Sync Manager Allocate 5 PDOs or exceeded less to Sync Manager 0021 hex PDO map number is invalid An object was assigned that cannot be assigned to Sync Manager outside the range does not Assign within the ranges below exist Sync Manager 2PDO assignment 1C12 hex 1600 to 1604 hex 1700 to 1701 hex o Sync Manager 3PDO assignment 1C13 hex 1A00 to 1A04 hex x 1B00 to 1B01 hex 3 0022 h
16. 5 1 4 State Coding page5 3 2 4 6 T 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter o Not used 9 0 Control from Controlword is disabled 1 Indicates that control is being performed by Controlword 10 to 15 Not used 5 20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 6042 hex vl target velocity vl Setting range 8000 to 7FFF hex Default setting 0000 hex Size 2 bytes INT16 PDO map Possible e This object gives a command speed and rotation direction command to the inverter 6043 hex vl velocity demand Setting range 8000 to 7FFF hex Default setting 0000 hex Size 2 bytes INT16 PDO map Possible e This object gives the operating speed that is sent to the inverter 6044 hex vl velocity actual value vl Setting range 8000 to 7FFF hex Default setting 0000 hex Size 2 bytes INT16 PDO map Possible e This object gives the output speed of the inverter 6046 hex vl velocity min max amount vl Sub index 0 Number of entries Setting range Unit Command Default setting 02 hex unit Size 1 byte U8 PDO map Not possible Sub index 1 vl velocity min amount Setting range 0000 0000 to FFFF FFFF hex Default setting 0000 000F hex Size 4 bytes U32 PDO map Not possible Sub index 2 vl velocity max amount Setting range 0000 0000 to FFFF FFFF hex Default setting 0000 0708 hex Size 4 bytes U32
17. A 15 A Appendix Index 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 4012 hex 4012 hex 3012 hex 4012 hex 4012 hex 3012 hex 3012 hex 4012 hex 4012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex A 16 AE Function name Parame a Monitor and setting items DELS Aus No No resolution map 8F 126A Motor Incoming A082 RW 200 V class 00 Possible hex hex Voltage Selection 1 01 02 03 04 400 V class 05 06 07 90 TxPDO 126B AVR Filter Time A083 RW 0 to 1000 0 01 s Possible hex hex Parameter TxPDO 91 126C AVR Deceleration A084 RW 50 to 200 1 96 Possible hex hex Voltage Gain TxPDO 92 126D RUN Mode Selection A085 RW 00 Normal operation Possible hex hex 01 Energy saving operation TxPDO 93 126E Energy saving A086 RW 0 to 1000 0 1 Possible hex hex Response Accuracy Adjustment 99 1274 hex 1st Acceleration Time A092 RW 1 to 360000 0 01 s Possible hex 2 9B 1276 hex 1st Deceleration Time A093 RW 1 to 360000 0 01 s Possible hex 2 RW 9D 1278 hex 2 step 00 Switched via word 2 terminal Possible hex Acceleration Decelerat 01 Switched by setting TxPDO ion Selection 1 02 Switched only when switching forward reverse 9E 1279 hex 2 step Acceleration RW 0 to 40000 100000 0 01 Hz Possible hex Frequency 1 TxPDO AO 127B 2 step Deceleration RW 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 1 TxPD
18. Acceleration Time 2 F202 RW 1 to 360000 0 01 s Possible hex hex Setting 4021 48 2105 hex Deceleration Time 2 F203 RW 1 to 360000 0 01 s Possible hex hex Setting e Holding register number list 2nd setting Group A b C H and P Index Register Function name Parameter Monitor and setting items Data i PDO No No resolution map 3022 46 2201 hex Frequency Reference A201 RW 00 Volume Possible hex hex Selection 2 01 Control circuit terminal block TxPDO 02 Digital Operator 03 Modbus communication Modbus RTU 04 Optional boad 06 Pulse train frequency 07 Do not set 10 Operation function output 3022 47 2202 hex RUN Command A202 RW 01 Control circuit terminal block Possible hex hex Selection 2 02 Digital operator TxPDO 03 Modbus communication Modbus RTU 04 Optional boad 3022 Am hex Base Frequency 2 A203 300 to Maximum Frequency 2 0 1 Hz Possible hex A TxPDO 3022 49 2204 hex Maximum Frequency 2 A204 300 to 4000 10000 0 1 Hz Possible hex hex TxPDO 3022 80 223B Torque Boost A241 00 Manual torque boost Possible hex hex hex Selection 2 01 Automatic torque boost TxPDO 3022 81 223C Manual Torque Boost A242 0 to 200 0 1 96 Possible hex hex hex Voltage 2 3022 82 223D Manual Torque Boost A243 RW 0 to 500 0 1 96 Possible hex hex hex Frequency 2 If the RUN Command 2 Selection has been changed wait for at least 40 ms before an actual RUN command is issued T A 5 lt
19. Index Register Function name Parameter Monitor and setting items Data PDO No No resolution map 3014 9C 1473 hex Overload 1 Warning C111 RW 0 to 20000 0 01 Possible hex hex Signal Level 2 3014 AF 1486 hex Output P1 EDM ON C130 RW 0 to 1000 0 1 s Possible hex hex Delay Time TxPDO 3014 BO 1487 hex Output P1 EDM OFF C131 RW 0 to 1000 0 1 s Possible hex hex Delay Time TxPDO 3014 B1 1488 hex Output P2 ON Delay C132 RW 0 to 1000 0 1 s Possible hex hex Time TxPDO 3014 B2 1489 hex Output P2 OFF Delay C133 RW 0 to 1000 0 1 s Possible hex hex Time TxPDO 3014 B9 1490 hex Output RY ON Delay C140 RW 0 to 1000 0 1 s Possible hex hex Time TxPDO 3014 BA 1491 hex Output RY OFF Delay C141 RW 0 to 1000 0 1 s Possible hex hex Time TxPDO 3014 BB 1492 hex Logic Output Signal 1 C142 RW Same as C021 and C022 excluding Possible hex hex Selection 1 LOG1 to LOG3 TxPDO 3014 BC 1493 hex Logic Output Signal 1 C143 RW Same as C021 and C022 excluding Possible hex hex Selection 2 LOG1 to LOG3 TxPDO 3014 BD 1494 hex Logic Output Signal 1 C144 RW Possible hex hex Operator Selection TxPDO 3014 BE 1495 hex Logic Output Signal 2 C145 RW Same as C021 and C022 excluding Possible hex hex Selection 1 LOG1 to LOG3 TxPDO gt 3014 BF 1496 hex Logic Output Signal 2 C146 RW Same as C021 and C022 excluding Possible hex hex Selection 2 LOG1 to LOG3 TxPDO 2 3014 CO 1497 hex Logic Output
20. Sub index 1 1st object Setting range Default setting 6040 0010 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd object Setting range Default setting 6042 0010 hex Size 4 bytes U32 PDO map Not possible e The PDO mapping when Velocity mode is used e The following objects are mapped e Controlword 6040 hex vl target velocity 6042 hex 5 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 1701 hex 2nd fixed receive PDO mapping All Sub index 0 Number of objects Setting range Default setting 2 Size 1 byte US PDO map Not possible Sub index 1 1st object Setting range Default setting 5000 0010 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd object Setting range Default setting 5010 0010 hex Size 4 bytes U32 PDO map Not possible e The PDO mapping when a fixed profile is used e The following objects are mapped e Command 5000 hex Frequency reference 5010 hex 1A00 to 1A04 hex 1st to 5th transmit PDO mapping AII Sub index 0 Number of objects Setting range Default setting 2 Size 1 byte U8 PDO map Not possible Sub index 1 1st object Setting range Default setting 0000 0000 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd object Setting range Default setting 0000 0000 hex Size 4 bytes U32 PDO map Not possible e The PDO mapping when fr
21. U16 RW Not a possible A Appendix Settin PDO range map 2100 hex Error history clear 6C636C65 hex 0000 0000 hex 4 bytes U32 RW Not possible hex 5010 hex Frequency reference 0000 to FFFF 0 01 Hz 0000 hex 2 bytes U16 RW Possible hex 0 1 Hz 5100 hex Status 0000 to FFFF 0000 hex 2 bytes U16 Possible hex 5110 hex n Output frequency monitor 0000 to FFFF 0000 hex 2 bytes U16 ME Possible hex 5200 hex PDO mapping error history CENE MEM E ERP CHE E Number of entries OA hex 1 byte U8 Not possible 1 Newest PDO mapping error code FFFF hex 2 bytes U16 Not possible 4 Number of error messages 00 hex 2 bytes U16 Not possible 5toA PDO mapping error message 1 to 0000 hex 2 bytes U16 Not 6 possible hex hex hex 6042 hex uu vl target velocity 8000 to 7FFF 0000 hex 2 bytes INT16 Possible hex 6043 hex a vl velocity demand 8000 to 7FFF 0000 hex 2 bytes INT16 Possible hex 6044 hex LEN vl velocity actual value 8000 to 7FFF 0000 hex 2 bytes INT16 EN Possible hex Number of entries Command 02 hex 1 byte U8 Not unit possible 1 vl velocity min amount 0000 0000 to rpm 0000 000F hex 4 bytes U32 RW Not FFFF FFFF hex possible 2 vl velocity max amount 0000 0000 to rpm 0000 0708 hex 4 bytes U32 RW Not FFFF FFFF hex possible Number of entries Command 02 hex 1 byte U8 Not unit possible 1 Delta speed 0000 0000 to rpm 0000 0708 hex 4 bytes U32 Not FFFF FFFF hex possible 2 Delta time 0000 to FFFF S 000A hex 2 bytes
22. U16 RW Not hex possible Number of entries Command 02 hex 1 byte U8 Not unit possible 1 Delta speed 0000 0000 to rpm 0000 0708 hex 4 bytes U32 Not FFFF FFFF hex possible 2 Delta time 0000 to FFFF S 000A hex 2 bytes U16 RW Not hex possible 605B hex Shutdown option code 1 1 2 bytes INT16 RW Not possible 605C hex Disable operation option code 1 1 2 bytes INT16 RW Not possible 605E hex Fault reaction option code 1 1 2 bytes INT16 RW Not possible 6502 hex Supported drive modes 0000 0002 hex 4 bytes U32 Not possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 7 gt eo O S o O e L 0 e 1sr119e qO 1 e Y A Appendix A 4 InverterParameter List 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 e Index 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 e Holding register number list frequency reference and fault monitor Index Register Function name dud Monitor and setting items EDO No ian map 4000 02 0001 hex Output Frequency F001 0 to maximum frequency enabled 0 01 Hz Possible hex hex Setting when A001 03 TxPDO 3000 05 0004 hex Inverter Status B 0 St
23. and and status does not change 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 Slaves are not connected to the network OFF e Check that the Master Unit is operating correctly If using an OMRON Master L A IN and L A OUT indicators remain flashing green 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 interruption turn the inverter power supply OFF and then restart it Check the connector wiring to make sure that the communications cables are not disconnected If the L A IN and L A OUT indicators of a certain slave remain OFF replace the corresponding slave If there are devices that generate noise take necessary measures against the noise to protect the Master Unit Communication Unit and communications cables The slave status has not transitioned to Operational Refer to the Master Unit s manual and check that the Master Unit is operating correctly If the L A IN and L A OUT indicators of a cer
24. m 1 Output frequency monitor m 2 Current position monitor LSW m 3 Current position monitor MSW m 4 Multi function output monitor Notes m Start address of the remote I O input relay area that is assigned to the unit Bit and data information e Command The bit data for the command is shown below lel leleie AA VS OS Bt mme Meaning 0 Forward stop 1 0 Stop 1 Forward command 1 Reverse stop 1 0 Stop 1 Reverse command t ounces A Resets an error or trip for the unit or inverter Reserved The reserved area Set 0 1 Operates as a start bit when Simple position control is enabled poya OMJUOD c v O Frequency reference 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 e Multi step Position command 0 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 5 4 Inverter Control e Multi function input The bit data for the multi function input information is shown below ES OS seq xs qp rw e Se SS Se E
25. 00 hex PDO map All Not possible e The PDO mapping used by this Sync Manager is given Mailbox send Sync Manager does not have PDOs 1012 hex Sync Manager 2 PDO assignment Sub index 0 Number of assigned RxPDOs Setting range Size 1 byte U8 Sub index 1 Assigned PDO 1 Setting range Size 2 bytes U16 Sub index 2 Assigned PDO 2 Setting range Size 2 bytes U16 Sub index 3 Assigned PDO 3 Setting range Size 2 bytes U16 Sub index 4 Assigned PDO 4 Setting range Size 2 bytes U16 Sub index 5 Assigned PDO 5 Setting range Size 2 bytes U16 Default setting 00 hex PDO map Default setting 1701 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map e The receive PDOs used by this Sync Manager are given e Up to 5 PDOs can be assigned e An object from 5000 to 5999 cannot be allocated at the same time as an object from 6000 to 6999 1013 hex Sync Manager 3 PDO assignment Sub index 0 Number of assigned TxPDOs Setting range Size 1 byte U8 Sub index 1 Assigned PDO 1 Setting range Size 2 bytes U16 Sub index 2 Assigned PDO 2 Setting range Size 2 bytes U16 Sub index 3 Assigned PDO 3 Setting range Size 2 bytes U16 Sub index 4 Assigned PDO 4 Setting range Size 2 bytes U16 Sub
26. 163B Pulse Train Bias P057 RW 100 to 100 1 96 Possible hex hex hex Amount TxPDO 3016 69 163C Pulse Train Limit P058 RW 0 to 100 1 Possible hex hex hex TxPDO 4016 6B 163E Multi step Position P060 RW Position range setting reverse to 1 Possible hex hex hex Command 0 position range setting forward Displays MSB 4 digits including 4016 6D 1640 hex Multi step Position P061 R W Position range setting reverse to 1 Possible hex hex Command 1 position range setting forward Displays MSB 4 digits including gt 4016 6F 1642 hex Multi step Position P062 RW Position range setting reverse to 1 Possible Qo hex hex Command 2 position range setting forward A Displays MSB 4 digits including O 4016 71 1644 hex Multi step Position P063 RW Position range setting reverse to 1 Possible hex hex Command 3 position range setting forward Displays MSB 4 digits including m 4016 73 1646 hex Multi step Position P064 RW Position range setting reverse to 1 Possible B hex hex Command 4 position range setting forward Displays MSB 4 digits including 4016 75 1648 hex Multi step Position P065 RW Position range setting reverse to 1 Possible hex hex Command 5 position range v forward Displays MSB 4 digits including 4016 77 164A Multi step Position P066 RW Position range setting reverse to 1 Possible hex hex hex Command 6 position range setting forward Displays MSB 4 digits including
27. 3 hex hex hex Delay Time TxPDO m 4012 EB 12C6 VR Start Frequency A161 RW 0 to 40000 100000 0 01 Hz Possible 3 hex hex hex TxPDO o 4012 ED 12C8 VR End Frequency A162 RW 0 to 40000 100000 0 01 Hz Possible FT hex hex hex TxPDO 2 3012 EF 12CA VR Start Ratio A163 RW 0 to VR End Ratio 1 Possible hex hex hex TxPDO 3012 FO 12CB VR End Ratio A164 RW VR Start Ratio to 100 1 96 Possible hex hex hex TxPDO 3012 F1 12CC VR Start Selection A165 RW 00 Start Frequency A161 Possible hex hex hex 01 0 Hz TxPDO gt Q3 3013 28 1301 hex Retry Selection b001 RW 00 Trip Possible A hex hex 01 0 Hz restart TxPDO O 02 Frequency matching restart Ss 03 Trip after frequency matching e deceleration stop 04 Frequency pull in restart D 3013 29 1302 hex Allowable Momentary b002 RW 3 to 250 0 1 s Possible hex hex Power Interruption Time TxPDO 3013 2A 1303 hex Restart Standby Time b003 RW 3 to 1000 0 1 s Possible hex hex TxPDO 3013 2B 1304 hex Momentary Power b004 RW 00 Disabled Possible hex hex Interruption Undervolt 01 Enabled TxPDO age Trip During Stop 02 Disabled during stop and Selection deceleration stop 3013 2C 1305 hex Restart During b005 RW 00 16 times Possible hex hex Momentary Power 01 No limit TxPDO Interruption Selection 4013 2E 1307 hex Frequency Matching b007 RW 0 to 40000 100000 0 01 Hz Possible hex hex Lower Limit Frequency TxPDO Setting 3013 30 1309 hex Overvoltage Overcurre
28. Component Equipment m gt The overview of each structural device is as follows 5 c EtherCAT master 3 o 9 53 Manages the EtherCAT network and performs slave status monitoring and data exchange with the slaves o EtherCAT slave Receives data from the Master Unit and sends data to the Master Unit across the EtherCAT network 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 e Field network slaves Slave devices that perform sequence control Examples Digital I O slaves analog I O slaves e 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 I a N lt O lt D O O O 3 o O 2 O 2 e m fe c o 3 O 2 e e Configuration tool Computer software for setting the EtherCAT network and each slave e Communications cable The communications cable that connects the Master Unit with the Slave Units and the Slave Units to each other In an EtherCAT network use an STP double shield cable of Ethernet category 5 or higher o EtherCAT Slave Information ESI file A file in XML format that contains the information unique to the EtherCAT slave When this ESI file is loa
29. D e D r 0 e 1sr119e qO 1 e Y 3014 1438 hex Feedback Comparison C052 RW 0 to 1000 0 1 96 Possible hex AS Signal Off Level TXPDO 3014 1439 hex Feedback Comparison CO53 RW 0 to 1000 0 1 96 Possible hex ho Signal On Level TxPDO 3014 143A Overtorque Undertorq C054 RW 00 Overtorque Possible hex x hex ue Selection 01 Undertorque TxPDO 3014 hex 143B Overtorque Level C055 RW 0 to 200 1 96 Possible hex Forward Power TxPDO Running 3014 143C Overtorque Level C056 RW 0 to 200 1 96 Possible hex hex hex Reverse TxPDO Regeneration 3014 143D Overtorque Level C057 RW 0 to 200 1 96 Possible hex hex hex Reverse Power TxPDO Running 3014 143E Overtorque Level C058 RW 0 to 200 1 96 Possible hex hex hex Forward TxPDO Regeneration 3014 143F Overtorque Undertorq C059 RW 00 During Possible hex hex hex ue Signal Output acceleration deceleration TxPDO Mode Selection constant speed 01 Only during constant speed 3014 1441 hex Electronic Thermal C061 RW 0 to 100 1 96 Possible hex we Warning Level TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 25 O O O O 00 N O al A Appendix Index 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex
30. DC input voltage at the time of 0 1 V Possible hex hex hex Voltage tripping TxPDO 4000 2D 002C Fault Monitor 3 Total RUN time at the time of 1 h Possible hex hex hex RUN Time tripping TxPDO 4000 2F 002E Fault Monitor 3 Power ON time at the time of 1 h Possible hex hex hex ON Time tripping TxPDO 3000 31 0030 hex Fault Monitor 4 d084 Refer to Inverter Fault Factor List Possible hex hex Cause in the operation manual for the MX2 TxPDO inverter 3000 32 0031 hex Fault Monitor 4 Refer to Inverter Fault Factor List Possible hex hex Inverter Status in the operation manual for the MX2 TxPDO inverter 4000 33 0032 hex Fault Monitor 4 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO gt A 5 lt O E o e 3 D e D r 0 e 1sr119e qO 1 e Y 3000 35 0034 hex Fault Monitor 4 Output current value at the time of 0 01 A Possible hex hex Current tripping TxPDO 3000 26 0035 hex Fault Monitor 4 DC input voltage at the time of 0 1 V Possible hex hex Voltage tripping TxPDO 4000 37 0036 hex Fault Monitor 4 Total RUN time at the time of 1 h Possible hex hex RUN Time tripping TxPDO 4000 39 0038 hex Fault Monitor 4 Power ON time at the time of 1 h Possible hex hex ON Time tripping TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 9 A Appendix A 10 Index RENI Function name gelu Monitor and setting items Data FDO No No resolution map 3000 he
31. Free run on jogging stop Enabled in operation 04 Deceleration stop on jogging stop Enabled in operation 05 DC injection braking on jogging stop Enabled in operation 61 123C Manual Torque Boost A042 RW 0 to 200 0 1 96 Possible hex hex Voltage 1 62 123D Manual Torque Boost A043 RW 0 to 500 0 1 96 Possible hex hex Frequency 1 63 123E hex hex Control Method 1 A044 RW 00 Constant torque characteristics Possible 01 Reduced torque characteristics TxPDO 02 Free V f setting 03 Sensorless vector control 64 123F Output Voltage Gain 1 A045 RW 20 to 100 1 9o Possible hex hex 65 1240 hex Automatic Torque hex 1241 hex Automatic Torque Boost Voltage Compensation Gain 1 Boost Slip Compensation Gain 1 A046 0 to 255 Possible A047 0 to 255 1 96 Possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index Register Function name Parameter Monitor and setting items Data PDO No No resolution map 3012 6A 1245 hex Internal DC Injection A051 RW 00 Disabled Possible hex hex Braking Selection 01 Enabled during stop 02 Output frequency at A052 3012 6B 1246 hex Internal DC Injection A052 RW 0 to 6000 0 01 Hz Possible hex hex Braking Frequency TxPDO 3012 6C 1247 hex DC Injection Braking A053 RW 0 to 50 0 1 s Possible hex hex Delay Time TxPDO 3012 6D 1248 hex DC Injection Braking A054 RW 0 to 100 1 Possible hex hex Power TxPDO 3012 6E 1249
32. Initialize data 03 Clear fault monitor initialize data 04 Do not set 3013 7F 1358 hex Initialization Data b085 RW 00 Do not change Possible hex hex Selection TxPDO 3013 80 1359 hex Frequency Conversion b086 RW 1 to 9999 0 01 Possible hex hex Coefficient 3013 81 135A STOP Key Selection b087 RW 00 Enabled Possible hex hex hex 01 Disabled TxPDO Only reset is enabled 3013 82 135B Free run Stop b088 RW 0 Hz restart Possible hex hex hex Selection Frequency matching restart TxPDO Frequency pull in restart 3013 83 135C Automatic Carrier b089 RW Disabled Possible hex hex hex Reduction Enabled depends on the TxPDO current Enabled depends on the fin temperature 3013 84 135D Usage Rate of b090 RW 0 to 1000 0 1 96 Possible hex hex hex Regenerative Braking TxPDO 3013 85 135E Stop Selection b091 RW 00 Deceleration stop Possible hex hex hex 01 Free run stop TxPDO 3013 86 135F Cooling Fan Operation b092 RW 00 Always Possible hex hex hex 01 Only during operation TxPDO Including 5 minutes after the power is turned on and also after the inverter stops 02 Depends on the fin temperature 3013 87 1360 hex Cooling Fan Total b093 RW 00 Operating time count Possible hex hex Operating Time Clear 01 Clear Return to 00 after clear TxPDO 3013 88 1361 hex Initialization Target b094 RW 00 All data Possible hex hex Selection 01 Data other than TxPDO terminal communications 02 U registr
33. Maximum value is less than minimum value General error gt N D Y 0 D Q O m O m 0800 0020 hex Data cannot be transferred or stored to the application m 0800 0021 hex Data cannot be transferred or stored to the application because of local control 4 0800 0022 hex Data cannot be transferred or stored to the application because of the present device state zi 0800 0023 hex Object dictionary dynamic generation fails or no object dictionary is present D 3 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance 6 3 Application Errors 6 3 1 Error Statuses The statuses change as follows when an error is detected in the unit or inverter Function Status when error occurs Status display An error is notified with bit 3 Fault or bit 7 Warning of the Status object 5100 hex and bit 3 Fault or bit 7 Warning of the Statusword object 6041 hex When a trip occurs for the inverter Fault bit it turned ON and when a warning occurs for the inverter Warning bit is turned ON To cancel the error eliminate the cause and set bit 7 Fault reset of 5000 hex Command or bit 7 Fault reset of 6040 hex Controlword to ON Error code display The error codes are notified to the object 603F hex Read with the SDO To check the error that occurred for the inverter check the inverter front panel or read object 3000 hex sub index 13 hex with the SDO Diagnosis history Errors that were
34. Mounting the EtherCAT Communication Unit o o o 2 11 2 4 2 Wiring the EtherCAT Communication Unit ooooo 2 13 2 4 3 Wiring Conforming to EMC Directives llle 2 15 2 4 4 Node Address Settings for the EtherCAT Communication Unit 2 16 SYSDRIVE MX2 Series Settings Leere 2 17 2 5 1 RUN Command Setting ors iex emat RR Ser E Ie CBE ERE Y ERE RE 2 17 2 5 2 Frequency Reference Setting llle 2 17 2 5 3 Reset Selection Setting lille 2 17 Checking Communication Starting and Operation 2 18 2 0 1 Slang Me SYSICM eae aut Sosa ax sce th soeur tte CERE beet eda eae EE 2 18 2 6 2 Network Setup Lens See 4 Bent E oe eweereeedacd 2 18 2 6 3 Checking the Master Unit 0 0 eee 2 18 2 6 4 Checking the Inverter and EtherCAT Communication Unit 2 19 2 6 5 Checking the Operation 0 0 ccc eee 2 19 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 1 2 Starting a Sample System 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 1 1 Part Names Status indicator Rotary switches L A IN L A OUT for node address RUN ERR setting x 10 x 1 SUSAA VIAZ EU I ZA WARNING Rist of oct shock Read manual before installing A eWait 10 minutes for capacitor discharge after disconnectins nower sunnlv IN O UT Communications connec
35. Possible hex hex 02 Auto tuning data TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 27 A Appendix Index JSN Function name ELENA Monitor and setting items Data RU No No resolution map 3015 2E 1503 hex Motor Capacity 1 H003 RW Possible hex hex TxPDO Possible TxPDO 3015 2F 1504 hex Motor Pole Number 1 H004 RW hex hex 3015 31 1506 hex Speed Response H005 RW O to 1000 1 Possible hex hex 3015 32 1507 hex Stabilization H006 RW 0 to 255 1 Possible hex hex Parameter 1 3015 41 1516 hex Motor 1 Parameter R1 H020 RW 1 to 65530 0 001 Q Possible hex hex TxPDO 3015 43 1518 hex Motor 1 Parameter R2 H021 RW 1 to 65530 0 001 Q Possible hex TxPDO 4015 45 151A Motor 1 Parameter L H022 RW 1 to 65530 0 01 mH Possible hex hex hex TxPDO 3015 47 151C Motor 1 Parameter lo HO23 RW 1 to 65530 0 01 A Possible hex hex hex TxPDO 4015 48 151D Motor 1 Parameter J HO24 RW 1 to 9999000 0 01 Possible hex hex hex kgm TxPDO 3015 50 1525 hex Motor 1 Parameter R1 HO30 RW 1 to 65530 0 001 Q Possible hex hex Auto tuning Data TxPDO 3015 52 1527 hex Motor 1 Parameter R2 HO31 1 to 65530 0 001 Q Possible TxPDO 2 p X hex hex Auto tuning Data 3015 54 1529 hex Motor 1 Parameter L H032 1 to 65530 0 01 mH Possible hex Auto tuning Data TxPDO 3015 56 152B Motor 1 Parameter lo HO33 1 to 65530 0 01 A Possible hex hex hex Auto tuning Data TXPDO
36. Signal 2 C147 RW Possible S hex hex Operator Selection TxPDO 9 N 3014 C1 1498 hex Logic Output Signal 3 C148 RW Same as C021 to C022 excluding Possible 3 hex hex Selection 1 LOG1 to LOG3 TxPDO o 3014 C2 1499 hex Logic Output Signal3 C149 RW Same as C021 to C022 excluding Possible E hex hex Selection 2 LOG1 to LOG3 TxPDO m 3014 C3 149A Logic Output Signal 3 C150 RW Possible hex hex hex Operator Selection TxPDO 3014 CD 14A4 Input Terminal 1 C160 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 CE 14A5 Input Terminal 2 C161 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO T 3014 CF 14A6 Input Terminal 3 C162 RW 0 to 200 1 Possible A hex hex hex Response Time TxPDO O Y 3014 DO 14A7 Input Terminal 4 C163 R W 0 to 200 1 Possible o hex hex hex Response Time TxPDO 3014 D1 14A8 Input Terminal 5 C164 RW 0 to 200 1 Possible a hex hex hex Response Time TxPDO RW 1 3014 D2 14A9 Input Terminal 6 C165 0 to 200 Possible hex hex hex Response Time TxPDO 3014 D3 14AA Input Terminal 7 C166 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 D6 14AD Multi step C169 RW 0 to 200 1 Possible hex hex hex Speed Position TxPDO Determination Time 3015 2C 1501 hex Auto tuning Selection H001 RW 00 Disabled Possible hex hex 01 Enabled motor does not rotate TxPDO 02 Enabled motor rotates 3015 2D 1502 hex Motor Parameter 1 H002 RW 00 Standard motor parameter
37. adjustment Do not change E Possible hex hex 8D 1464 hex hex 8F 1466 hex hex 90 1467 hex hex 91 1468 hex hex 92 1469 hex UP DWN Storage C101 RW 00 Do not store frequency data hex Selection 01 Store frequency data 93 146A hex hex 94 146B hex hex 95 146C hex hex 96 146D MP Gain Setting C105 RW 50 to 200 hex hex 97 146E AM Gain Setting C106 RW 50 to 200 hex hex 1471 hex AM Bias Setting C109 0 to 100 hex Communication C096 RW 00 Modbus communication Possible Selection Modbus RTU TxPDO 01 Communication between inverters 02 Communication between inverters management Co inverter Communication Starting Station Number Possible TxPDO MEN Possible TxPDO Co inverter C099 RW 1to8 Communication Ending Station Number Co inverter C100 RW 00 485 terminals start Communication 01 Always started Starting Selection Possible TxPDO Possible TxPDO Reset selection C102 RW 00 Trip reset at power ON Possible 01 Trip reset at power OFF 02 Enabled only during trip Reset when the power is ON 03 Trip reset only Reset Restart Selection C103 RW 00 0 Hz restart Possible 01 Frequency matching restart TxPDO 02 Frequency pull in restart UP DWN Clear C104 RW 00 0 Hz Terminal Mode 01 EEPROM data at power ON Possible TxPDO Possible Possible Possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix
38. detected in the unit and inverter are stored in the Diagnosis history object 10F3 hex up to 8 errors If a trip occurred for the inverter check the trip history of the inverter 6 3 2 Error Code List Error code Meaning sd Possible correction 5300 hex Error in the communication unit e Check that the Communication Unit is mounted correctly and inverter connection onto the inverter e The Communication Unit is faulty Replace the Communication Unit e A connection error occurred because a trip reset was performed with the inverter Set the inverter C102 to 3 Trip reset only and turn the power supply OFF and ON again e A connection error occurred because an initialization or 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 mapping settings 6331 hex EEPROM data error e An error was detected in data inside EEPROM when the power supply was turned ON Replace the Communication Unit e 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 Diagnosis history replace the unit FFOO hex A warning occurred for the Eliminate the cause and set bit 7 Fault reset of Command inverter 5000 hex or bit 7 Fault reset of Controlword 6040 hex to ON
39. hex DC Injection Braking A055 RW 0 to 600 0 1 s Possible hex hex Time TxPDO 3012 6F 124A DC Injection Braking A056 RW 00 Edge operation Possible hex hex hex Edge Level Selection 01 Level operation TxPDO 3012 70 124B Startup DC Injection A057 0 to 100 1 96 Possible hex hex hex Braking Power TxPDO 3012 Y 124C Startup Internal DC A058 0 to 600 0 1 s Possible hex hex hex Injection Braking Time TxPDO 7 0 Frequency Lower Limit 1 to Maximum Frequency 1 0 01 Hz Possible TxPDO 0 2 4012 74 124F Frequency Upper A061 hex hex hex Limit 1 Starting Frequency to Frequency 8 0 01 Hz Possible TxPDO 3012 124D DC Injection Braking A059 RW 20 to 150 0 1 kHz Possible hex hex hex Carrier Frequency TxPDO 1 4012 76 1251 hex Frequency Lower A062 hex hex Limit 1 Upper Limit 1 4012 7 1253 hex Jump Frequency 1 A063 RW 0 to 40000 100000 0 01 Hz Possible hex hex TxPDO 3012 7A 1255 hex Jump Frequency A064 RW 0 to 1000 10000 0 01 Hz Possible hex hex Width 1 TxPDO 4012 7B 1256 hex Jump Frequency 2 A065 RW 0 to 40000 100000 0 01 Hz Possible hex hex TxPDO 3012 7D 1258 hex Jump Frequency A066 RW 0 to 1000 10000 0 01 Hz Possible TxPDO 4012 1259 hex Jump Frequency 3 A067 0 to 40000 100000 0 01 Hz Possible hex R R T IN 5 lt O 5 o e 3 D e D r 0 e hex hex Width 2 TxPDO W 3012 80 125B Jump Frequency A068 W 0 to 1000 100
40. index 5 Assigned PDO 5 Setting range Size 2 bytes U16 Default setting 00 hex PDO map Default setting 1B01 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map Default setting 0000 hex PDO map e The transmit PDOs used by this Sync Manager are given e Up to 5 PDOs can be assigned EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT All Not possible Not possible Not possible Not possible Not possible Not possible All Not possible Not possible Not possible Not possible Not possible Not possible o O O m O O 3 3 c A o D r O 5 a gt D D s o fqo uoneoiunuuuo2 JeDeue A DUAS G G 5 CiA402 Drive Profile 1C32 hex SM 2 synchronization All Sub index 0 Number of synchronization parameters Setting range Default setting 20 hex Size 1 byte U8 PDO map Not possible Sub index 1 Synchronization type Setting range Default setting 0000 hex Size 2 bytes U16 PDO map Not possible Sub index 4 Synchronization types supported Setting range Default setting 0001 hex Size 2 bytes U16 PDO map Not possible e Synchronization type 1C32 to 01 hex indicates the Synchronization mode of Sync Manager 2 e 0000 hex Free Run mode e Synchronization types supported 1C32 to 04 hex indicates the types of synchroniz
41. inverter e 6046 hex Sets the maximum speed and minimum speed that can be output 6048 hex Sets the acceleration time 6049 hex Sets the deceleration time 6041 hex Sets the status of the inverter 6043 hex Gives the command speed 6044 hex Gives the output speed l I A 09 P Dd er D Q O Q 5 Q EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 5 5 CiA402 Drive Profile 5 4 Object Dictionary 5 4 1 Object Dictionary Area 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 Index CATO Meaning 0000 to OFFF hex Definitions of data types 1000 to 1FFF hex Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Variables with common definitions for all OMRON products 3000 to 5FFF hex Variables with definitions for this unit Inverter parameters independent profile 6000 to 9FFF hex 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 The data types shown in the following table are used in this profile Data type Boolean Unsigned8 Unsigned16 Unsigned32 Integer8 Integer16 Integer32 Visible string code Sz Range bit 901 1 byte 0 to 255 U16 2 bytes 0 to 65 535 4 bytes 0 to 4 294 967 295 128 10 127 32 768 t
42. object sets the operation mode e Explanation of set values Value Details 1 Velocity mode 6061 hex Modes of operation display All Setting range 0 to 10 Default setting 02 hex Size 1 byte Int PDO map Possible e This object gives the present operation mode e The value definitions are the same as for Modes of operation 6060 hex 6502 hex Supported drive modes All Setting range Default setting 0000 0002 hex Size 4 bytes U32 PDO map Not possible e This object indicates the supported operation modes e Bit descriptions e Og D o O a O o o D D UJ Supported mode Definition 0 pp Profile Position mode 0 Not supported on i 1 Supported a 2 0 Not supported 9 3 t q Profile Torque mode 0 Not supported lt 4 J 5 0 Not supported 2 6 ip Interpolated Position mode 0 Not supported O 7 0 Not supported 3 8 csv Cyclic Sync Velocity mode 0 Not supported al 9 cst Cyclic Sync Torque mode 0 Not supported 10131 0 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 23 5 CiA402 Drive Profile EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Handling of Errors and Maintenance nm This chapter explains how to handle errors that occur in the EtherCAT Communication Unit 6 1 Communication Line Errors e RR RR hn 6 2 6 1 1 Status IndicatorExplanations and Error Handling
43. ravit ac nodis E 14 About TNS Manual vasen 15 Chapter 1 EtherCAT NetWOEFK ios ans 1 1 1 1 Overview of the EtherCAT Communication Unit eere eee eee 1 2 1 1 1 Features of the EtherCAT Communication Unit ococccccocccnccoccncconcnncnonnnononcncnoncnnnnanonononenononoss 1 2 12 Overview of EtherC AT vvs ares we pev Y eDa e 1 3 jS ESAS ONE Me NM eaaa a E 1 3 11 232 ENSICAT SSE RE 1 4 1e2 5 EtherCAT Communication Types siti dos 1 5 1 3 EtherCAT System Configuration arxrnnannnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnennnnnnnnennnennnennnne 1 6 131 System Gonfiguralorni s sede aca etie o eet dtu nies el dat eus E cr Eee eue 1 6 1 3 2 Overview of Component Equipment oo oocccncccccncccccccncocccncnnncncnonnnnnonnnonnnnnconnnnnonnnnnonnnnnnnnnnnonnnnnnos 1 7 Chapter 2 Starting a Sample System 2 1 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 2 211 PAn I II ae 2 2 2 12 Salus Indicator Names use saco re rU de 2 3 2 1 3 Rotary Switches for Node Address SettidQ ccoooonccccoconccnnonocnconoononnnnonnnccnnnonnnonnnnnonrnnnnnannnnnos 2 4 ZA COMMURICATIONS Come ai de eel DEED I 2 5 215 Recommended Prod USA AAA A 2 6 2 1 6 Connection between Communications Cables and Connectors cccoccccccccnncccccnccnconcnononononcnnnnns 2 7 2 2 Basic Usage Procedure
44. result in s U O n minor or moderate injury or in property damage Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely l Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure that the product does not become inoperative malfunction or disrupt functionality and performance EN Additional Information Additional information to increase understanding or make operation easier 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Example of Symbols Q This symbol indicates a prohibited item an item you must not do OS The specific instruction is indicated using an illustration or text inside or near S 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 A The symbol shown to the left indicates beware of electric shock C 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A N WARNING Do not remove the terminal block cover or the Communication Optional Unit while the power is being supplied and within 10 minutes after the power is turne
45. the Communication Unit is mounted correctly connection onto the inverter e The Communication Unit is faulty Replace the Communication Unit e Ifa trip reset was performed with the inverter set the inverter C102 to 3 Trip reset only and turn the power supply OFF and ON again e 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 e An error was detected in data inside EEPROM when the power supply was turned ON Replace the Communication Unit e 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 Diagnosis history replace the unit FFOO hex A warning occurred for the Eliminate the cause and turn on the bit 7 Fault reset of 5000 inverter hex Command or 6040 hex Controlword FFO1 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 Sumo L G E EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 7 3 Common Slave Specifications EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Inverter Control EES This chapter describes the profiles that are used to c
46. the unit fastening screws are tightened to the specified torque Install a stop motion device to ensure safety In particular when it is set to continue operation when a communications error occurs the inverter may not stop and damage to the equipment 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 Operation and Adjustment 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 Maintenance and Inspection EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Be sure to confirm safety before conducting maintenance inspection or parts replacement Precautions for Correct Use Installation Follow the inverter mounting direction restrictions MODBUS RTU communication If this Communication Optional Unit is installed the inverter MODBUS RTU communication becomes disabled Product Disposal Comply with the local ordinance and regulations when disposing of the product Warning Label Location e After installing this EtherCAT Communication Unit to the inverter warning labels are pasted on the product as shown in the following illustration e Be sure to follow the instructions Notes The overall app
47. with any node as long as the communication cycle is the same Data transmitting Approx 27 ms pc Time needed to write read inverter parameters from time Read Approx 24 ms pc the PLC CJ1W NCx82 When the communication cycle is 250 us IO data updating cycle Varies depending on the number of allocated PDOs A 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix A 3 Object List A 3 1 Object List Settin PDO range map 1000 hex Device type 0001 0192 hex 4 bytes U32 Not possible 1001 hex Error register 1 byte U8 Not possible 1008 hex Manufacturer device name 3G3AX MX2 ECT 20 bytes VS Not possible 1009 hex Manufacturer hardware version 1 20 bytes VS Not EN 100A hex Manufacturer software version 20 bytes VS L prese 1018hex Identity object Number of entries E hex 1 a US possible Vendor ID 0000 0083 hex 4 bytes U32 Not possible Product code 0000 0053 hex 4 bytes U32 Not possible 3 Revision number XXXX XXXX hex 4 bytes U32 Not possible MER ul JER I Diagnosis ISO diis 0001 hex 2 bytes U16 Not possible Flags 0000 to 0001 hex 23 bytes VS Not EET 10F3 hex l possible Not possible Not possible P oo O S D O e E m e 6 possible Not possible Not EE 6 to 13 Diagnosis message 1 to 8 1 5 1600 to st to 5th receive PDO mapping 1604 hex ES of objects GE ae JE UE 0000 0000 hex 4 bytes U32 ee 0000 0000 hex 4 bytes
48. 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A024 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A025 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A026 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A027 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A028 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A029 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A030 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A031 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A032 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A033 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A034 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency A035 RW 0 0 01 Hz Possible Starting Frequency to nth Maximum Frequency 1238 hex Jogging Frequency A038 Starting Frequency to 999 10000 0 01 Hz Possible hex 1239 hex Jogging Stop Selection hex 60 123B Torque Boost A041 RW 00 Manual torque boost hex hex Selection 1 01 Automatic torque boost Possible TxPDO A039 RW 00 Free run on jogging Possible stop Disabled in operation TxPDO 01 Deceleration stop on jogging stop Disabled in operation 02 DC injection braking on jogging stop Disabled in operation 03
49. 00 0 01 Hz Possible hex hex hex Width 3 TxPDO W W 4012 81 125C Acceleration Stop A069 hex hex hex Frequency 0 to 40000 0 01 Hz Possible TxPDO 0 to 600 0 1 s Possible TxPDO 3012 83 125E Acceleration Stop A070 R hex hex hex Time 1sr119e qO 1 e Y 3012 8 125F PID Selection A071 RW 00 Disabled Possible hex hex hex 01 Enabled TxPDO 02 Reverse output enabled Possible 4 3012 85 1260 hex PID P Gain A072 RW 2 to 2500 0 hex hex 3012 86 1261 hex PID Gain A073 R 0 to 36000 0 1 s Possible hex hex 3012 87 1262 hex PID D Gain A074 R 0 to 10000 0 01 s Possible hex hex 3012 88 1263 hex PID Scale A075 RW 1 to 9999 hex hex 9 01 0 01 Possible TxPDO 3012 8 1264 hex PID Feedback A076 R W 00 Current FI Possible hex hex Selection 01 Voltage FV TxPDO 02 Modbus communication Modbus RTU 03 Pulse train frequency 10 Operation function output 3012 8A 1265 hex PID Deviation Reverse A077 RW 00 Disabled Possible hex hex Output 01 Enabled TxPDO 3012 8B 1266 hex PID Variable Range A078 RW Oto 1000 0 1 96 Possible hex hex Limit TxPDO 3012 8C 1267 hex PID Feedforward A079 RW 00 Disabled Possible hex hex Selection 01 Voltage FV TxPDO 02 Current Fl 3012 8E 1269 hex AVR Selection 1 A081 RW 00 Always ON Possible hex hex 01 Always OFF TxPDO 02 OFF during deceleration EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT
50. 010 57 1036 hex Position Reference d029 268435455 to 268435455 Possible hex hex Monitor TxPDO 4010 59 1038 hex Current position d030 268435455 to 268435455 Possible hex hex monitor TxPDO IM heavy load Possible n light load TxPDO IM power supply harmonics 3010 78 1057 hex Inverter Mode Monitor d060 hex hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix e Holding register number list F group Index Register Function name Parameter Monitor and setting items DELE PBO No No resolution map 4011 26 1103 hex Acceleration Time F002 RW 1 to 360000 0 01 s Possible hex hex Setting 1 4011 28 1105 hex Deceleration Time F003 RW 1 to 360000 0 01 s Possible hex hex Setting 1 3011 2A 1107 hex RUN Direction F004 RW 0 Forward Possible hex hex Selection 1 Reverse TxPDO e Holding register number list A b C H P group Index Register Function name Parameter Monitor and setting items Dat PDO No No resolution map 3012 26 1201 hex Frequency Reference A001 RW 00 Volume Possible hex hex Selection 1 01 Control circuit terminal block TxPDO 02 Digital operator 03 Modbus communication Modbus RTU Optional board Pulse train frequency Do not set Operation function output 3012 27 1202 hex RUN Command A002 RW Control circuit terminal block Possible hex hex Selection 1 Digital operator TxPDO Modbus communication Modbus RTU 04 Optional boa
51. 027 RW O to 12000 0 01 Hz Possible hex hex hex Detection Level TxPDO 3016 4C 161F Acceleration P031 RW 00 Digital Operator Possible hex hex hex Deceleration Time 03 Do not set Input Type 3016 4E 1621 hex Torque Reference P033 RW 00 Terminal FV Possible hex hex Input Selection 01 Terminal FI TxPDO 03 Digital Operator 06 Do not set 3016 4F 1622 hex Torque Reference P034 RW 0 to 200 1 96 Possible hex hex Setting 3016 51 1624 hex Torque Bias Mode P036 RW 00 Disabled Possible hex hex 01 Digital Operator TxPDO 05 Do not set 3016 52 1625 hex Torque Bias Value P037 RW 200 to 200 1 96 Possible hex hex 3016 53 1626 hex Torque Bias Polarity P038 RW 00 As per sign Possible hex hex Selection 01 Depends on the RUN direction TxPDO 3016 55 1628 hex Speed Limit Value in P039 RW 0 to 12000 0 01 Hz Possible hex hex Torque Control TxPDO Forward 3016 57 162A Speed Limit Value in P040 RW 0 to 12000 0 01 Hz Possible hex hex hex Torque Control Reverse TxPDO 3016 58 162B Speed Torque Control P041 RW 0 to 1000 1 ms Possible hex hex hex Switching Time TxPDO 3016 66 1639 hex Pulse Train Frequency P055 RW 10 to 320 Input frequency at 0 1 kHz Possible hex hex Scale maximum frequency TxPDO gt A 5 lt O E o e 3 D e D r 0 e 3016 67 163A Pulse Train Frequency P056 RW 1 to 200 0 01 s Possible hex hex hex Filter Time Constant TxPDO 3016 68
52. 1 Hz Possible hex hex Reference 1 ae Frequency to nth Maximum Frequency 4012 3F 121A Multi step Speed A022 RW 0 0 01 Hz Possible hex hex hex Reference 2 Starting Frequency to nth Maximum Frequency EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 13 T A 5 lt O E o e 3 D e D r 0 e 1sr119e qO 1 e Y A Appendix A 14 Index 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 4012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 3012 hex 66 hex AE Function name Parame ar Monitor and setting items DELS us No No resolution map 41 121C hex hex 43 121E hex hex 45 1220 hex hex AT 1222 hex hex 49 1224 hex hex 4B 1226 hex hex 4D 1228 hex hex AF 122A hex hex 51 122C hex hex 53 122E hex hex 55 1230 hex hex 5f 1232 hex hex 59 1234 hex hex Multi step Speed Reference 3 Multi step Speed Reference 4 Multi step Speed Reference 5 Multi step Speed Reference 6 Multi step Speed Reference 7 Multi step Speed Reference 8 Multi step Speed Reference 9 Multi step Speed Reference 10 Multi step Speed Reference 11 Multi step Speed Reference 12 Multi step Speed Reference 13 Multi step Speed Reference 14 Multi step Speed Reference 15 A023 RW
53. 2 A 1 3 EtherCAT Communications Specifications liess A 3 Communications Response Time e A 4 OJ eo ct dient nee nde ESO En rice ar gd are ose een pei oa dd A 5 Pes ODIGGU EISE ci ise wavs Rub pce dee eee eine eee eee eee pata eee ee A 5 InverterParameter List uu ie state ke Nak a A e aad A 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 1 A Appendix A 1 Specifications A 1 1 Appearance and Dimensions Status Indicator Rotary switches for node address setting ZA WARNING _ nijctsecrestox O e Read manual before installing _ EE BR d 53 1 gt Communications mE 10 3 10 3 Communications T connector IN 26 4mm 4 connector OUT D 28 2 000000000 J000000000 0000000000 FG cable 1 After the EtherCAT Communication Unit is installed dimension D of the inverter increases by 26 4 mm Dimension D of the inverter varies depending on the capacity Refer to the manual for the inverter A 1 2 Common Specifications Item Specifications Model 3G3AX MX2 ECT Power supply Supplied from the inverter Protective structure Open type IP20 Temperature 10 to 50 C Storage temperature 20 to 65 C Humidity 20 to 90 RH with no condensation Vibration 5 9 m s 0 6 G 10 to 55 Hz Appl
54. 2 X 4015 57 152C Motor 1 Parameter J HO34 hex hex hex Auto tuning Data 3015 68 153D V f Control With Speed HO50 hex hex hex Feedback Slip Compensation Proportional Gain 3015 153E V f Control With Speed hex hex hex Feedback Slip Compensation Integral Gain 1 to 9999000 0 01 Possible kgm TxPDO 0 to 1000 0 1 Possible 0 to 1000 0 1 Possible P003 RW Frequency setting including PID Feedback pulse H051 3016 1603 hex Pulse Train Input Possible hex hex Terminal RP Selection TxPDO Enabled only when motor 1 control is selected Do not set P004 Single phase pulse input Possible 2 phase pulse 1 TxPDO 2 phase pulse 2 Single phase pulse train direction 3016 1604 hex Feedback Pulse Train hex hex Input Type Selection 3016 38 160B Number of Encoder P011 32 to 1024 1 Possible hex hex hex Pulses TxPDO 3016 39 160C Simple Position P012 00 Simple position control disabled Possible hex hex hex Control Selection 02 Simple position control enabled TxPDO 3016 3C 160F Creep Speed Setting P015 Starting frequency to 1000 0 01 Hz Possible hex hex hex TxPDO 3016 47 161A Overspeed Error P026 0 to 1500 0 1 96 Possible hex hex hex Detection Level TxPDO A 28 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT DQ C2 O eo co A Appendix Index AEG Function name Parameter Monitor and setting items Data PDO No No resolution map 3016 48 161B Speed Deviation Error P
55. 2 Drive Profile This chapter explains about the CiA402 drive profile 9 1 Inverter State Control saeco erka a 19 mal eee dee varies 5 2 5 1 1 State Machine co ostia TEEN 5 2 5 1 2 State Descriptions 35 tei des dos hele hee ee PE Set oe De 5 3 5 159 Command Coding 23 202352 2E DEEP NOR Aaa 5 3 uc SEO COJdINdO ta be do ee he eee ed heed ee eee 5 3 5 2 Modes of Operation 4i uro dados a be aC CUTE ba Se SS 5 4 9 3 Velocity Mod vaso vanas eee eee ew Oke meee a EMEN RR E A 5 5 5 4 Object DICUONALY ior esla 5 6 5 4 1 Object Dictionary Area 0 0 eens 5 6 5 4 2 Data TYDES semis aa da Grade oe eee ee ete aad aces emne 5 6 5 4 3 Object Description Format 0 0 cc eee 5 6 5 5 CoE Communications Area 0 0 es 5 8 5 5 1 Communication Objects 0 0 ee eae 5 8 5 5 2 PDO Mapping Objects cordis ka boo a EEG bie AE s 5 10 5 5 3 Sync Manager Communication Objects 0 00 eee ee 5 12 5 6 Manufacturer Specific Area 0 0 0 cee 5 15 5 6 1 Manufacturer Specific Objects 0 0 eee 5 15 5 6 2 Inverter Parameter Objects 0 0 0c ee ees 5 15 5 6 3 Independent Profile Objects 0 0 0 0 eee 5 17 5 7 Device Profile Alea seek ecco E EIE GI REESE RR ae ERE EE Rd OE ERA ES 5 20 5 7 1 Drive Profile Objects 0 0 RII Ir 5 20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 1 5 CiA402 Drive Profile 5 1 Inverter State
56. 2 ECT A 33 A Appendix EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT INDEX A A A E ta cee 3 6 C CANODGD GA 3 2 Sera me TERT 2 6 Cause Teo M 5 19 CIA402 profile ari 4 12 CoE Communications area ooccccccccnccnocnnonononcnoncncnonennos 5 8 Communications Cable oooccccocccccccncncccnnncccanonononenos 1 7 Communications Connector cccccocccccccnnccccnnnccnnncnononononons 2 5 Configuration OO nre codec eoe recie 1 7 D Device Profile area cccooccccccccconoconnnoconononanonononcnoss 5 20 E Emergency Messages essen eene nnns 3 7 EITor Ode LISE o o otra EE redo e bou 6 6 UP E RNC NEN 1 7 Ethernet frame lt td ee 1 4 EtherCAT master rrrnrnnnrnrnnnrrnnnnrrnnnnnennnnnennnnnennnnnennnnne 1 7 ElherCAT SIaVe uar e ate vec eats dacs 1 7 EtherCAT telegram rrrrnnnnnnrnnrnnnrrrrrnnnrevnnnnnerennrnnessnnnnn 1 4 F Fixed PODO Mapping sage 3 5 Independent profile oooococooccnccoccncconcncnoncnnos 4 10 Independent Profile Objects sss 5 17 Inverter Parameter Objects oooocccccoccccccccoccnnccnncccnnnnanoss 5 15 M Manufacturer Specific Objects sseusssssse 5 15 N NOTE AOI AMA 2 4 O Object Dictionary esce eee i i 5 6 See ES EE o e A 5 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT P Parameter Sb ME ane
57. 294 RW 00 Switched by 2 word terminal Possible hex hex Acceleration Decelerat 01 Switched by setting TxPDO ion Selection 2 02 Switched only when switching forward reverse 4022 B9 2274 hex 2 step Acceleration A295 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 2 TxPDO 4022 BB 2276 hex 2 step Deceleration A296 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 2 TxPDO 3023 53 230C Electronic Thermal b212 2000 to 10000 0 01 Possible hex hex hex Level 2 TxPDO 3023 54 230D Electronic Thermal b213 RW Reduced torque characteristics Possible hex hex hex Characteristics Constant torque characteristics TxPDO Selection 2 Free setting Possible TxPDO 3023 5D 2316 hex Overload Limit 2 b221 RW Disabled hex hex Selection Enabled during acceleration constant speed Enabled during constant speed Enabled during acceleration constant speed accelerated during regeneration 3023 m hex Overload Limit Level 2 b222 100 to 2000 0 1 96 Possible hex ES TxPDO 3023 5F 2318 hex Overload Limit 2 b223 1 to 30000 0 1 s Possible hex hex Parameter TxPDO 3024 72 2429 hex Overload Warning C241 RW 0 to 2000 0 1 Possible hex hex Level 2 3025 4D 2502 hex Motor Parameter 2 H202 RW 00 Standard motor parameter Possible hex hex 02 Auto tuning data TxPDO A 32 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index Register Function name rarameter Monito
58. 3 3 3 Sync Manager PDO Assignment Settings o o o ooooooo o 334 REC POO MapD dicione rs uc weed ie wena beetle oe co cs des 3 4 Service Data Objects SDO es Cs NEM OUT ate A oil a Bae es A owe ee EE 91 2 ADO COGES warriors a NRE a ae Kaen a ed 3 5 Emergency Messages 0 0 cece eee ees S EMG ccv 3392 Bror GC OGOS EISE ia e i NTN 3 Common Slave Specifications 3 1 Structure of CANopen over EtherCAT The figure below shows the structure of CANopen over EtherCAT CoE Inverter Application layer Inverter application Object dictionary Communications SDO PDO mapping PDO mapping status transitions Mailbox PD PDO Cyclic PDO Cyclic SyncManager FMMU EtherCAT data link layer EtherCAT physical layer Normally multiple protocols can be transmitted using EtherCAT In the EtherCAT Communication Unit for MX2 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 information on the PDO mapping between the process data and inverter application The process data object PDO consists of objects in the object dictionary that can be mapped to the PDO The contents of the process data are defined by the PDO mapping Process data communications cyclically reads and writes the PDO Mailbox communication
59. 32 PDO map Not possible Sub index 2 Delta time Setting range 0000 to FFFF hex Default setting 000A hex Size 2 bytes U16 PDO map Not possible e his object sets the deceleration time e To read the Speed 6049 to 01 hex read the inverter parameter A004 Maximum Frequency e To read and write the Time 6049 to 02 hex read and write the inverter parameter F003 Deceleration Time Setting 605B hex Shutdown option code All Setting range 1 Default setting 1 Size 2 bytes Int16 PDO map Not possible e This object sets the behavior during Shutdown Operation enable Ready to switch on e Explanation of set values Set value Stop method 1 Deceleration stop 605C hex Disable operation option code All Setting range 1 Default setting 1 Size 2 bytes Int16 PDO map Not possible e This object sets the behavior during Disable operation Operation enable Switched on e Explanation of set values Set value Stop method 1 Deceleration stop 605E hex Fault reaction option code All Setting range 1 Default setting 1 Size 2 bytes Int16 PDO map Not possible e This object sets the behavior when an error occurs e Explanation of set values Set value Stop method 1 Deceleration stop 5 22 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 6060 hex Modes of operation All Setting range 2 Default setting 02 hex Size 1 byte Int PDO map Possible e This
60. 350 Ca 55 0 The EtherCAT connector specifications are shown below e Electrical characteristics Conform to IEEE 802 3 e Connector structure RJ45 8 pin modular connector conforms to ISO 8877 e Terminal arrangement Pin No Signal Abbreviation Function TD Send data TD Send data RD Receive data Notused F Noued o gt Receive data RD Receive data Notused o 8 nous Hood Jojoeuuo suomneoiunululo2 p L Z NN OO Oo By OO NM gt EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 5 2 Starting a Sample System 2 1 5 Recommended Products Connection cables and RJ45 connectors 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 la Precautions for Correct Use e 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 condactor is lower than that of solid wire Confirm the details with the cable manufacturer e 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 EN Additional Information If an Ethernet cable of categ
61. 5 e 2 e gt e 3 o 5 o D o D 5 o O e U O zh o e Status The 16 bit data is as shown below n do mu le BS LALA a ee ee 344 3 5 Bit Name Meaning S 0 During forward operation Stopped during reverse operation gt O a During forward operation Stopped during forward operation During reverse operation No error or trip occurred for the unit or inverter No error or trip occurred for the unit or inverter 1 During reverse operation 3 Fault Warning No warning occurred for the unit or inverter Warning occurred for the unit or inverter 9 Remote Local Operations from EtherCAT are disabled Remote Operations from EtherCAT are enabled During acceleration deceleration or stopped Frequency matched 12 Frequency matching Normal Error Cannot update data for the inverter To restore turn the power supply OFF and then ON again Reserved Set 0 15 Connection error between the N 2 Oj O O O O aAO O Optional Unit and inverter Output frequency monitor Name Meaning Output frequency monitor Displays the output frequency in increments of 0 01 Hz EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 11 4 Inverter Control 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 4 4 1 Inverter Setting The inverter parameters must be set to match the p
62. CAMONA Sa A 2 A 1 1 Appearance and Dimensions cooccccccncoccnccncnnoccncncnncnnenononnnnnrnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnrnnnnnnnnaninannns A 2 Pel 2 COMMON Spets A 2 A 1 3 EtherCAT Communications SpecificatiONS cccoccnnccconnccconnncconnnncnnnnnononononnnnnnnnnnnnnnononinnnons A 3 Communications Response Time r nnrnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnennnnnnnnennnennnuee A 4 ODJEC EIST ma E E a a A 5 PT ETEN De A 5 InverterParameter LStuuuvdsdsvasassesed a de aeo Ern eek ndune ne A 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT EtherCAT Network This chapter explains the overview and features of the EtherCAT Communication Unit and the EtherCAT network 1 1 Overview of the EtherCAT Communication Unit 1 1 1 Features of the EtherCAT Communication Unit 1 2 Overview of EtherCAT 0 0 cee 1 2 1 Features of EtherCAT cosida 12222 Eller GATT SYSTEM arrastra gti demit oi che Chee oe ee en DELE ane 1 2 3 EtherCAT Communication Types 0 000 eee ees 1 3 EtherCAT System Configuration 0 0 cee 1371 System GC onlguralOb sau too tt ib s 1 3 2 Overview of Component Equipment 0 0 00 ce eee EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 EtherCAT Network 1 1 Overview of the EtherCAT Communication Unit The EtherCAT Communication Unit is an interface unit When installed to a SYSDRIVE MX2 series multi function
63. Change the control method for the RUN command Parameter No Function name Data Default value A002 RUN Command Selection 1 04 Optional boad 02 Digital Operator 2 5 2 Frequency Reference Setting Change the control method for the frequency reference Parameter No Funcionname Data Default value A001 Frequency Reference Selection 1 04 Optional boad 02 Digital Operator Bunes pueuwuwoo NNY L S Z 2 5 3 Reset Selection Setting Set the operation of the reset signal Parameter No Funcionname Data Default value C102 Reset Selection 03 Trip reset only 00 Trip reset at power ON If parameter C102 is not displayed first set parameter b037 to 01 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 17 2 Starting a Sample System 2 6 Checking Communication Starting and Operation 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 2 6 1 Starting the System 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 However an error occurs unless the power supply for all the i
64. Communication Unit 5 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1018 hex Identity object Sub index 0 Number of entries Setting range Size 1 byte U8 Sub index 1 Vendor ID Setting range Size 4 bytes U32 Sub index 2 Product code Setting range Size 4 bytes U32 Sub index 3 Revision number Setting range Size 4 bytes U32 Sub index 4 Serial number Setting range Size 4 bytes U32 5 CiA402 Drive Profile All Default setting 04 hex PDO map Not possible Default setting 0000 0083 hex PDO map Not possible Default setting 0000 0053 hex PDO map Not possible Default setting Refer to the table PDO map Not possible Default setting 0000 0000 hex PDO map Not possible e This object contains device information e Sub index 1 Vendor ID gives the manufacturer identifier e Sub index 2 Product code gives the product s identifier e Sub index 3 Revision number gives the device revision number e Explanation of set values Bit 0 to 15 16 to 31 Details Device s minor revision number Device s major revision number e Sub index 4 Revision number gives the serial number for each product This is not used by MX2 inverters 10F3 hex Sub index 0 Number of entries Setting range Size 1 byte U8 Sub index 1 Maximum messages Setting range 00 to 08 hex Size 1 byte U8 Sub index 2 Newest message Setting range 06 t
65. Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 4 3 Wiring Conforming to EMC Directives To conform to the EMC directives EN61800 3 conduct the wiring work for the EtherCAT Communication Unit so that it meets the wiring conditions described in this section These conditions are for conformance of products to the EMC directives when an EtherCAT Communication Unit is installed on a SYSDRIVE MX2 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 Follow the instructions in the inverter manual for the inverter installation conditions such as the power supply line wiring filter installation and motor wiring clamps Wiring the communications cables 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 1v249u33 34 10 BuuiM pue Bununon t z O O 3 3 c o D En O 5 c 5 2 Symbol Name Manufacturer Model FC1 FC2 FC3 NEC TOKIN ESD SR 160 Wiring t
66. Control The state of the MX2 inverter is controlled by using the Controlword 6040 hex Control state is given in the Statusword 6041 hex 5 1 1 State Machine The state of the MX2 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 page5 3 and for details on the command codings refer to 5 1 3 Command Coding page5 3 Power turned OFF or reset 0 After the main power supply is turned on Not ready to switch on 1 After initialization is completed Switch on 15 Fault reset disabled Fault Shutdown 2 7 Disable Voltage Ready to switch on Switch on 3 6 Shutdown 14 Error response operation Switched on completed Disable Voltage 10 Enable operation 4 Fault reaction active 5 Disable operation Operation 8 Shut down amables 13 Error occurs 9 Disable Voltage Notes The Quick stop active state is not supported If Quick stop is enabled in the Operation enable state transition 9 is executed 5 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 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 se
67. O A2 127D Acceleration Pattern RW 00 Linear Possible hex hex Selection 01 S shape curve TxPDO U shape curve Inverted U shape curve EL S shape curve Possible TxPDO A3 127E Deceleration Pattern A098 RW Linear hex hex Selection S shape curve U shape curve Inverted U shape curve 04 EL S shape curve A6 1281 hex FI Start Frequency RW 0 to 40000 100000 0 01 Hz Possible hex TxPDO A8 1283 hex FI End Frequency RW 0 to 40000 100000 0 01 Hz Possible TxPDO A094 A095 A096 A097 A101 A102 hex i A103 AB 1286 hex FI End Ratio A104 RW O to 100 1 9o hex i A105 A131 A132 A141 AA 1285 hex FI Start Ratio RW O to 100 1 96 Possible hex TxPDO Possible TxPDO AC 1287 hex FI Start Selection RW 00 Start frequency Possible hex 01 0 Hz TxPDO CA 12A5 Acceleration Curve RW 01 small curve to 10 large curve Possible hex hex Parameter TxPDO CB 12A6 Deceleration Curve RW 01 small curve to 10 large curve Possible hex hex Parameter TxPDO D4 12AF Operation Frequency RW Digital Operator Possible hex hex Selection 1 Volume TxPDO Voltage FV input Current FI input Modbus communication Modbus RTU Do not set Pulse train frequency D5 12B0 Operation Frequency A142 RW Digital Operator Possible hex hex Selection 2 Volume TxPDO Voltage FV input Current FI input Modbus communication Modbus RTU 05 Do not set 07 Pulse tra
68. O e Q o r O 5 3 yewo uonduoseg 108190 p S EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 7 5 CiA402 Drive Profile 5 5 CoE Communications Area 5 5 1 Communication Objects 1000 hex Device type All Setting range Default setting 00010192 hex Size 4 bytes U32 PDO map Not possible e Gives the CoE device profile number e Explanation of set values Bt Name Meaning 0 to 15 Device profile number 402 192 hex Drive profile 1610 23 O1 Inverter 251031 0 Manufacturer spec 1001 hex Error register All Setting range Default setting O Size 1 byte UB PDO map Not possible e Gives the error type that occurred e Explanation of set values Bi Dems Bt Detail Communication error Device profile specific error Reserved 6 Resena Manufacturer specific error wI N gt OoOo 1008 hex Manufacturer device name All Setting range Default setting 3G3AX MX2 ECT Size 20 bytes VS PDO map Not possible e Gives the model 1009 hex Manufacturer hardware version All Size 20 bytes VS PDO map Not possible 1 V which shows the hardwave version is saved e Gives the Manufacturer hardware version of the EtherCAT Communication Unit 100A hex Manufacturer software version All Size 20 bytes VS PDO map Not possible 1 The version number is saved in v e Gives the Manufacturer software version of the EtherCAT
69. O map Not possible Sub index 1 Inverter register FFFC hex Setting range Default setting Sub index 2 Inverter register FFFD hex Setting range Default setting Sub index 3 Inverter register FFFE hex Setting range Default setting Sub index 4 Inverter register FFFF hex Setting range Default setting 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 amp D 5 D O e D o y D 9 o gt D D 5 6 3 Independent Profile Objects This section explains about OMRON s independent profile objects 5000 hex Command All Setting range 0000 to FFFF hex Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives an operation command to the inverter e Bit descriptions Bit Mening Details 0 0 Stop 1 Forward 1 0 Stop 1 Reverse 2to6 Not used Always keep at 0 P Faults and warnings are cleared when this bit turns ON 8 to 15 Not used Always keep at 0 sjoa go ejyo4d 1uepuedepu 9 s 5010 hex Frequency reference AII Setting range 0000 to FFFF hex Unit 0 01 Hz 0 1 Hz Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives an output frequency command to the inverter e The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode
70. OMRON USER S MANUAL 3G3AX MX2 ECT EtherCAT Communication Unit OMRON 2010 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 Introduction Thank you for choosing the EtherCAT Communication Unit 3G3AX MX2 ECT This User s Manual hereinafter called this manual describes the parameter setting methods required for installation wiring and operation of the 3G3AX MX2 ECT 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 pos
71. Output Frequency d007 0 to 4000000 10000000 0 01 Possible hex hex Monitor after TxPDO conversion 4010 EM Real Frequency d008 100000 to 100000 0 01 Hz Possible hex E hex Monitor TxPDO 3010 2E 100D Torque Reference d009 200 to 200 1 96 Possible hex hex hex Monitor TxPDO 3010 2F 100E Torque Bias Monitor d010 200 to 200 1 96 Possible hex hex hex TxPDO 3010 31 1010 hex Output Torque Monitor d012 200 to 200 1 96 Possible hex hex TxPDO 3010 32 1011 hex Output Voltage d013 0 to 6000 0 1 V Possible hex hex Monitor TxPDO 3010 33 1012 hex Input Power Monitor d014 0 to 9999 0 1 kW Possible hex hex TxPDO 4010 34 1013 hex Integrated Power d015 0 to 9999000 Possible hex hex Monitor TxPDO 4010 36 1015 hex Total RUN Time d016 0 to 999000 1 h Possible hex hex Monitor TxPDO 4010 38 1017 hex Power ON Time d017 0 to 999000 1 h Possible hex hex Monitor TxPDO 2t Cooling fan 3010 el hex Fin Temperature d018 200 to 1500 0 1 C Possible hex TxPDO 3010 3E 101D Life Assessment d022 20 Capacitor on main circuit board Possible hex hex hex Monitor TxPDO 3010 47 1026 hex DC Voltage Monitor d102 hex hex 3010 48 1027 hex Regenerative Braking d103 hex hex Load Rate Monitor 3010 49 1028 hex Electronic Thermal d104 hex hex Load Rate Monitor 0 to 10000 0 1 V Possible TxPDO 0 to 1000 0 1 96 Possible TxPDO 0 to 1000 0 1 96 Possible TxPDO 4
72. PDO map Not possible e This object sets the maximum speed and minimum speed e To read and write the minimum speed read or write the inverter parameter b082 Starting Frequency e To read and write the maximum speed read or write the inverter parameter A004 Maximum Frequency 6048 hex vl velocity acceleration vl Sub index 0 Number of entries Setting range Unit Command Default setting 02 hex unit Size 1 byte U8 PDO map Not possible Sub index 1 Delta speed Setting range 0000 0000 to FFFF FFFF hex Default setting 0000 0708 hex Size 4 bytes U32 PDO map Not possible Sub index 2 Delta time Setting range 0000 to FFFF hex Default setting 000A hex Size 2 bytes U16 PDO map Not possible e This object sets the acceleration time e To read the Speed 6048 to 01 hex read the inverter parameter A004 Maximum Frequency e To read and write the Time 6048 to 02 hex read and write the inverter parameter F002 Acceleration Time Setting EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 21 e Og D o O a O o o D D sjoefqo ejyoug SAUG L 2 G 5 CiA402 Drive Profile 6049 hex vl velocity deceleration vl Sub index 0 Number of entries Setting range Unit Command Default setting 02 hex unit Size 1 byte U8 PDO map Not possible Sub index 1 Delta speed Setting range 0000 0000 to FFFF FFFF hex Default setting 0000 0708 hex Size 4 bytes U
73. R S MANUAL 3G3AX MX2 ECT 5 19 5 CiA402 Drive Profile 5 7 Device Profile area 5 7 1 Drive Profile Objects This chapter explains about the supported CiA402 drive profile 603F hex Error code All Setting range 0000 to FFFF hex Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives the latest error code or warning code that occurred in the unit 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 FFOO hex Warning occurred for the inverter FFO1 hex Trip occurred for the inverter 6040 hex Controlword All Setting range 0000 to FFFF hex Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object controls the state transitions of the unit e Bit descriptions Bi Name o Details 0 The state is controlled by these bits 1 Quick stop is not supported Even when the bit 2 is set to O it is ignored 2 For details refer to 5 1 3 Command Coding page5 3 4 to 6 Not used Always keep at 0 T7 Faults and warnings are cleared when this bit turns ON 8 to 15 Not used Always keep at 0 6041 hex Statusword All Setting range 0000 to FFFF hex Default setting 0000 hex Size 2 bytes U16 PDO map Possible e This object gives the present state of the unit e Bit descriptions Bi Name o Details 0 These bits give the state 1 For details refer to
74. ROK Permission of RUN command EB Rotation direction detection C007 only DISP Display fixed NO Not assigned A 22 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Possible TxPDO Possible TxPDO Co NO NO N N 2 N N U o TI m O O o UJ gt m Index 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex 3014 hex Register No 34 140B hex hex 35 140C hex hex 36 140D hex hex 37 140E hex hex 38 140F hex hex Function name Multi function Input Terminal 1 Operation Selection Multi function Input Terminal 2 Operation Selection Multi function Input Terminal 3 Operation Selection Multi function Input Terminal 4 Operation Selection Multi function Input Terminal 5 Operation Selection Parameter No C011 RW C012 RW C013 RW C014 RW C015 RW 39 1410 hex Multi function Input Terminal6 C016 RW hex Operation Selection 3A 1411 hex hex 3E 1415 hex hex 3F 1416 hex hex Multi function Input Terminal 7 Operation Selection Multi function Output Terminal P1 EDM Selection Multi function Output Terminal P2 Selection B EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 00 NO NO contact 01 NC NC contact A Appendix Monitor and setting items Data PDO resolution map Possible TxPDO FBV PID FB status output NDc Communication Possible TxPDO Possible TxPDO Poss
75. RxPDO mapping is invalid 0024 hex Total number of assignment exceeded 0040 hex RxPDO object overlap r 0041 hex Number of PDO mapping exceeded 0042 hex PDO map size exceeded more than 32 bits gt 0043 hex Incorrect object specification sub index 0 is mapped 3 0044 hex Object not supported E 0045 hex 5000 to 5999 and 6000 to 6999 objects mixed 2 0046 hex Object specified for PDO map is invalid 0047 hex Incorrect data size for specified object S 0048 hex PDO mapping exists but size is 0 X 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 OOEO 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 5 00E2 hex Start address of the Refresh area is different from the value in pre operational Pre Op i OOE3 hex Sync Manager buffer overlap a 00E4 hex Map size and Sync Manager size are different E 00E5 hex Sync Manager operation invalid a OOE6 hex Sync Manager size is 0 z 00E7 hex Incorrect direction setting o 00E8 hex Buffer mode is incorrect D 8000 hex Resource depletion 8001 hex Internal inconsistency zi 8002 hex Other error FFFF hex No error For details refer to Chapter 6 Handling of Errors and Maintenance EtherCAT Communication Unit USE
76. TU error Internal data error Encoder disconnection Overspeed Position control range trip DIC MN po CT During deceleration 2 At a constant speed 3 po qmm s DB active DC injection braking active 7 s preo fe A RENE i A m AO O MEE LM AOS A A CAM A ER R EA PO A OO AOS A ee LEE NEN a NOS OA moo mes 50 to 69 LJ m AAN E NI gt IN oO a OF gt EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Trip factor low order Inverter status Code gt A 3 lt O E o e 3 D e D r 0 e 1sr119e qO 1 e Y A Appendix A 12 O Holding register number list monitor Index FERJE Function name FELE Monitor and setting items pata A FBO No No resolution map 4010 22 1001 hex Output Frequency d001 O to 40000 100000 0 01 Hz Possible hex hex Monitor TxPDO 3010 24 1003 hex Output current monitor d002 0 to 65530 0 01 A Possible hex hex TxPDO 3010 25 1004 hex Rotation Direction d003 0 Stop Possible hex hex Monitor 1 Forward TxPDO 2 Reverse 4010 26 1005 hex PID Feedback Value d004 0 to 1000000 Possible hex hex Monitor TxPDO 3010 28 1007 hex Multi function Input d005 29 Terminals S1 Possible nex NEX Monitor 21 to 28 Terminals S7 EB TXEDO 3010 29 1008 hex Multi function output d006 20 Terminals P1 EDM to i Possible hex hex monitor 21 Terminal P2 TxPDO 2 Relay output terminal 4010 2A 1009 hex
77. U32 1sr119e qO 1 e Y 2nd object 1st fixed receive PDO mapping 1st object fF 6040 0010 hex 4 bytes U32 P 2nd object PPT 6042 0010 hex 4 bytes U32 1701 hex 2nd fixed receive PDO mapping Number of objects US byte U8 NEN possible 1st object 5000 0010 hex 4 bytes U32 Not possible 2nd object 5010 0010 hex 4 bytes U32 Not e 1A00 to 1st to 5th transmit PDO mapping to 5th transmit PDO 1st to 5th transmit PDO mapping 1A04 hex ES of objects EN byte U8 us possible 1st object 0000 0000 hex 4 bytes U32 Not possible 2 2nd object 0000 0000 hex 4 bytes U32 RW Not possible 1 V which shows the hardware version is saved 1700 hex possible Not possible Not EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 5 A Appendix range 1B00 hex ee 1st fixed transmit PDO mapping E UNE CNN Number of objects e byte U8 e 1st object 6041 0010 hex 4 bytes U32 Not EE 2nd object 6043 0010 hex 4 bytes U32 BAN 1B01 hex a 2nd fixed transmit PDO mapping BEE Number of objects 1 U8 a 1st object 5100 0010 hex 4 bytes U32 ae 2nd object 5110 0010 hex 4 bytes U32 Not o 1C00 hex EE Sync manager communication type Number of used SM channels k hex 1 5 U8 us EN Communication type SMO 01 hex 4 bytes U8 aus Communication type SM1 02 hex 4 bytes U8 Not possible 3 Communication type SM2 03 hex 4 bytes U8 Not ne Communication type SM3 04
78. UDC UP DWN function data clear OPE Forced operator SF1 Multi step speed bit 1 SF2 Multi step speed bit 2 SF3 Multi step speed bit 3 3014 1404 hex Multi function Input 4 C004 RW SF4 Multi step speed bit 4 Possible hex hex Selection SF5 Multi step speed bit 5 TxPDO SF6 Multi step speed bit 6 SF7 Multi step speed bit 7 OLR Overload limit switching TL Torque limit enabled disabled TRQ1 Torque limit switching 1 TRQ2 Torque limit switching 2 BOK Brake confirmation LAC LAD cancel Possible TxPDO Possible TxPDO PCLR Position deviation clear 3014 1405 hex Multi function Input 5 C005 RW ADD Frequency addition Possible hex hex Selection F TM Forced terminal block ATR Torque reference input permission KHC Integrated power clear Reserved Reserved Reserved Reserved Reserved TxPDO 3014 1406 hex Multi function Input 6 C006 RW REPNA hex hex Selection Reserved AHD Analog command held CP1 Position command selection 1 CP2 Position command selection 2 CP3 Position command selection 3 ORL Zero return limit signal ORG Zero return startup signal SPD Speed position switching GS1 GS1 input C003 only GS2 GS2 input C004 only 3014 1407 hex Multi function Input 7 C007 RW 485 Start co inverter hex hex Selection communication Reserved HLD Retain output frequency
79. a 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 operation 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 gt N O O 5 e 9 e e gt D V o o O 5 O O 5 e 2 c 5 WeIBOId ajduwes p Z y EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 9 4 Inverter Control 4 3 Control with the Independent Profile This section describes how to use the OMRON profile to control the inverter 4 3 1 Inverter Setting The inverter parameters must be set to match the profile With the independent profile set as follows Parameter Description A001 Frequency Reference Selection 1 04 Optional boad A002 RUN Command Selection 1 04 Optional boad C102 Reset Sel
80. 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 technology 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 N oO lt O s D o h m e gt D gt 1 2 1 Features of EtherCAT EtherCAT has the features shown below JVvO49u JO seuynjee L c O Ultra high speed communication of 100 Mbps The I O response time from the generation of the input signal to the transmission of the output signal is greatly reduced The optimized 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 Use 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 3 1 EtherCAT Network 1 2 2 EtherCAT System In EtherCAT data is not sent to each node in the network but the Ethernet frame
81. and length of communications cables that are appropriate for your system configuration Each communications cable between the nodes and between the master and the nodes must be no longer than 100 m In the system configuration example used in this chapter a cable of 5 m is prepared for communications cable 1 and a cable of 1 m is prepared for communications cable 2 Connect an RJ45 connector to both ends of the communications cable by wiring them straight Connect both ends of the 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 pun uoneoiunuiuo 1vO9Jeuj3 eu BuutM z v z EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 13 2 Starting a Sample System Wiring the communications cables e 7 IN OUT ES peu Master Unit side Slave Unit side 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 exam
82. arameter exceeded only for write access Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value General error Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object dictionary is present EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Common Slave Specifications 3 5 Emergency Messages 3 5 1 Outline When an error or warning occurs in an MX2 inverter an emergency message is sent to the master 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 O every time the power is turned ON to disable the sending of emergency messages sobesso N ouoDJoul3 G E Emergency messages consist of 8 bytes of data ee ee EN EYE ee ENG Error register Manufacturer specific error field Object 1001 hex reserved 3 Meaning Error code 3 5 2 Error Code List Error code Meaning Possible correction 5300 hex Error in the option and inverter e Check that
83. ation 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 EtherCAT master Slave Slave Slave Slave EA AA EN o Goo y y O GT Ethernet EtherCAT 1st EtherCAT 2nd EtherCAT 3rd EtherCAT CRC header ae S header telegram telegram telegram sed uoneoiunujulo Y91943 2 1 Logic process data Mailbox communication function SDO communications This is message communication The EtherCAT Master Unit transmits commands to Slave Units and the sSave Units return responses to the EtherCAT Master Unit The data below is sent and received e Read and write process data e Slave settings e Monitor slave state EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 5 1 EtherCAT Network 1 3 EtherCAT System Configuration 1 3 1 System Configuration A typical system configuration is shown below EtherCAT master Configuration Tool ESI file CX One FA Integrated Tool Package Programmable Position Control Controller Unit SYSMAC CJ2 CJ1W NCx82 Communications cable EtherCAT slave EtherCAT slave Other slaves Servo Drive SS Digital I O EtherCAT Analog I O Communication Unit Pulse input etc SYSDRIVE 3G3AX MX2 ECT 3G3MX2 series NAAS WA NSSSSSSSSSS 1 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 EtherCAT Network a a e 1 3 2 Overview of
84. ation function only 03 Other than U registration function 3013 89 1362 hex Regenerative Braking b095 RW 00 Disabled Possible hex hex Selection 01 Enabled Disabled during stop TxPDO 02 Enabled Enabled during stop 3013 8A 1363 hex Regenerative Braking b096 RW 330 to 380 660 to 760 1 V Possible hex hex ON Level TxPDO 3013 8E 1367 hex Free V f Frequency 1 b100 RW 0 to Free V f Frequency 2 1 Hz Possible hex hex TxPDO 3013 8F 1368 hex Free V f Voltage 1 b101 RW 0 to 8000 0 1 V Possible hex hex TxPDO 3013 90 1369 hex Free V f Frequency 2 b102 RW 0 to Free V f Frequency 3 1 Hz Possible hex hex TxPDO 3013 91 136A Free V f Voltage 2 b103 RW 0 to 8000 0 1 V Possible hex hex hex TxPDO 3013 92 136B Free V f Frequency 3 b104 RW 0 to Free V f Frequency 4 1 Hz Possible hex hex hex TxPDO A 20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index Regicter Function name Parameter Monitor and setting items Data PDO No No resolution map 93 136C Free V f Voltage 3 b105 RW 0 to 8000 0 1 V hex hex 94 136D Free V f Frequency 4 b106 RW 0 to Free V f Frequency 5 1 Hz hex hex 95 136E Free V f Voltage 4 b107 RW 0 to 8000 0 1 V hex hex 96 136F Free V f Frequency 5 b108 RW 0 to Free V f Frequency 6 1 Hz hex hex 97 1370 hex Free V f Voltage 5 b109 RW 0 to 8000 0 1 V hex 1371 hex Free V f Frequency 6 b110 0 to Free V f Frequency 7 1 Hz hex 3013 hex 3013 hex
85. ation supported e 0001 hex Free Run mode 1C33 hex SM 3 synchronization All Sub index 0 Number of synchronization parameters Setting range Default setting 20 hex Size 1 byte UB PDO map Not possible Sub index 1 Synchronization type Setting range Default setting 0000 hex Size 2 bytes U16 PDO map Not possible Sub index 4 Synchronization types supported Setting range Default setting 0001 hex Size 2 bytes U16 PDO map Not possible e Synchronization type 1C33 to 01 hex indicates the Synchronization mode of Sync Manager 2 e 0000 hex Free Run mode e Synchronization types supported 1C33 to 04 hex indicates the types of synchronization supported e 0001 hex Free Run mode 5 14 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 5 6 Manufacturer Specific Area 5 6 1 Manufacturer Specific Objects 2100 hex Error history clear All Setting range 6C636C65 hex Default setting 00000000 hex Size 4 bytes U32 PDO map Not possible e This object clears the contents of Diagnosis history 10F3 hex e This function can be executed by writing 6C636C65 hex using SDO mailbox communications e n the following cases an abort code is returned e Writing with CompleteAccess e Writing a value other than 6C636C65 hex 5 6 2 Inverter Parameter Objects Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex 3000 to 3102 hex a
86. bjects PDO 3 3 1 Outline The process data objects PDOs are used to transfer data during cyclic communications in realtime There are two types of PDOs reception PDOs RxPDOsS which receive data from the controller and transmission PDOs TxPDOs which send statuses from the inverter to the Host Controller RxPDO Operation command target value etc Host Controller Inverter TxPDO Operation status present value etc 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 Manager PDO assignment object 3 3 2 PDO Mapping Settings 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 0 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 Object dictionary Object contents E 8 12ZZn GTTThTTA J8 q 8 12ZZh 6UUUhUUh 8 YYYYhYYh 1ZZZh 03h YYYYhYYh PDO length 32 bits Object A Object B 6TTTh Object A SUUUh Object B 2 g 6vvvh Object C 8 S 6YYYh Object D 2 6ZZZh Object E 3 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Common Slave Specifications 3 3 3 Sync Manager PDO Assi
87. cation Unit onto the location where the inverter optional board cover that you removed was attached Check that the connector is firmly connected Notes 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 2 Tighten the mounting screw of the EtherCAT Communication Unit Tighten the bottom right screw of the EtherCAT Communication Unit with the specified torque 46 Necm 4 7 kgf cm QUAO O O EtherCAT es eU IN OUT RUN ERR ADR 54X10 9E X1 3G3AX MX2 ECT ZA WARNING Rief ete shock Read manual before installing A elait 10 minutes for capacitor discharge after disconnecting power supply IN OUT 2 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System Connecting the ground cable of the EtherCAT Communication Unit 1 Ground 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 1v249u33 84 104 BuuiM pue Bununo y z O O 3 3 c o D En O 5 c 5 2 2 4 2 Wiring the EtherCAT Communication Unit Perform the wiring for the communications cables Preparing the communications cables Determine the number
88. ccccccssseecceeeececccesececseeeececsueuseceseseeesseageeessaegeesssseseeess 2 17 2 5 3 ResetSelection Seling c o doi 2 17 Checking Communication Starting and Operation eessees 2 18 2 0 SAUNA NE SV ETR 2 18 202 gt NEWOK SED a e de 2 18 2 0 9 Checking the Master Enibssi e C a lE o MEM M aA IM DM ME E 2 18 2 6 4 Checking the Inverter and EtherCAT Communication Unit ooccccoooonnnnccccnnnnncnnnncnnnonanonnnnnnns 2 19 270 0 GCHECKING ne O pera o e eden 2 19 Common Slave Specifications 3 1 Structure of CANopen over EtherCAT anarnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvenunnnn 3 2 Communications Status Transitions rnnrrnnernnnnnnnnnnnennnennnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnne 3 3 Process Data Objects PDO iia esas 3 4 O een ae IA 3 4 352 PDO V ppngSelUngs arr ue dapi 3 4 3 3 3 Sync Manager PDO Assignment Settings rrrrrrrrrnrnnrrrrrnnnnrvrnrnnnnrnvrnnsrrnnrnnsrrernnnnrrernnrnsrennnnnsnee 3 5 3574 Fred PDO M ge 3 5 Service Data Objects SDO unirnos 3 6 4 CI C T Oe ever RS 3 6 EE MENE ENTER PEUT EE 3 6 Emnergericy MeSSdOQ6es iio 3 7 nn o AA 3 7 552 BrrorGode AA t es ei hele cath ne eA Sail by 3 7 Inverter Control asa 4 1 QUIN aaa lr lios 4 2 211 FUNCION CON Li 4 2 A T Object MAP mec 4 2 Control with the Position Control Un
89. ce to the Machinery Directive 2006 94 EL becomes invalid EtherCAT Conformance Test This product is conformance tested a EtherCAT Conformance tested 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Trademarks e 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 e Windows is a registered trademark of Microsoft Corporation in the USA e SYSMAC is a registered trademark of OMRON s Programmable Controllers e CX One is a registered trademark of OMRON s FA Integrated Tool Package e Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 11 Checking Before Unpacking Checking the Product On delivery be sure to check that the delivered product is the EtherCAT Communication Unit 3G3AX MX2 ECT model that you ordered Should you find any problems with the product immediately contact your nearest local sales representative or OMRON sales office Checking the Nameplate The nameplate is affixed to the back side of the product OMRON 3G3AX MX2 ECT EtherCAT Slave Unit SEE ne uad 1FA4 C US IND CONT EQ C LISTES LOT No kkkkkk Ver 1 0 kkkkkkkk lt OMRON Corporation MADE IN JAPAN
90. compact 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 applications 1 1 1 Features of the EtherCAT Communication Unit The EtherCAT Communication Unit has the features shown below I Communication function as easy as I O control When the CJ1W NCx82 Master Unit 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 Supports the Velocity mode of CiA402 The Velocity mode of the CANopen drive profile CiA402 enables common control that does not vary with the manufacturer PDO free format When a communication master that supports the process data mapping is used user can assign the inverter parameters to the process data Using together with slaves EtherCAT supports connection with Servo Drives and digital I O slaves as well as Inverters allowing flexible network building 1 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 EtherCAT Network 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
91. configure the network and set communications parameters The tool automatically sets the ESI file into the Master Unit Use the CX Programmer Ver 9 2 tool version or higher EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 4 Mounting and Wiring for the EtherCAT 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 This Communication Unit can be used with the inverter of unit version 1 1 or higher Make sure that the unit version of the inverter is 1 1 or higher The unit version of the inverter can be checked on the nameplate of the inverter The unit version can not be checked on the CX Drive 1v249u33 34 104 BuuiM pue Bununon t z O O 3 3 c o D En O 5 c 5 2 2 4 1 Mounting the EtherCAT Communication Unit Removing the optional board cover from the inverter front panel 1 Loosen the mounting screw x 1 from the optional board cover of the inverter front panel 2 Remove the optional board cover yun uogeorunuu02 1vo4euj3 eui Buyunoy L y z EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 11 2 Starting a Sample System I Mounting the EtherCAT Communication Unit onto the inverter 1 Mount the EtherCAT Communi
92. ct Selection 01 NC E contact TxPDO 3014 4D 1424 hex Multi function Relay C036 RW 00 NO NO contact Possible hex hex Output MA MB 01 NC NC contact TxPDO Contact Selection 3014 4F 1426 hex Low Current Signal C038 RW 00 During Possible hex hex Output Mode Selection acceleration deceleration TxPDO constant speed 01 Only during constant speed 3014 50 1427 hex Low Current Detection C039 RW 0 to 20000 0 01 Possible hex hex Level 3014 51 1428 hex Overload Warning C040 RW 00 During Possible hex hex Signal Output Mode acceleration deceleration TxPDO Selection constant speed 01 Only during constant speed 3014 52 1429 hex Overload Warning C041 RW 0 to 20000 0 01 Possible hex hex Level 1 4014 53 142A Arrival Frequency C042 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex During Acceleration TxPDO 4014 55 142C Arrival Frequency C043 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex During Deceleration TxPDO 3014 57 142E PID Deviation C044 RW 0 to 1000 0 1 Possible hex hex hex Excessive Level TxPDO 4014 58 142F Arrival Frequency C045 RW O to 40000 100000 0 01 Hz Possible hex hex hex During Acceleration 2 TxPDO 4014 5A 1431 hex Arrival Frequency C046 RW 0 to 40000 100000 0 01 Hz Possible hex hex During Deceleration 2 TxPDO 3014 5C 1433 hex Pulse Train Output C047 RW 0001 to 9999 Possible hex hex Coefficient A xs T IN 5 lt O 5 o e 3
93. d off AN Caution 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Precautions for Safe Use Installation and Storage 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 Transportation Installation and Wiring Do not drop or apply strong impact on the product Doing so may result in damaged parts or malfunction 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
94. ded into the tool it makes it easy to perform the various settings such as the mapping of the EtherCAT slave s I O memory EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 7 1 EtherCAT Network EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Starting a Sample System This chapter explains information such as the mounting wiring and setting methods for the EtherCAT Communication Unit 2 1 2 5 2 6 Part Names and Settings for the EtherCAT Communication Unit 2 2 2p ar Nas bre ceed om HE REA eie Rd on Chto Seed eee de d ue 2 2 2 1 2 Status Indicator Names nanana cc ee eee 2 3 2 1 3 Rotary Switches for Node Address Setting ooo oooo o 2 4 2 1 4 Communications Connector n aaas eaae ea e 2 5 2 1 5 Recommended Products 0 ccc ee eee tenes 2 6 2 1 6 Connection between Communications Cables and Connectors 2 7 Basic Usage Procedures and Configuration Example 2 8 2 2 1 Basic Usage Procedures llle eens 2 8 2 2 2 System Configuration Example 0 0 00 eens 2 9 Master Unit Setting sucks cokes cos ak ka svada A LE ee 2 10 2 3 1 Mounting the Master Unit 0 0 eee 2 10 2 3 2 Master Unit Setting 0 ce eee ees 2 10 2 3 3 ESDBIe SENG ases bod OS BuU hte Pr pu de Ree fue nee as Hp e FAS LOS AS BESS 2 10 Mounting and Wiring for the EtherCAT Communication Unit 2 11 2 4 1
95. e node address is set from the master When the Master Unit is CJ1W NCXx82 we recommend that the node addresses be set by the rotary switch to velify the network configuration 4 For the restrictions related to CJ1W NCx82 refer to the User Manual for the Master Unit 5 In configurations other than this example when 2 or more inverters are connected or the node address set values are changed use the same procedure and change it as appropriate In such cases check that node addresses do not overlap 6 Ifa slave other than this product is also connected set the unit by referring to its User Manual In such cases check that the node addresses do not overlap 2 16 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 5 SYSDRIVE MX2 Series Settings To perform control from the Communication Unit the parameter settings must be changed from the front panel digital operator of the inverter In this procedure the inverter power supply must be turned ON 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 1570 for the SYSDRIVE MX2 series inverter for details on operating the inverter parameter settings and for the meaning of the parameter values Pa ol o lt o U lt m gt lt N o D D o o O amp 2 e o 2 5 1 RUN Command Setting
96. earance varies depending on the inverter capacity QUAO O O Ethere IN OUT RUN ERR DR 3G3AX MX2 ECT Warning Description The warning description is written in English when it is shipped from the factory Affix the Japanese warning label included with the product if necessary N WARNING Risk of electric shock e Read manual before installing A SEGRE th REORTANDU ET BART EXOTIC WIRE ARAN ej EP EUSEBIO UAT Or RINES UCB EL IN OUT e Wait 10 minutes for capacitor discharge after disconnecting power supply IN OUT 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Inverter Version This EtherCAT Communication Unit can be used with the inverter of unit version 1 1 or higher Make sure that the unit version of the inverter is 1 1 or higher The unit version of the inverter can be checked on the nameplate of the inverter The unit version can not be checked on the CX Drive EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Applicable Standards EC Directives EC Directives Applicable Standard EMC Directive EN61800 3 Low Voltage Directive EN61800 5 1 Notes To conform to EMC Directives the product must be installed under the conditions described in 2 4 3 Wiring Conforming to EMC Directives UL cUL Standards Standards Applicable Standard UL cUL UL508c Functional Safety When the EtherCAT Communication Unit is mounted on the inverter unit inverter s conforman
97. ection 03 Trip reset only If parameter C102 is not displayed set b037 to 01 4 3 2 Profile Allocation Assign the PDOs of the independent profile to Sync Manager Sync Manager PDO assignment Description 1012 hex 1701hex Fixed allocation of the independent profile 1C13 hex 1B01 hex Fixed allocation of the independent profile The values below are the fixed mapping for the PDOs 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 Control the inverter by operating the PDOs that allocate the profile IO format e Control information master to slave Word Meaning n Command n 1 Frequency reference e Status information slave to master Word Meaning m Status m 1 Output frequency monitor 4 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control I Bit and data information e Command ae ee ee ee ee gt ette Bit 0 Forward stop 0 Stop 1 Forward command Meaning 1 Reverse stop 0 Stop 1 Reverse command Fault reset Resets an error or trip for the unit or inverter Reserved Set 0 N O Frequency reference 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 gt w O O
98. eely allocated objects are used e Objects can be allocated up to a total bit length of 32 bits a dl O o m O O 3 3 c 5 O Dd O o D fo 1B00 hex 1st fixed transmit PDO mapping AII Sub index 0 Number of objects Setting range Default setting 2 Size 1 byte U8 PDO map Not possible Sub index 1 1st object Setting range Default setting 6041 0010 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd object Setting range Default setting 6043 0010 hex Size 4 bytes U32 PDO map Not possible e The PDO mapping when Velocity mode is used e The following objects are mapped e Statusword 6041 hex vl velocity demand 6043 hex sjoelqo Buiddey Odd Z S EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 11 5 CiA402 Drive Profile 1B01 hex 2nd fixed transmit PDO mapping All Sub index 0 Number of objects Setting range Default setting 2 Size 1 byte U8 PDO map Not possible Sub index 1 1st output object Setting range Default setting 5100 0010 hex Size 4 bytes U32 PDO map Not possible Sub index 2 2nd output object Setting range Default setting 5110 0010 hex Size 4 bytes U32 PDO map Not possible e The PDO allocation when a fixed profile is used e The following objects are mapped e Status information 5100 hex Output frequency monitor 5110 hex 5 5 3 Sync Manager Communication Objects Objects 1C00
99. eely allocated to PDOs to create an independent profile If you use in combination with the OMRON independent profile or the CiA402 drive profile you can perform advanced control and monitoring 4 5 1 Inverter Setting 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 4 5 2 Object Mapping Allocate the objects that you want to use to PDOs i Setting example 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 e PDO mapping PDO Description 1600 hex 4011 26 F002 Acceleration time setting 1 1601 hex 4011 28 F003 Deceleration time setting 1 1A00 hex 3010 24 d002 Output current monitor e Sync Manager assignment Sync Manager PDO assignment Description 1C12 hex 1701hex 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 Following from the above allocations the IO format is as follows Control information master to 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 4 14 EtherCAT Communicat
100. erCAT 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 Node address setting x 1 Node address setting x 10 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 Set value for node address Set value for rotary switch ry OMRON Host Controller Host Controller from another manufacturer 00 The Host Controller set value is used as the The Host Controller set value is used node address regardless of the rotary switch set value 01 to 99 The rotary switch set value is used as the node address LA Precautions for Correct Use e 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 e Do not change the setting on the rotary switches after the power supply has been turned ON e f node addresses overlap an error occurs and the operation stops EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 1 4 Communications Connector An Ethernet twisted pair cable is connected to this connector Communications Communications connector IN connector OUT N U mo Sa oz O2 gt 3 D o Og o5 ja 3o co 32 65 Bg
101. error was detected Correct the RxPDO mapping setting For the detailed cause check the contents of object 5200 hex 001E hex TxPDO setting error A TxPDO Sync Manager setting error was detected Correct the TxPDO mapping setting For the detailed cause check the contents of object 5200 hex 001F hex PDO WDT setting error The WDT setting of a PDO is invalid Set a correct value 0024 hex TxPDO mapping error An invalid TxPDO is set Correct the TxPDO mapping setting For the detailed cause check the contents of object 5200 hex 0025 hex RxPDO mapping error An invalid RxPDO is set Correct the RxPDO mapping setting For the detailed cause check the contents of object 5200 hex 0028 hex SM event mode setting error Set to an unsupported SM event mode Set a correct value p eo gt o 2 D e O 5 m O 7 JS epo SMEIS IV t 9 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 9 6 Handling of Errors and Maintenance 6 4 Inverter Errors The trips that occur for inverters when using an optional board are as follows Name Option error Option timeout Meaning Error code When an E60 L unrecoverable error is detected in the optional board a trip is generated for the inverter A trip occurs whena E69 L timeout is generated in communication between the inverter and optional PCB Check point and remedy The inverter unit version is old Check that
102. etting objects and monitoring the status of MX2 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 3 4 2 Abort Codes The following table lists the abort codes for when an SDO communications error occurs Value 0503 0000 hex 0504 0000 hex 0504 0001 hex 0504 0005 hex 0601 0000 hex 0601 0001 hex 0601 0002 hex 0602 0000 hex 0604 0041 hex 0604 0042 hex 0604 0043 hex 0604 0047 hex 0606 0000 hex 0607 0010 hex 0607 0012 hex 0607 0013 hex 0609 0011 hex 0609 0030 hex 0609 0031 hex 0609 0032 hex 0609 0036 hex 0800 0000 hex 0800 0020 hex 0800 0021 hex 0800 0022 hex 0800 0023 hex Meaning Toggle bit not changed SDO protocol timeout Client Server command specifier not valid or unknown Out of memory Unsupported access to an object Attempt to read a write only object Attempt to write to a read only object The object does not exist in the object directory The object can not be mapped into the PDO The number and length of the objects to be mapped would exceed the PDO length General parameter incompatibility reason General internal incompatibility in the device Access failed due to a hardware error Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Subindex does not exist Value range of p
103. ex RxPDO map overlap The same PDO is assigned more than once to Sync Manager 2PDO assignment 1C12 hex Correct the assignment 0023 hex Object specified for RxPDO An object was allocated that cannot be allocated to RxPDO Correct S mapping is invalid the RxPDO mapping T 0024 hex Total number of assignment The total size of the objects specified with the Sync Manager PDO S exceeded mapping exceeds 20 bytes Correct the PDO mapping 0040 hex RxPDO object overlap The same object is mapped more than once to RxPDO Change the RxPDO mapping 0041 hex Number of PDO mapping 3 or more objects are allocated to a single PDO Allocate a maximum exceeded of 2 objects to a PDO 0042 hex PDO map size exceeded The total size of the objects mapped to a single PDO exceeds 4 bytes gt more than 32 bits Keep the total object size that is mapped to a PDO to within 4 bytes in 0043 hex Incorrect object specification An object of sub index 0 number of entries etc that cannot be E sub index O is mapped allocated to a PDO was mapped Remove the corresponding object 2 from the mapping gt 0044 hex Object not supported An object that does not exist was mapped Correct the PDO mapping m A sub index of an object that does not exist was mapped Correct the D PDO mapping 0045 hex 5000 to 5999 and 6000 to An object from 5000 to 5999 was allocated to RxPDO mapping at the ol 6999 objects mixed same time as an object from 6000 to 6999 Objects from 5000 to 5999 d a
104. gnment 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 0 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 Object dictionary Sub Object contents 1C1Zh 1A00h e U O o 0 0 O D e D O JS O e a UD O Sync Manager entity Z Sync Manager PDO assignment objects Mapping objects 3 3 4 Fixed PDO Mapping This section describes the contents of fixed PDO mapping for MX2 inverters The contents of fixed PDOs cannot be changed PDO mapping for speed control independent profile s6hunjes juowuBbissy OG Jebeuep DU S e e e RxPDO 5000 hex Command 1701 hex 5010 hex Frequency reference TxPDO 5100 hex Status 1B01 hex 5110 hex Output frequency monitor PDO mapping for speed control CiA402 profile RxPDO 6040 hex Controlword 1700 hex 6042 hex vltarget velocity TxPDO 6041 hex Statusword 1B00 hex 6043 hex vl velocity demand EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 5 3 Common Slave Specifications 3 4 Service Data Objects SDO 3 4 1 Outline The EtherCAT Communication Unit for MX2 inverters supports SDO communications as message communications SDO communications are used for s
105. hall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS 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 OR REPAIR 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this
106. he FG cable Install the FG cable with the shortest possible wiring seAgoeI OWA O Buruuojuo Bull v z SDRIVE RUN PWR Q Q TER QUAO O O EthercaT IN OUT RUN ERR ADR 3G3AX MX2 ECT FG cable Communications cable Communications cable IN OUT Notes The overall mounting appearance varies depending on the inverter capacity Do not squeeze the FG cable into the EtherCAT Communication Unit EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 15 2 Starting a Sample System 2 4 4 Node Address Settings for the EtherCAT Communication Unit Node address settings oet the rotary switches of the EtherCAT Communication Unit to determine the node address In the system configuration example used in this chapter the settings are as follows Inverter Node address Rotary switch x 10 Rotary switch x 1 1st unit 17 Set the arrow of the rotating part to the 1 Set the arrow of the rotating part to the 7 position position 2nd unit 22 Set the arrow of the rotating part to the 2 Set the arrow of the rotating part to the 2 position position Notes 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 addres of the next unit 2 When the Master Unit CJ1W NCx82 is used the range for the node address setting is 17 to 80 3 When the node address setting is 00 th
107. he motor 1 control only can be used 4 2 2 Object Mapping The object that will be used is allocated with the fixed settings below e PDO 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 e Sync Manager assignment Sync Manager PDO assignment Description 1C12 hex 1701 1600 1601 1C13 hex 1B00 1A00 1A01 Fixed allocation of the independent profile Setting as above Setting as above Fixed allocation of the independent profile Setting as above Setting as above PN mn 4 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control 4 2 3 Control Method Control the inverter by operating the fixed mapping PDOs e Control information master to slave 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 Notes n Start address of the remote I O output relay area that is assigned to the unit e Status information slave to master gt N O O 5 e o e e gt D V o o O 5 O O 5 e c 5 Word Meaning m Status
108. hermal Current 1 Free electronic Thermal Frequency 2 b015 b016 b017 b018 Free electronic Thermal Current 2 Free electronic Thermal Frequency 3 Free electronic Thermal Current 3 b019 b020 Overload Limit 1 b021 Selection b022 Overload Limit 1 Level Overload Limit 1 Parameter Overload Limit 1 Selection 2 b023 b024 b025 Overload Limit 1 Level 2 Overload Limit 1 Parameter 2 Overcurrent Suppression Selection Frequency Pull in Restart Level Frequency Pull in Restart Parameter Starting Frequency at Frequency Pull in Restart Selection b026 b027 b028 b029 b030 Soft Lock Selection b031 Motor Cable Length b033 Code Selection RUN Time Power ON Time Level b034 R A R R A R R RW RW RW R R R a gag 0883222228 e5228 JJJ sss sg A RW RW Monitor and setting items DELS Aus resolution map 200 to 1000 0 1 96 Possible TxPDO 00 Reduced torque characteristics Possible 01 Constant torque characteristics TxPDO 02 Free setting 0 to Free electronic Thermal 1 Hz Possible Frequency 2 TxPDO 0 00 to rated current 0 01 Possible TxPDO Free electronic Thermal Frequency 1 Hz Possible 1 to Free Setting Electric Thermal TxPDO Frequency 3 0 00 to rated current 0 01 Possible TxPDO Free electronic Thermal Frequency 1 Hz Possible 2 to 400 1000 TxPDO 0 00
109. hex 4 bytes U8 L prese 1C10 hex ERE Sync Manager 0 PDO assignment BIE Number of assigned PDOs m hex C byte U8 e a 1C11 hex ENT Sync Manager 1 PDO assignment E e Number of assigned PDOs hex km byte U8 je Assigned PDO 3 0000 hex 2 bytes U16 postie Assigned PDO 4 0000 hex 2 bytes U16 postie Assigned PDO 5 0000 hex 2 bytes U16 L prese 1C32 hex SM2 synchronization SM2 synchronization HER of synchronization hex 1 sus U8 parameter postie Synchronization type 0000 hex 2 bytes U16 ME Synchronization types supported 0001 hex 2 bytes U16 Not 1C33 hex mpm SM3 synchronization Number of synchronization ar hex byte U8 parameter Synchronization type 0000 hex 2 bytes U16 Not a Synchronization types supported eS Ff 0001 hex 2 bytes U16 e A 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1C12 hex Sync manager 2 PDO assignment Sync manager 2 Sync manager 2 PDO assignment assignment Number of assigned RxPDOs i hex y byte U8 Not a Assigned PDO 1 1701 hex 2 bytes U16 en Assigned PDO 2 0000 hex 2 bytes U16 Not MIE Assigned PDO 3 0000 hex 2 bytes U16 UEM Assigned PDO 4 0000 hex 2 bytes U16 RW Not possible Assigned PDO 5 0000 hex 2 bytes U16 Not NER m 1C13 hex E Sync Manager 3 PDO assignment Number of assigned TxPDOs EE hex byte U8 us possas Assigned PDO 1 1B01 hex 2 bytes U16 TA Assigned PDO 2 0000 hex 2 bytes
110. hex hex 3013 50 1329 hex User Parameter b039 hex hex Automatic Setting Function 3013 51 132A Torque Limit Selection b040 hex hex hex 3013 52 132B Torque Limit 1 b041 hex hex hex four quadrant mode forward power running 3013 53 132C Torque Limit 2 b042 hex hex hex four quadrant mode reverse regeneration 3013 54 132D Torque Limit 3 b043 hex hex hex four quadrant mode reverse power running 3013 55 132bE Torque Limit 4 b044 hex hex hex four quadrant mode forward regeneration 3013 3013 3013 3013 3013 5C 1335 hex DC Bus Voltage hex hex Trigger Level of Ctrl Decel 3013 4013 3013 3013 3013 3013 3013 3013 3013 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT ps 2 ps 2 88 8 828 8 J A RW 68 1341 hex Window Comparator b062 RW 0 to 10 Upper limit hex hex FV Hysteresis Width b060 b061 2 69 1342 hex Window Comparator b063 RW 0 to 100 hex hex Fl Upper Limit Level Lower limit b064 b065 x 2 6A 1343 hex Window Comparator b064 RW 0 to 100 1 96 Possible hex hex Fl Lower Limit Level Upper limit b063 b065 x 2 6B 1344 hex Window Comparator b065 RW 0 to 10 hex hex FI Hysteresis Width Upper limit 0063 b064 2 A Appendix Monitor and setting items Data PDO resolution map 00 No direction limit Possible 01 Only Forward is enabled TxPDO Reverse is limited 02 Only Reverse is enabled Forward is limited 0 Reduced
111. ible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO RUN During RUN FA1 Constant speed reached Possible TxPDO FA2 Set frequency min reached OL Overload warning OD PID excessive deviation AL Alarm output FA3 Meet designated frequency during accel decel OTQ Overtorque Undertorque UV Signal during undervoltage TRQ During torque limit RNT RUN time over ONT Power on time over THM Thermal warning BRK Brake release BER Brake error ZS 0Hz DSE Excessive speed deviation POK Position ready FA4 Set frequency exceeded 2 FA5 Meet designated frequency 2 during accel decel OL2 Overload warning 2 FVdc Analog FV disconnection detection Fldc Analog Fl disconnection detection Possible TxPDO disconnection detection LOG1 Logic operation output 1 LOG2 Logic operation output 2 LOG3 Logic operation output 3 WAC Capacitor life warning WAF Cooling fan life warning signal FR Starting contact signal OHF Fin overheat warning LOC Low current signal Reserved Reserved Reserved IRDY Operation ready FWR During forward operation RVR During reverse operation MJA Fatal fault signal WCFV Window comparator FV WCFI Window comparator Fl FREF Frequency command source REF RUN command source SETM Motor 2 selection EDM Safety device
112. ication environment At a maximum altitude of 1 000 m indoors without corrosive gases or dust Weight 100 g max A 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix A 1 3 EtherCAT Communications Specifications Item Specifications Communications standard IEC 61158 Type12 IEC 61800 7 CiA 402 drive profile Physical layer 100BASE TX IEEE802 3 Connector RJ45 x 2 shielded type ECAT IN EtherCAT input ECAT OUT EtherCAT output Communications media Category 5 or higher cable with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes 100 m max Process data Fixed PDO mapping PDO mapping Mailbox CoE Emergency messages SDO requests SDO responses and SDO information Distributed clock FreeRun mode asynchronous LED display L A IN Link Activity IN x 1 L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 CiA402 drive profile Velocity mode rf o o O O O e et O 5 o suoneouioedgs SUONBIIUNWUWO VoJeul3 E L V EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 3 A Appendix A 2 Communications Response Time The table below lists the communications response time Meaning Conditions Starting time Approx 10 to 14 ms Time after the inverter is started from the PLC until the motor produces output CJ1W NCx82 When the communication cycle is 250 us Due to the characteristics of EtherCAT the result will become the same
113. icator and other indications of the inverter to confirm that power is being supplied 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 LIA IN LIAOUT RUN ERR Initial processing OFF OFF Normal operation Flashing Flashing OFF 2nd unit L A IN LIAOUT RUN ERR initial processing OFF Normal operation Flashing OFF When a 3rd unit or more is grounded the status of the L A OUT of the 2nd unit is the same as its L A IN ON flashing 2 6 5 Checking the Operation Execute the PLC control program and check that the operation is normal EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 19 pue Bunajejs uoneoiunuiuio Buiyay 9 7 O Oo O y ES O 5 JUN UOHeIUNWWOD 1vo4euj3 pue JeyeAu ay Buoy p 9 2 2 Starting a Sample System EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Common Slave Specifications This chapter explains the common slave specifications during EtherCAT communication and about the PDOs and SDOs 3 1 Structure of CANopen over EtherCAT rele 3 2 Communications Status Transitions 3 3 Process Data Objects PDO leselleleslsees 9 9 OWNS ias A aree RED ETTER 3 3 2 PDO Mapping Settings lllleell n
114. ie ek te cred ie ok A 8 PP CERERI en 3 4 PDO free Oma ices io os oe eu eU Li 4 14 Faz 1 Jag nt 8 18 He nee dash te ge er ne em ec ener ies 3 4 PDO Mapping Objects cccccssseceeceeeseeeeseeeeeeeseeees 5 10 POSITION Conttob DEDE essere lira dci 4 4 Process data ODJECIS Ha 3 4 R PO ER 4 2 S SP ELEC 3 6 Service data objects cccccssssccccssseeeccesseeeceeesseeesseees 3 6 Specifications ee A 2 Status Indicators seria ic DR Co never casaba 2 3 6 2 Syre Manager sa uestes Rc tds 4 3 Sync Manager channel ccccccccccsssseeececeeeeseeeeeeeesees 3 5 Sync Manager Communication Objects 5 12 T A M EAM AC 4 2 V Velocity mode rarrrnnnnnnnnnnnnnnnnnnrnnnnsrnnnrnnnnnnnnsrnnnnee 4 12 5 5 W VING SENAT 2 7 INDEX 1 Authorized Distributor
115. in frequency EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index Register Function name Parameter Monitor and setting items Data PDO No No resolution map 3012 D6 12B1 Operation Function A143 RW 00 Addition Possible hex hex hex Operator Selection A141 A142 TxPDO 01 Subtraction A141 A142 02 Multiplication A141 x A142 4012 D8 12B3 Frequency Addition A145 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex Amount Setting TxPDO DA 3012 12B5 Frequency Addition A146 RW 00 Frequency reference A145 Possible hex hex hex Sign Selection 01 Frequency reference A145 TxPDO 3012 DE 12B9 EL S Shape A150 RW 0 to 50 1 Possible hex hex hex Acceleration TxPDO Curve Ratio 1 3012 DF 12BA EL S Shape A151 RW 0 to 50 1 Possible hex hex hex Acceleration TxPDO Curve Ratio 2 3012 EO 12BB EL S Shape A152 RW 0 to 50 1 96 Possible hex hex hex Deceleration TxPDO Curve Ratio 1 3012 E1 12BC EL S Shape A153 RW 0 to 50 1 96 Possible hex hex hex Deceleration TxPDO Curve Ratio 2 4012 E2 12BD Deceleration Stop A154 R W 0 to 40000 100000 0 01 Hz Possible hex hex hex Frequency TxPDO 3012 E4 12BF Deceleration Stop A155 RW 0 to 600 0 1 s Possible t hex hex hex Time TxPDO 5 4012 ES 12C0 PID Sleep Function A156 RW O to 40000 100000 0 01 Hz Possible S hex hex hex Operation Level TxPDO a 3012 E7 12C2 PID Sleep Operation A157 RW 0 to 255 0 1 s Possible
116. ing OA hex Size 1 byte UB PDO map Not possible Sub index 1 Newest PDO mapping error cause Sub index 0 Number of entries Setting range Size 2 bytes U16 Sub index 4 Number of error message Setting range Size 2 bytes U16 Default setting 0000 hex PDO map Not possible Default setting 00 hex PDO map Not possible Sub indexes 5 to A PDO mapping error message 1 to 6 Unit Default setting 0000 hex Size 2 bytes U16 PDO map Not possible e Gives the cause of not being able to transit to Op when PDOs are freely mapped e Gives up to 6 PDO mapping error messages e Sub index 1 error cause gives the latest cause code e Sub index 4 number of error messages gives the number of error messages that are registered e 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile I 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
117. ion Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control o Status information slave to master Word Meaning m Status m 1 Output frequency monitor m 2 Output current monitor 4 5 3 Restrictions The PDO free format has the restrictions that are described below e Up to 2 objects can be allocated to each PDO from 1600 to 1604 hex and 1A00 to 1A04 hex Keep the total size of the allocated objects to within 4 bytes e Up to 5 PDOs each can be allocated to 1C12 and 1C13 e An object from 5000 to 5999 cannot be allocated to RXPDO master to slave together with an object from 6000 to 6999 e An RxPDO that combines an object from 5000 to 5999 with an object from 6000 to 6999 cannot be allocated to 1C12 hex of Sync Manager e 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 e tis not possible to allocate only the LSW or only the MSW to RxPDO or TxPDO e The greater the number of RxPDOs or TxPDOs is the longer the data updating cycle becomes Normally the data is updated every 4 ms but it can increase to every 6 ms depending on the number EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 15 T e O O 3 Q et 3 et gt O U Og O TI O O Tl O 3 fu et suonoujses E S p 4 Inverter Control EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT CiA40
118. 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 EtherCAT master Reading of output data addressed to self Writing of input data The periodic data exchange between the EtherCAT master and EtherCAT slaves is performed with the EtherCAT telegrams that are stored directly inside the Ethernet frame Each EtherCAT telegram consists of an address data and working counter check bit for one or more slaves If we compare an Ethernet frame to a train EtherCAT telegrams can be considered as the carriages Ethernet frame Ethernet frame Ethernet Ethernet data Max of 1 498 bytes header EtherCAT header Datagram WKC Working counter EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 EtherCAT Network 1 2 3 EtherCAT Communication Types EtherCAT provides the following two types of communication functions N o lt O lt D O h m e gt D gt Process data communications functions PDO communications This is cyclic 1 O communic
119. it axrennrnnnrnnnernnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnn 4 4 a AMEN acie ci Re ne saiae 4 4 122 Object MAP NN 4 4 425 Coro Med ur eee 4 5 1224 Sample Pin aa 4 7 Control with the Independent Profile raxvnnnnnnnrnnnvennnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnennnennnennnnnnnne 4 10 2 5 1 Meer SC MING ss 4 10 452 O NR TET TE TE 4 10 43 3 Gontmol Mello ec nen iecur RS Slt el ratius ciae deum D LL n SSE 4 10 Control with the CiA402 Profile enxrenxrnnnrnnnnnnnnvnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnennnennne 4 12 4 4 1 Inverter Setting cc cecccccssssceccceeeceecceeeeecseeeeeesauueeessaaueeecseseeessauaceeessaeeeesseaeeeessnnseseeeessagees 4 12 242 Pole PANO GAO NN 444 ee 4 12 443 Cree uiae METTRE TTE 4 12 Control with the PDO Free ForMmatiurinni n ta 4 14 4 5 1 Inverter Setting 20 0 0 cecccccssseccceneceecceeeeeceeeseecesseueeesseuseeessesecesseuaceeesssecesssaueeeesssiseseeeessagges 4 14 4202 OBJECT lene Moers 4 14 25 NOS MICA tdi 4 15 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 17 Chapter 5 CiA402 Drive Profile cccccsceeeeeeeeeceeeeeeeeeeeeeeeneeneeees 5 1 Chapter 6 INDEX 18 5 1 5 2 5 3 5 4 5 5 5 6 5 7 6 1 6 2 6 3 A 2 A 4 Inverter State CONO latina ode 5 2 ST SEE MENE Rm 5 2 9 1 2 Slate DescripHorS 5 emot acis tee asec hei oat ae nate ela ace
120. it Cannot operate Sync Manager because the PDO mapping is invalid invalid Correct the PDO mapping The size assigned to Sync Manager was set to 0 because the PDO mapping is invalid Correct the PDO mapping The access direction read write setting of Sync Manager is incorrect Change the setting The Butter mode setting of Sync Manager is incorrect Change the setting An error other than those above occurred Turn the power supply OFF Noeror No error EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance 6 3 4 AL Status Code List Code Meaning Cause and possible corrections 0011 hex Invalid status transition An impossible status transition request was received Perform the status transition again 0012 hex Error status transition A transition request to an unknown status was received Perform the received status transition again 0014 hex SII verification error The data written in SII and the data inside the unit do not match Rewrite the SII data to the correct values If the problem persists replace the unit 0016 hex Mailbox setting error A mailbox setting is invalid Set to the correct value 001B hex Process data WDT error In the operational state the data set with RxPDO was not received for a certain time Check that the network is connected correctly Check that RxPDO is being refreshed on the master 001D hex RxPDO setting error An RxPDO Sync Manager setting
121. led b131 RW 200 V class 330 to 390 400 V class 660 to 780 AE 1387 hex Overvoltage b132 RW 10 to 3000 hex Suppression Parameter b133 0 to 500 b134 al 0 to 1500 0 1 s ie hex GS Input Operation eee ex Selection CO hex CA hex CB hex CD 13A6 d001 d007 Frequency b163 RW 00 Disabled hex hex Setting Mode Selection 01 Enabled b164 RW 00 Disabled 01 Enabled b165 RW 00 Trip 01 Trip after deceleration stop 02 Ignore 03 Free run stop 04 Deceleration stop CE 13A7 hex hex CF 13A8 hex hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1399 hex 13A3 hex 13A4 hex Main Panel Display Selection d050 Monitor Target 1 d050 Monitor Target 2 Initial Screen Automatic Switching Function Selection of Operating Level on Digital Operator Disconnection D b160 b161 RW 0 to 20000 0 01 96 1 V 0 01 s DE No mmo oj iul o mmo oj RW 0 to 60 hex BCD d001 to d060 RW 0 to 30 hex BCD d001 to d030 RW 0 to 30 hex BCD d001 to d030 Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO P
122. manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS 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 PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS
123. me of 0 01 A Possible hex Current tripping TxPDO 4A 0049 hex Fault Monitor 6 DC input voltage at the time of 0 1 V Possible hex Voltage tripping TxPDO 4B 004A Fault Monitor 6 Total RUN time at the time of 1 h Possible hex hex RUN Time tripping TxPDO 004C a Monitor 6 Power ON time at the time of 1 h Possible hex zu Time tripping TxPDO es P Warning Monitor d090 Warning code Possible i hex TxPDO 13 0900 hex EEPROM Write 0 Motor parameter recalculation hex 1 Set value storage in EEPROM ATR Other Motor parameter recalculation and EEPROM 15 0902 hex EEPROM Write Mode 0 Write disabled Not hex Selection 1 Write enabled possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Inverter fault factor list Trip factor high order factor Name No trip factor Overcurrent protection during constant speed Overcurrent protection during deceleration Overcurrent protection during acceleration Overcurrent protection during stop Overload protection Braking resistor overload protection Overvoltage protection EEPROM error Undervoltage protection Current detector error CPU error External trip USP error Grounding protection Incoming overvoltage protection Abnormal temperature Main circuit error Driver error Thermistor error Brake error Emergency shutoff Overload protection in a low speed range Digital operator connection error Modbus communication Modbus R
124. med by allocating a function object to a PDO These functions are limited depending on the combination with the used Master Unit 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 When using a Master Unit from another manufacturer check yourself whether it supports the above functions 4 1 2 Object Mapping Allocate the object that you want to use to a PDO with the procedure below 1 Allocate the object to a PDO 2 Assign the PDO to Sync Manager Use the tool of the Master Unit for allocation When using the OMRON CJ1W NCx82 the allocation is fixed PDO Mapping This unit uses the PDOs below to allocate the objects e RxPDO master to slave PDO Details 1600 hex to 1604 hex Objects can be freely allocated Up to 2 objects maximum size of 4 bytes can be allocated to each PDO 1700 hex The fixed allocation that conforms to the CiA402 drive profile 1701 hex The fixed allocation of the independent profile TxPDO slave to master PDO Details 1A00 to 1A04 hex Objects can be freely allocated Up to 2 objects maximum size of 4 bytes can be allocated to each PDO 1B00 hex The fixed allocation that confo
125. monitor Reserved NO Not assigned T A 5 lt O 5 o e 3 D e D r 0 e jsr119e qO 1 e Y A Appendix Index AER Function name Parame ar Monitor and setting items DELS No No resolution Arte 3014 43 141A Multi function Relay C026 RW 0 RUN During RUN Possible hex hex hex Output MA MB FA1 Constant speed reached TxPDO Function Selection FA2 Set frequency min reached OL Overload warning OD PID excessive deviation AL Alarm output FA3 Meet designated frequency during accel decel OTQ Overtorque Undertorque UV Signal during undervoltage TRQ During torque limit RNT RUN time over ONT Power on time over THM Thermal warning BRK Brake release BER Brake error ZS 0Hz DSE Excessive speed deviation POK Position ready FA4 Set frequency exceeded 2 FA5 Meet designated frequency 2 during accel decel OL2 Overload warning 2 FVdc Analog FV disconnection detection Fldc Analog Fl disconnection detection FBV PID FB status output NDc Communication disconnection detection LOG1 Logic operation output 1 LOG2 Logic operation output 2 LOG3 Logic operation output 3 WAC Capacitor life warning WAF Cooling fan life warning signal FR Starting contact signal OHF Fin overheat warning LOC Low current signal Reserved Reserved Reserved IRDY O
126. multi function output monitor information is shown below EE PES p se ee qoos EA peser EEE Bit Name Meaning 0 OFF 1 ON The reserved area Set 0 Use by assigning a function to the multi function output with the inverter parameters EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control 4 2 4 Sample Program d Configuration 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 fl Parameter settings The shared parameter settings of CJ1W NCXx82 are as follows gt N O O 5 e 9 e gt e gt o v o o O 5 O O 5 e 2 c 5 ci 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 The control information and status information of the EtherCAT Communication Unit is allocated to the addresses below e Control information master to slave Word 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 e Status information slave to master Word Meaning m CIO 3900 Command Bit 0 During forward operation Bit 1 During reverse operation Bit 3 Fault m 1 CIO 3901 Output frequenc
127. nd 6000 to 6999 cannot be mixed in RxPDO so change the mapping v to only one of the ranges 3 When a PDO was assigned to Sync Manager 2PDO assignment 1C12 hex objects from 5000 to 5999 and 6000 to 6999 were mixed a in the assignment Correct the assignment so that they are not mixed 2 0046 hex Object specified for PDO map An object that cannot be allocated to a PDO was mapped Correct the is invalid PDO mapping 3 0047 hex Incorrect data size for The specified object data size is incorrect Change to a correct size a specified object 0048 hex PDO mapping exists but size Cannot assign to Sync Manager because the PDO mapping is invalid is 0 Correct the PDO mapping 004F hex Specified access method not PDO mapping writing was performed with complete access which is supported not supported Write with single access There was an error in the values written with complete access Correct the values and perform the writing 0050 hex Specified object mapping is An object that does not exist was allocated to a PDO Correct the PDO invalid mapping An object that cannot be mapped was mapped to a PDO Correct the PDO mapping 0060 hex RxPDO object overlap MX2 The objects allocated to RxPDO are different but the same function such as a start command or speed reference is allocated more than once Change the PDO mapping registers are overlapping EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 7 6 Handling of Errors a
128. nd Maintenance Cause code 0061 hex 0070 hex OOEO hex OOE1 hex OOE2 hex 00E3 hex OOE4 hex OOE5 hex OOE6 hex OOE7 hex OOE8 hex 8000 to 8002 hex FFFF hex Unsupported data type is The data type of the allocated object is invalid Change to a correct specified data type Unsupported mode mode An operation mode other than FreeRun is set Set FreeRun mode other than FreeRun is specified Cause and possible corrections Start address of the Refresh The start address of Sync Manager is set to a value lower than 1000 area is 1000 hex or lower or hex Change the start address to 1000 hex or higher an odd number The start address of Sync Manager is set to an odd number Change the start address to an even number Specified size of the Refresh The used area of Sync Manager exceeds 2FFF hex Change the start area exceeds the range address Start address of the Refresh The start address of Sync Manager is different from the value set area is different from the during pre operational Transition again from pre operational to value in pre operational safe operational Pre Op Sync Manager buffer overlap Sync Manager areas are overlapping Correct the start address Map size and Sync Manager The assignment size and Sync Manager area size do not match size are different Match the sizes The mapping size is set to 0 Correct the mapping and ON again If the problem persists replace the un
129. ng items DELS AUD resolution map P075 00 Limit Possible 01 Do not limit TxPDO P077 e 0 to 100 0 1 s Possible B mm 7 P141 1 to 247 uM Possible P142 0000 to FFFF hex m Possible P143 0000 to FFFF hex m Possible P144 1 to 247 m Possible P145 0000 to FFFF hex m Possible P146 0000 to FFFF hex m Possible P147 1 to 247 m Possible P148 0000 to FFFF hex m Possible P149 0000 to FFFF hex m Possible P150 1 to 247 m Possible P151 0000 to FFFF hex m Possible P152 0000 to FFFF hex un Possible P153 1 to 247 m Possible P154 0000 to FFFF hex un Possible P155 0000 to FFFF hex un Possible 29 Coil No 0010 hex to Possible 215 Coil No 001F hex TxPDO 29 Coil No 0020 hex to Possible 215 Coil No 002F hex TxPDO 29 Coil No 0030 hex to Possible 215 Coil No 003F hex TxPDO 20 Coil No 0040 hex to Possible 215 Coil No 004F hex TxPDO Coil No 0050 hex to Possible a Coil No 0058 hex TxPDO 21 Coil No 0001 hex to Possible 215 Coil No 000F hex Each of the above holding registers Coil Data 0 to 5 consists of 16 sets of coil data Since coils are not supported in communication between inverters only holding registers are supported use the above holding registers if you want to access the coil EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix e Holding register number list 2nd setting F group Index Oo Function name Parameter Monitor and setting items paa FDS No No resolution map 4021 46 2103 hex
130. nt b008 RW 00 Trip Possible hex hex Restart Selection 01 0 Hz restart TxPDO 02 Frequency matching restart 03 Trip after frequency matching deceleration stop 04 Frequency pull in restart 3013 32 130B Overvoltage Overcurrent b010 RW 1 to 3 1 time Possible hex hex hex Restart Count Selection TxPDO 3013 33 130C Overvoltage Overcurrent b011 RW 3 to 1000 0 1 s Possible hex hex hex Restart Standby Time TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 17 A Appendix A 18 Index 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 3013 hex 4013 hex 34 hex 35 hex 37 hex 38 hex 39 hex 3A hex 3B hex 3C hex 3D hex 3E hex 3F hex 40 hex 41 hex 42 hex 43 hex 44 hex 45 hex 46 hex 47 hex 49 4A hex D x lt Register 130D hex 130E hex 1310 hex 1311 hex 1312 hex 1313 hex 1314 hex 1315 hex 1316 hex 1317 hex 1318 hex 1319 hex 131A hex 131B hex 131C hex 131D hex 131E hex 131F hex 1320 hex 1322 hex 1323 hex O Parameter Z O b012 Electronic Thermal Level 1 Electronic Thermal b013 Characteristics Selection 1 Free electronic Thermal Frequency 1 Free electronic T
131. nverters is turned ON within a certain time All Registered Slave Participation Standby Time parameter of CJ1W NCXx82 default value is 10 seconds after turning ON the PLC power supply 2 6 2 Network Setup Firstly enter the network settings Until the settings are performed the indicators show Initial processing status in the table below for both the Master Unit and the EtherCAT Communication Unit Start CX Programmer and double click the target CJ1W NCx82 in the I O table to start the support tool When the support tool starts the Network Auto Setup dialog box is displayed Perform the network setup in accordance with the dialog box instructions If the Network Auto Setup dialog box is not displayed automatically start the dialog box by selecting Network Auto Setup from Network in the support tool menu For details on network setting refer to the CJ1W NCx8x User Manual Cat No W487 2 6 3 Checking the Master Unit Check that the Master Unit has transitioned to normal operation from initial processing The indicators of the CJ1W NCXx82 make it easy to check the changes in status 7 segment ECAT ECAT Flashing ON Normal operation 00 ON of of ON OFF Flashing For details refer to the CJ1W NCx8x User Manual Cat No W487 Initial processing 2 18 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 6 4 Checking the Inverter and EtherCAT Communication Unit Check the POWER ind
132. o 327 B 2 147 483 648 to 2 147 483 647 oc E gt 5 4 3 Object Description Format In this manual objects are described in the following format e Object description format lt Index gt lt Object name gt Setting range lt Setting range gt Size lt Size gt Operating Mode Unit lt Unit gt Default setting lt Default setting gt PDO map lt PossiblelNol possible e Object description format when there is a sub index lt Index gt lt Object name gt Sub index 0 Setting range lt Setting range gt Size lt Size gt Sub index N Setting range lt Setting range gt Size lt Size gt Operating Mode Unit lt Unit gt Default setting lt Default setting gt PDO map lt PassibleINot possible Unit lt Unit gt Default setting lt Default setting gt PDO map lt PassibleINot possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile e Index Object index given by a four digit hexadecimal number Object name he object name e Operating mode Related operating modes Setting range The possible range of settings Unit Physical units e Default setting The default value set before shipment e 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 e PDO map Indicates the PDO mapping attribute r A O S D
133. o OD hex Size 1 byte U8 Sub index 5 Flags Setting range 0000 to 0001 hex Size 2 bytes U16 Diagnosis history All Default setting OD hex PDO map Not possible Default setting 00 hex PDO map Not possible Default setting 06 hex PDO map Not possible Default setting 0001 hex PDO map Not possible Sub indexes 6 to 13 Diagnosis messages 1 to 8 Setting range Size 23 bytes VS PDO map Not possible e This object gives up to 8 diagnosis history items It also enables or disables emergency messages e Sub index 1 Maximum messages gives the number of error messages e Sub index 2 Newest message gives the sub index where the latest diagnosis message is saved e 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 e 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 e The diagnosis history is retained even when the power supply is turned OFF EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT o O O m O O 3 3 c o D Z O 5 a gt D D sjoe qo uonesluNnWWOD G G 5 CiA402 Drive Profile I Diagnosis history details
134. oe oh E 5 3 51 COMMands OGING TP 5 3 A eu mei Sr E MA MI MI I eee M ME E 5 3 Mod s OF Operatoria EET TIL TI 5 4 VGIOGILY MOdG6 usa 5 5 Object DICIONAN rte 5 6 541 Obed Pan ATGA L ve See 5 6 542 Dala NES C rr 5 6 5 4 3 Object Description Format E eee 5 6 CoE Communications Ar d guvernante 5 8 Sl Communication OD ec a a E N 5 8 992 PDO Mapping OD GIS 0 t A TIT 5 10 5 5 3 Sync Manager Communication ObjectS ccccoocncncnccconncnccnoncnnnononncnnnnoncnononnanrnnnononcnnnnnnnncnncnnos 5 12 Manufacturer Specific Area ia 5 15 5 6 1 Manufacturer Specific Objects sansir idii a a nennen a Ea aa Ea adea annis 5 15 5 6 2 Inverter Parameter Objects occ idad 5 15 565 Independent Profile ODbJ6Cls saved es ees aie ae 5 17 Device Profile ane a ost 5 20 Dive Prole Objects ac NE 5 20 Handling of Errors and Maintenance 6 1 Communication Line Errors sicario 6 2 6 1 1 Status IndicatorExplanations and Error Handling oooocccoooocnnnccnocnnncnnononnnononnnnnonancnnnonnnons 6 2 0 1 2 TrolUblesno0 Iliana lia dia aia ica 6 4 Message EMO Ss aaa 6 5 PAODIIC ATION ENOS avla 6 6 6 35 eI IE TUTUP 6 6 0 92 Ernmot Gode LS 6 6 6 3 3 List of Cause Codes for PDO Mapping Errors coccccccccncccccncccocnnononnnononononononononnnononcnnnnancnonanenes 6 7 634 AL Status Code LIS M is ee E oi ud 6 9 INVErterETFO Sois coca coro 6 10 Wr A 1 SPECII
135. ontrol inverters 41 QuUING 226 ic se Set ea oe bowen eae sad ows 4 2 4 1 1 Function Selection ee ee eee ees 4 2 4 1 2 Object Mapping 0 IRR RI eee eens 4 2 4 2 Control with the Position Control Unit 0 0 00 ce eee 4 4 Z 2 1 Jdnwverter Sell aora da aaa Eco noes ee ted be dora ee eee ee 4 4 4 2 2 Object Mapping 0 RI RA hs 4 4 2 23 CONTO MEMO cue utate SRL Gre alea oe tto et de des Saeed de tit ai nd lee 4 5 4 2 4 Sample Program o 4 7 4 3 Control with the Independent Profile 4 10 4 3 1 Inverter Setting llle rn 4 10 4 32 Pole OCA ION ewe uua eura oa ee E ee cat 4 10 4 33 Control Method eoe aU etc icto na vi on hao rs AE rat Boe ee 4 10 4 4 Control with the CiA402 Profile ern RR m 4 12 4 4 1 Inverter Setting 0 0 ce n 4 12 4 4 2 Profile Allocation a cre rom E RUP fr e ore P er Em ede 4 12 4423 Control Metodo eke ble x oie itti deri clea oe REOR eris REC LIB et s s 4 12 4 5 Control with the PDO Free Format 0000 cc eee es 4 14 4 5 1 Inverter Setting misi n 4 14 Az ODE CLIMAS DIA A a a tn A 4 14 2 533 FRESMICUONS ceda a a Seas Sok 4 15 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 1 4 Inverter Control 4 1 Outline This section describes how to use the EtherCAT Communication Unit to control the inverter 4 1 1 Function Selection Inverter control is perfor
136. opped Possible hex hex 1 During operation TxPDO 2 During trip 3000 06 0005 hex Inverter Status C 0 Possible hex hex 1 Stop TxPDO 2 Deceleration 3 Constant speed 4 Acceleration 5 Forward 6 Reverse 7 Forward to reverse 8 Reverse to forward 9 Forward run start 10 Reverse run start 3000 07 0006 hex PID m 0 to 10000 0 01 96 Possible hex hex TxPDO 3000 12 0011 hex a Counter d080 0 to 65530 1 time Possible hex hex TxPDO 3000 13 0012 hex eee Monitor 1 d081 Refer to Inverter Fault Factor List Possible hex hex Cause in the operation manual for the MX2 TxPDO inverter 3000 14 0013 hex Fault Monitor 1 Refer to Inverter Fault Factor List Possible hex hex Inverter Status in the operation manual for the MX2 TxPDO inverter 4000 15 0014 hex Fault Monitor 1 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO 3000 17 0016 hex Fault Monitor 1 Output current value at the time of 0 01 A Possible hex hex Current tripping TxPDO 3000 18 0017 hex Fault Monitor 1 DC input voltage at the time of 0 1 V Possible hex hex Voltage tripping TxPDO 4000 19 0018 hex Fault Monitor 1 Total RUN time at the time of 1 h Possible hex hex RUN Time tripping TxPDO 4000 1B 001A Fault Monitor 1 Power ON time at the time of 1 h Possible hex hex hex ON Time tripping TxPDO A 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index pags Function name Paramet Monitor and setting items DELE
137. ory 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 2 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 1 6 Connection between Communications Cables and Connectors Connect the communications cable and the connector by wiring them straight as shown below N U mo Sa oz O2 gt 3 D o Og o5 ja 3o co 32 65 Bg 350 Ca 55 0 o Jone a som Be A 7 Connect both ends of cable shielded wires to the connector hoods EN 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 SJOJOBUUOD pue se qe suoneoiunuJuio ueeweq uonoeuuo2 9 L Z EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 7 2 Starting a Sample System 2 2 Basic Usage Procedures and Configuration Example 2 2 1 Basic Usage Procedures 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 Ili Master Unit setting Master Unit installation Refer to section 2 3 1 Master Unit setting Refer to section 2 3 2 ESI file setting Refer
138. ossible Possible Possible TxPDO Possible Possible Possible Possible Possible Possible gt A 3 lt D 5 o e 3 D e D r 0 e 1sr119e qO 1 e Y A Appendix Index H tt Function name name FEEDS Monitor and setting items DELS FFunctionname Ro resolution Ari 3013 13AE Inverter Mode b171 RW Selection disabled Possible hex oe hex Selection Induction motor TxPDO High frequency induction motor 3013 13B7 Perform Initialization b180 RW Function disabled Possible hex hex hex Mode Selection Initialization Mode Selection TxPDO Execution Execution Possible TxPDO 3014 1401 hex Multi function Input 1 C001 RW FW Forward hex hex Selection RV Reverse CF1 Multi step speed 1 CF2 Multi step speed 2 CF3 Multi step speed 3 CF4 Multi step speed 4 JG Jogging DB External DC injection braking SET Motor 2 control 2CH 2 step acceleration deceleration 3014 1402 hex Multi function Input 2 C002 RW FRS Free run stop hex Selection EXT External trip USP USP function CS Commercial switch SFT Soft lock FV FI Analog input switch RS Reset TH PTC thermistor thermal protection STA 3 wire start 3014 1403 hex Multi function Input 3 C003 RW dg asl hex hex Selection F R 3 wire forward reverse PID PID disabled PIDC PID integral reset UP UP DWN function accelerated DWN UP DWN function decelerated
139. peration ready FWR During forward operation RVR During reverse operation MJA Fatal fault signal WCFV Window comparator FV WCFI Window comparator Fl FREF Frequency command source REF RUN command source SETM Motor 2 selection EDM Safety device monitor Reserved NO Not assigned 3014 44 141B MP Selection C027 Output frequency Possible hex hex hex Output current TxPDO Output torque Digital output frequency Output voltage Input power Electronic thermal load rate LAD frequency Digital current monitor Cooling fin temperature Do not set Pulse train input monitor Do not set A 24 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A Appendix Index pk Function name name Fs Monitor and setting items pan resolution ia 3014 ES Cal Deme Selection undi RW Output frequency Possible hex hex hex Output current TxPDO Output torque Output voltage Input power Electronic thermal load rate LAD frequency Cooling fin temperature Output torque signed Do not set Do not set 3014 47 141E Digital Current Monitor C030 2000 to 20000 0 01 96 Possible hex hex hex Reference Value 3014 48 141F Multi function Output C031 RW 00 NO NO contact Possible hex hex hex P1 EDM Contact 01 NC NC Kan TxPDO Selection 3014 49 1420 hex Multi function Output C032 RW 00 NO NO contact Possible hex hex P2 Conta
140. ple used in this chapter the connectors below are connected with the communications cables Connecting from Connecting to Communications cable 1 Master Unit 1st inverter IN Communications cable 2 1st inverter OUT 2nd inverter IN Notes 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 Precautions when constructing the network e 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 e 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 Precautions when installing communications cables e To connect a cable to the communications connector of a device insert it securely until the connector of the communications cable is locked e Install and wire the communications cables separately from high voltage electrical power lines e Do not install the cables near devices generating noise e Do not install the cables in high temperature and high humidity environments e Use the cables in locations without powder dust or oil mist EtherCAT
141. r and setting items Data PDO No No resolution map 3025 4E 2503 hex Motor Capacity 2 H203 RW Possible hex hex TxPDO 3025 2504 hex Motor Pole Number 2 hex ut 3025 E IT hex Speed Response 2 H205 hex E 3025 2507 hex Stabilization H206 hex e Parameter 2 3025 2516 hex Motor 2 Parameter R1 H220 hex d Possible TxPDO 1 to 1000 Possible 1 to 65530 0 001 Q Possible TxPDO 1 to 65530 0 001 Q Possible oe TxPDO 251A Motor 2 Parameter L H222 1 to 65530 0 01 mH Possible hex TxPDO 3025 251C Motor 2 Parameter lo H223 1 to 65530 0 01 A Possible hex hex TxPDO 4025 251D Motor 2 Parameter J H224 1 to 9999000 Possible hex hex TxPDO 3025 2518 hex Motor 2 Parameter R2 H221 hex 3025 hex gt A 5 lt D 5 o e 3 D e D r 0 e M ie 3025 2525 hex Motor 2 Parameter R1 H230 1 to 65530 0 001 Q Possible hex E Auto tuning Data TxPDO 3025 2527 hex Motor 2 Parameter R2 H231 1 to 65530 0 001 Q Possible hex E Auto tuning Data TxPDO de h e 3025 2529 hex Motor 2 Parameter L H232 1 to 65530 0 01 mH Possible hex Auto tuning Data TxPDO 3025 252B Motor 2 Parameter lo H233 hex hex Auto tuning Data 4025 252C Motor 2 Parameter J H234 hex e hex Auto tuning Data 1 to 65530 0 01 A Possible TxPDO 1 to 9999000 Possible TxPDO X X X X X X X 1sr119e qO 1 e Y EtherCAT Communication Unit USER S MANUAL 3G3AX MX
142. rd 3012 28 1203 hex Base Frequency 1 A003 300 to Maximum Frequency 1 0 1 Hz Possible hex hex TxPDO 3012 29 1204 hex Maximum Frequency 1 A004 300 to 4000 10000 0 1 Hz Possible hex hex TxPDO 3012 2A 1205 hex FV FI Selection A005 00 Switch between FV FI Possible hex hex 02 Switch between FV volume TxPDO 03 Switch between Fl volume 4012 30 120B FV Start Frequency A011 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 4012 32 120D FV End Frequency A012 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 3012 34 120F FV Start Ratio A013 0 to 100 1 96 Possible hex hex hex TxPDO 3012 35 1210 hex FV End Ratio A014 0 to 100 1 96 Possible hex hex TxPDO 3012 36 1211 hex FV Start Selection A015 00 Start frequency Possible hex hex 01 0 Hz TxPDO 3012 37 1212 hex FV Fl sampling A016 1 to 30 31 with 500 ms filter 0 1 BE ee hex hex Hz p DE 3012 3A 1215 hex Multi step Speed A019 00 Binary 16 step selection with 4 Possible hex hex Selection terminals TxPDO 01 Bit 8 step selection with 7 terminals 4012 3B 1216 hex Multi step Speed 1 A020 RW 0 0 01 Hz Possible hex hex Reference 0 Starting Frequency to Maximum Frequency 1 After changing the RUN Command Selection 1 provide an interval of at least 40 ms before the RUN command is actually executed Index An Function name Paranoia Monitor and setting items pan PES No No resolution map 4012 3D 1218 hex Multi step Speed A021 RW 0 0
143. re 16 bit parameters and 4000 to 4102 hex are 32 bit parameters e Index 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 3000 hex Inverter parameter object 1 16 bit access All Sub index 0 Number of assigned Setting range Default setting FE hex Size 1 byte UB PDO map Not possible Sub index 1 Inverter register 0000 hex Setting range Default setting Sub index 2 Inverter register 0001 hex Setting range Default setting Sub index 253 hex Inverter register OOFC hex Setting range Default setting 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 3001 to 3101 hex Inverter parameter objects 2 to 258 16 bit access AII Same format as 3000 hex inverter registers OOFD to FFFB hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 15 amp D 5 D O e D o y D 9 o gt D D sjoalao oloeds Jounyoeynuey L 9 5 CiA402 Drive Profile 3102 hex Inverter parameter object 259 16 bit access All Sub index 0 Number of assigned Setting range Default setting 04 hex Size 1 byte U8 PDO map Not possible S
144. rms to the CiA402 drive profile 1B01 hex The fixed allocation of the independent profile 4 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control i Sync ManagerAssignment In this unit specify the PDOs that you want to use as follows e Sync Manager 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 B A O c O urdden 198190 Z L v EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 3 4 Inverter Control 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 4 2 1 Inverter Setting Set the inverter parameters as follows 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 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 If parameter C102 is not displayed set b037 to 01 Do not use motor 2 control of the inverter T
145. rofile With the CiA402 profile set as follows Parameter Description A001 Frequency Reference Selection 1 04 Optional boad A002 RUN Command Selection 1 04 Optional boad H004 Motor Pole Number 1 2 4 6 8 10 Set to match the system C102 Reset Selection 03 Trip reset only After changing H004 turn the inverter power supply OFF and ON again If parameter C102 is not displayed set b037 to 01 Do not use motor 2 control of the inverter The motor 1 control only can be used 4 4 2 Profile Allocation Assign the PDOs of the CiA402 profile to Sync Manager 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 The values below are the fixed mapping for the PDOs PDO Description 1700 hex 6040 hex Controlword 6042 hex vl target velocity 1B00 hex 6041 hex Statusword 6043 hex vl velocity demand 4 4 3 Control Method Control the inverter by operating the PDOs that allocate the profile IO format Control information master to slave Word Meaning n Controlword n 1 vl target velocity e Status information slave to master Word Meaning m Statusword m 1 vl velocity demand 4 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control Bit and data information e Controlword The 16 bit data is as shown below ESTA pels tere us seslJjeg4 9 Bi
146. rrectly to the Communication Unit Hardware error A hardware error has occurred Remarks The status is normal if either process data communications message communications or both are being executed e 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 e Check that the communications cable is connected correctly to the connector e Check that the communications cable is wired correctly e 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 e f using a Master Unit from another manufacturer refer to the user s manual for that master e f there are devices that generate noise take necessary measures against the noise to protect the Master Unit Communication Unit and communications cables e Check that power is supplied correctly to the inverter for example check whether the wiring of the inverter main power supply is correct the power supply voltage has dropped and the inverter is operating normally e Check that the Communication Unit is mounted correctly onto the inverter e Eliminate the cause of the error and then turn the inverter power supply OFF and ON again e Check that the Comm
147. s SDO uses asynchronous message communications where all objects in the object dictionary can be read and written 3 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Common Slave Specifications 3 2 Communications Status Transitions The EtherCAT State Machine ESM of the EtherCAT slave is controlled by the EtherCAT Master initialization Pre Pre operational E N O O 3 3 c O Q O 2 o o e Y e c o y 5 o o 2 o Safe AF ti SDO PDO PDO State ue oe Details communications reception transmission Initialization Init Not supported Not supported Not supported Communications are being initialized Communications are not possible Pre Operational Supported Not supported Not supported Only mailbox communications are possible in this Pre Op state This state is entered after initialization has been completed It is used to initialize network settings Safe Operational Supported Not supported Supported In this state PDO transmissions are possible in Safe Op addition to mailbox communications Cyclic communications can be used to send information such as status from the inverter Operational Op Supported Supported Supported This is a normal operating state Cyclic communications can be used to control the motor EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 3 3 Common Slave Specifications 3 3 Process Data O
148. s and Configuration Example 2 8 2251 Basic Usage PrOCSdUE 65 t beo A it a D abu did bd Lis fea reset Due tied 2 8 2 2 2 System Configuration EXAMple ccccccsssccccccsescecceeseccccceseeecceeseeeceseeeeessecseeessaueeeessensesesaneses 2 9 253 Master uelle 2 10 2232 MOUNTING Ine Master Date R 2 10 2 32 Master Dnib SENG aS 2 10 2 35 ESTI SENO Lasse 2 10 2 4 Mounting and Wiring for the EtherCAT Communication Unit 2 11 2 4 1 Mounting the EtherCAT Communication Unit coooonnnncccccccnncononnnnncnonnnnnnnancnnnonnnnnnnnnnnnnnnonnnens 2 11 16 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 5 2 6 Chapter 3 3 1 3 2 3 3 3 5 Chapter 4 4 1 4 3 4 4 4 5 2 4 2 Wiring the EtherCAT Communication UNit oocccccconnnnnccccnnnnncnnonnnnnnnnnnnnnonancnnnononcnnnnnnnnnnnonnns 2 13 2 4 3 Wiring Conforming to EMC Directives cccoocccccoccnncconenononononononononnnnnonnnononnnnnnnnnnnnnnnnnnonnnononos 2 15 2 4 4 Node Address Settings for the EtherCAT Communication Unit occcccccocccnnccnonncnncnnncnnnnnnnns 2 16 SYSDRIVE MX2 Series SettingS ccooccocccoccciocnnocaconononcnconanonaronanonnnronaronnnrnnnrenarennnrenarenanens 2 17 2514 RUN Command SEN niit a re de cuta tu Gi 2 17 2 5 2 Frequency Reference Setting ccccccc
149. s in Statusword 6041 hex as shown in the following table HEN Not ready to switch on Switch on disabled Ready to switch on AC AI CI CI fete Switched on Operation enabled Fault reaction active AAA AA Fault Le gn og p os mong x 9 Notes sod Switch on disabled qs Quick stop ve Voltage enabled f Fault oe Operation enabled SO Switched on rtso Ready to switch on Ola l al al a OolO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 3 5 CiA402 Drive Profile 5 2 Modes of Operation The operation mode indicated below is supported vi 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 5 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 9 3 Velocity Mode In this operation mode the output speed of the inverter can be controlled vl target velocity 6042h Velocity gt A gt limit function vl velocity M velocity actual Ramp demand 6043h Velocity value 6044h function control function vl velocity min max amount 6046h vl velocity acceleration 6048h vl velocity deceleration 6049h e Related objects e oO mdex meme Details s 6040 hex Gives commands to the inverter o 6042 hex Gives speed commands to the
150. s more effective use of the product Overview Chapter 1 EtherCAT Network This chapter explains the overview features and specifications of the EtherCAT Communication Unit Chapter 2 Starting a Sample System This chapter explains information such as the mounting wiring and setting methods for the EtherCAT Communication Unit Chapter 3 Common Slave Specifications This chapter explains the common slave specifications during EtherCAT communication and about the ESIs PDOs and SDOs Chapter 4 Inverter Control This chapter describes the profiles that are used to control inverters Chapter 5 CiA402 Drive Profile This chapter explains about the CiA402 drive profile Chapter 6 Handling of Errors and This chapter explains how to handle any errors that occur in the Maintenance EtherCAT Communication Unit Appendix The appendix provides a list of objects EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 15 Contents MUOAUEUON ptr dal 1 Read and Understand this Manual occocconcccnccnnonnoncccnnoncccnonanoncnnconncnnronronnnnnnnanos 2 Safety PrREOCALIONS vestir 4 Pr cautions Tor Sale US Ciara cd 7 Precautions TOF Correct USE Luanda 8 PADDIIGADIC Standards 10 Trademar KS urnas 11 Checking Betore Unpacklng ni iioi ie iret a CU eio peo eue ek unio cbe o oes ades edes 12 REVISION MISTONN occcucsucvexsata radicax i mectev esp casus seu SevuG xou arvo eo rb vua a Da ace sensi v a pdaR 13 Related Manuals ooi ra Evi ivat
151. sible hex hex hex FV Upper Limit Level Lower limit b061 b062 x 2 67 1340 hex Window Comparator b061 RW 0 to 100 1 96 Possible hex hex FV Lower Limit Level Upper limit b060 b062 x 2 Possible TxPDO 00 Disabled 01 Deceleration stop 02 Constant voltage without recovery 03 Constant voltage with recovery 1 96 Possible 1 96 Possible 1 96 Possible A 19 gt A 5 lt D 5 o e 3 D e D r 0 e 1sr119e qO 1 e Y A Appendix Index ROUTE Function name parameter Monitor and setting items Data i RU No No resolution map 3013 70 1349 hex Analog Operation Level b070 RW 0 to 100 255 no 1 96 Possible hex hex at FV Disconnection TxPDO 3013 71 134A Analog Operation b071 RW 0 to 100 255 no 1 Possible hex hex hex Level at FI TxPDO Disconnection 3013 75 134E Ambient Temperature b075 RW 10 to 50 1 C Possible hex hex hex 3013 78 1351 hex Integrated Power b078 RW 00 Disabled Possible hex hex Clear 01 Clear Return to 00 after clear 3013 79 1352 hex Integrated Power b079 RW 1 to 1000 1 Possible hex hex Display Scale 3013 7C 1355 hex Starting Frequency b082 RW 10 to 999 10000 0 01 Hz Possible hex hex TxPDO 3013 7D 1356 hex Carrier Frequency b083 RW 20 to 150 0 1 kHz Possible hex hex TxPDO 3013 7E 1357 hex Initialization Selection b084 RW 00 Initialization disabled Possible hex hex 01 Clear fault monitor TxPDO 02
152. sible with the product Intended Readers This manual is intended for those with knowledge of the workings of electricity qualified electric engineers or the equivalent and also in charge of Introducing the control equipment e Designing the control system e Installing and or connecting the control equipment e Field management EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event s
153. t 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 The state is controlled by combining the bits in Controlword 6040 hex as shown in the following table Controlword bit Shutdown EN NN NT 2 6 8 Switch or trier CI enable operation Disable voltage 9 mov Quick stop fo 1 EAT Disable operation o 1 1 4 ls Enable operation 1 1 1 1 Ja Notes 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 O before giving the next command a 5 lt p D o e D e D O O 5 e 9 suonduoseq ejes Z L G 5 1 4 State Coding The state is indicated by the combination of bit
154. t Meaning Switch on The state is controlled by these bits Enable voltage For details refer to 5 1 3 Command Coding Quick stop Enable operation Fault reset Faults and warnings are cleared when this bit turns ON Reserved Set 0 When Quick stop is set to 0 during operation deceleration stop is made After completely stopping the next operation is accepted NTOIDI SIO gt ES O O 5 e 2 e gt e gt D Q gt T o N U O m o O vl target velocity Name Meaning vl target velocity opecify 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 e Statusword The 16 bit data is as shown below poujejN JOJUOD E p Yy Bi ame Meaning 0 These bits indicate the state 1 For details refer to 5 1 4 State Coding 2 3 4 T 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter 9 0 Control from Controlword is disabled 1 Control from Controlword is enabled Not used vi velocity demand Name Meaning vl velocity demand Displays the operation speed in rpm The operation direction is expressed with a symbol EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 13 4 Inverter Control 4 5 Control with the PDO Free Format Objects can be fr
155. tain slave remain flashing replace the corresponding slave EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance 6 2 Message Errors The abort codes for when an SDO communications error occurs are shown below Value 0503 0000 hex 0504 0000 hex 0504 0001 hex 0504 0005 hex 0601 0000 hex 0601 0001 hex 0601 0002 hex 0602 0000 hex 0604 0041 hex 0604 0042 hex 0604 0043 hex 0604 0047 hex 0606 0000 hex 0607 0010 hex 0607 0012 hex 0607 0013 hex 0609 0011 hex 0609 0030 hex 0609 0031 hex 0609 0032 hex 0609 0036 hex 0800 0000 hex Meaning Toggle bit not changed SDO protocol timeout Client Server command specifier not valid or unknown Out of memory Unsupported access to an object Attempt to read a write only object Attempt to write to a read only object The object does not exist in the object directory The object can not be mapped into the PDO The number and length of the objects to be mapped would exceed the PDO length General parameter incompatibility reason General internal incompatibility in the device Access failed due to a hardware error Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Subindex does not exist Value range of parameter exceeded only for write access Value of parameter written too high Value of parameter written too low
156. the unit version of the inverters is 1 1 or higher 1 0 or lower do not operate Replace the inverter Generated when a trip reset was performed with the inverter Set C102 to 3 Trip reset only and turn the power supply OFF and ON again Generated when an initialization or mode change was performed with the inverter Turn the power supply OFF and ON again The optional board is disconnected Check that the optional board case and inverter are fitted together correctly and check for looseness in the fastening screw The inverter or optional board is faulty If they are fitted together correctly the inverter or optional PCB may be faulty Replace the inverter or optional board The optional board is disconnected Check that the optional board case and inverter are fitted together correctly and check for looseness in the fastening Screw The optional board is faulty gt If they are fitted together correctly the optional PCB may be faulty Replace the optional board EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendix This chapter explains the specifications of the EtherCAT Communication Unit as well as objects and inverter parameters handled by set in the EtherCAT Communication Unit A 1 A 2 A 3 SDECHIICALIONS 2353 603 es ead A 2 A 1 1 Appearance and Dimensions 0 000 ce ees A 2 A 1 2 COMMON Specificati ns exaudi cers ERA EWICHLA Oe eee eed eek ded A
157. to 1C33 hex set how to use the EtherCAT communications memory 1C00 hex Sync Manager communication type All Sub index 0 Number of used SM channels Setting range Default setting 04 hex Size 1 byte U8 PDO map Not possible Sub index 1 Communication Type SMO Setting range Default setting 01 hex Size 4 bytes UB PDO map Not possible Sub index 2 Communication type SM1 Setting range Default setting 02 hex Size 4 bytes UB PDO map Not possible Sub index 3 Communication type SM2 Setting range Default setting 03 hex Size 4 bytes UB PDO map Not possible Sub index 4 Communication type SM3 Setting range Default setting 04 hex Size 4 bytes UB PDO map Not possible e The Sync Manager has the following settings SMO Mailbox reception master to slave SM1 Mailbox send slave to master e SM2 Process data output master to slave e SM3 Process data input slave to master 1C10 hex Sync Manager 0 PDO assignment All Sub index 0 Number of assigned RxPDOs Setting range Default setting 00 hex Size 1 byte UB PDO map Not possible e The PDO mapping used by this Sync Manager is given Mailbox reception Sync Manager does not have PDOs 5 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1C11 hex Sub index 0 Number of assigned PDOs Setting range Size 1 byte U8 5 CiA402 Drive Profile Sync Manager 1 PDO assignment Default setting
158. to rated current 0 01 Possible TxPDO 00 Disabled Possible 01 Enabled during TxPDO acceleration constant speed 02 Enabled during constant speed 03 Enabled during acceleration constant speed accelerated during regeneration 200 to 2000 0 01 Possible TxPDO 1 to 30000 0 1 s Possible TxPDO 00 Disabled Possible 01 Enabled during TxPDO acceleration constant speed 02 Enabled during constant speed 03 Enabled during acceleration constant speed accelerated during regeneration 200 to 2000 0 01 Possible TxPDO 1 to 30000 0 1 s Possible TxPDO 00 Disabled Possible 01 Enabled TxPDO 200 to 2000 0 01 Possible TxPDO 1 to 30000 0 1 s Possible TxPDO 00 Frequency at interruption Possible 01 Max frequency TxPDO 02 Set frequency Data other than b031 cannot be Possible changed when terminal SFT is TxPDO ON Data other than b031 and the set frequency cannot be changed when terminal SFT is ON Data other than b031 cannot be changed Data other than b031 and the set frequency cannot be changed Data can be changed during RUN 5 to 20 Possible TxPDO 0 to 65535 10 h Possible TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3013 1325 hex Suc Direction b035 hex is Limit Selection 3013 4D 1326 hex Reduced Voltage b036 hex hex Startup Selection 3013 4E 1327 hex Display Selection b037 hex hex 3013 4F 1328 hex Initial Screen Selection b038
159. to section 2 3 3 VE Mounting and wiring of EtherCAT Communications Unit Mounting of EtherCAT Communications Unit Refer to section 2 4 1 Wiring of EtherCAT Communications Unit Refer to section 2 4 2 Setting the node address of the EtherCAT Communications Unit Refer to section 2 4 3 Sm Setting SYSDRIVE MX2 series Setting RUN command Refer to section 2 5 1 Setting frequency reference Refer to section 2 5 2 Setting reset selection Refer to section 2 5 3 UN Checking communication start operation Starting system Refer to section 2 6 1 Checking Master Unit Refer to section 2 6 2 Checking inverter and EtherCAT Communications Unit Refer to section 2 6 3 Checking operation Refer to section 2 6 4 2 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 2 2 System Configuration Example This chapter 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 Master Unit CJ2 series PLC CJ1W NCx82 Slave Unit x 2 3G3MX2 A2001 3G3AX MX2 ECT x 2 sets pue soJunpo2oJgd abesn dDISEH ZZ o duiex3 uoneunDijuo Notes This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series Used for data setting Monitoring status and File management etc monitoring
160. tor IN OUT FG cable 2 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 1 2 Status Indicator Names The following table shows the EtherCAT status indicators and their meanings OUAQ O 0 JN OUT RUN ERR T IN OUT RUN ERR N uh U mo Sa oz O2 gt 3 D o Om os ja 3o c O 2 S ME S SGSAACWIAZ FOT 50 c 3 gt eO Name Color Ste Meaning L A IN Green Link not established in physical layer In operation after establishing link Link established in physical layer L A OUT Green Link not established in physical layer In operation after establishing link Link established in physical layer RUN Green Init state Pre operational state Safe operational state Operational state ERR No error Communications setting error Synchronization error or communications data error Application WDT timeout Flickering Boot error PDI WDT timeout S WeN JOJCOIPU SMEIS Z L c EN Additional Information The timing of each flashing state of indicator is as follows 50 n ms Flickering off on T 200 200 Blinking ptite off on Single flash 200 1000 200 ms ms ms off on Double flash 200 200 200 1000 ms ms ms ms off EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 3 2 Starting a Sample System 2 1 3 Rotary Switches for Node Address Setting These switches are used to set the node addresses of slaves in the Eth
161. ub index 1 Inverter register FFFC hex Setting range Default setting Sub index 2 Inverter register FFFD hex Setting range Default setting Sub index 3 Inverter register FFFE hex Setting range Default setting Sub index 4 Inverter register FFFF hex Setting range Default setting 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 4000 hex Inverter parameter object 1 32 bit access All Sub index 0 Number of assigned Setting range Default setting FE hex Size 1 byte U8 PDO map Not possible Sub index 1 Inverter register 0000 hex Setting range Default setting Sub index 2 Inverter register 0001 hex Setting range Default setting Sub index 253 hex Inverter register OOFC hex Setting range Default setting 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 4001 to 4101 hex Inverter parameter objects 2 to 258 32 bit access AII Same format as 3000 hex inverter registers OOFD to FFFB hex 5 16 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 4102 hex Inverter parameter object 259 32 bit access All Sub index 0 Number of assigned Setting range Default setting 04 hex Size 1 byte U8 PD
162. unication Unit is mounted correctly onto the inverter e Replace the Communication Unit EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance L A IN L A OUT Remarks e Check the setting of the node address setting rotary switches turn OFF the power supply of the inverter and then restart it Use the tool to restore the default data and restart Invalid node The setting of the node address setting address setting rotary switches is invalid EEPROM data This is an EEPROM data error error Sync Manager The Sync Manager setting is Change to a correct setting setting error invalid Process data An error occurred in communications communications timeout Safe operational An instruction to transition to state safe operational state was generated by the master Pre operational An instruction to transition to state pre operational state was generated by the master OFF Init state An instruction to transition to init state was generated by the master EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Check the items below turn OFF the power supply of the inverter and then restart it e Is the cable length OK Max 100 m e s the cable disconnected or loosen e s there too much noise If it was generated during system operation check the status of the host master o L O O 3 3 c o D et O 5 LL 5 D m O
163. voltage startup time Possible small to 255 Reduced voltage TxPDO startup time large Complete display Possible Individual display of functions TxPDO User setting this setting Data comparison display Basic display Monitor display only Screen on which the Entry was Possible last pressed TxPDO 001 to 060 d001 to d060 201 F001 00 Disabled Possible 01 Enabled TxPDO 00 Four quadrant separate setting Possible 01 Terminal switching TxPDO 02 Analog voltage input 03 Do not set 0 to 200 255 no Possible TxPDO 0 to 200 255 no Possible TxPDO 0 to 200 255 no Possible TxPDO 0 to 200 255 no Possible TxPDO 56 132F Torque LADSTOP b045 RW 00 Disabled Possible hex hex hex Selection 01 Enabled TxPDO 57 1330 hex Reverse Rotation b046 RW 00 Disabled Possible hex hex Prevention Selection 01 Enabled TxPDO 5A 1333 hex Heavy Load Light b049 RW 00 Heavy load mode Possible hex hex Load Selection 01 Light load mode TxPDO 5B 1334 hex Controlled b050 RW hex hex Deceleration on Power Loss b051 0 to 10000 0 1 V Possible TxPDO 5D 1336 hex Deceleration Hold b052 RW 0 to 10000 0 1 V Possible hex hex Level of Ctrl Decel TxPDO 5E 1337 hex Deceleration Time of b053 RW 1 to 360000 0 01 s Possible hex hex Ctrl Decel TxPDO 60 1339 hex Freq Drop to start Ctrl b054 RW 0 to 1000 0 01 Hz Possible hex hex Decel TxPDO 66 133F Window Comparator b060 RW 0 to 100 1 96 Pos
164. x 3000 hex 4000 hex 3000 hex 3000 hex 4000 hex 4000 hex 3000 hex 3000 hex 4000 hex 3000 hex 3000 hex 4000 hex 4000 hex 3000 hex 3009 hex 3009 hex 3F 003E Fault Monitor 5 Output current value at the time of 0 01 A Possible hex hex Current tripping TxPDO 40 003F Fault Monitor 5 DC input voltage at the time of 0 1 V Possible hex hex Voltage tripping TxPDO 41 0040 hex Fault Monitor 5 Total RUN time at the time of 1 h Possible hex RUN Time tripping TxPDO 43 0042 hex Fault Monitor 5 Power ON time at the time of 1 h Possible hex ON Time tripping TxPDO 45 0044 hex Fault Monitor 6 d086 Refer to Inverter Fault Factor List Possible hex Cause in the operation manual for the MX2 TxPDO inverter 46 0045 hex Fault Monitor 6 Refer to Inverter Fault Factor List Possible hex Inverter Status in the operation manual for the MX2 TxPDO inverter 47 0046 hex Fault Monitor 6 0 to 100000 0 01 Hz Possible hex Frequency TxPDO 3B 003A Fault Monitor 5 d085 Refer to Inverter Fault Factor List Possible hex hex Cause in the operation manual for the MX2 TxPDO inverter 3C 003B Fault Monitor 5 Refer to Inverter Fault Factor List Possible hex hex Inverter Status in the operation manual for the MX2 TxPDO inverter 3D 003C Fault Monitor 5 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO 49 0048 hex Fault Monitor 6 Output current value at the ti
165. y monitor increments of 0 01 Hz WeIBOId ajdwes p z p EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 7 4 Inverter Control I Ladder program example MOV 0 00 021 D0000 H Frequency Frequency 3801 reference setting 0 01 3900 01 30 00 3800 00 Forward stop O word n bit 0 Forward During reverse Fault occurred operation 0 02 3900 00 30 00 3800 01 Reverse stop O word n bit 1 Reverse During forward Fault occurred operation 3900 03 0 03 30 00 O Fault occurred Fault Fault reset 30 00 Fault occurred 0 03 3900 03 3800 07 Fault reset word n bit 7 Fault Fault reset END 001 Frequency setting 0 00 Forward 0 01 Reverse 0 02 During forward operation word m bit 0 During reverse operation word m bit 1 The frequency reference data in D00000 i is forwarded to word n 1 Frequency reference word n 1 Fault occurred 30 00 Fault reset 0 03 4 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control Explanation of operations 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 operation word m bit 0 of the remote I O input relay are

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