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MX2 Series EtherCAT Communication Unit User`s Manual

1. PC Fiowaf CJ snas Master Unit Position Control Unit CX Programmer Supply Unit Unit CJ1W NCx82 Q o D ER WU gw RS 232C port connection Slave Unit Slave Unit Peripheral USB First unit inverter 2 unit inverter port connection Node address 17 address 22 E eC i 10 A B 2222 06 8 05 06 8 Ta In Communications cable 1 Communications cable 2 Length 5 m Length 1 Refer to 2 8 CJ1W NCx82 Master Setting on page 2 11 for details on Unit installation and setting method EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 9 2 Starting a Sample System i NJ501 1x00 Master Master Unit Machine Automation Controller NJ501 1x00 series Slave Unit x 2 2 2001 3G3AX MX2 ECT x 2 sets Notes This Communication Unit can be used with all the capacities in the SYSDRIVE MX series Used for data setting Monitoring status and File management etc monitoring PC Sysmac Studio Power Supply Unit Master Unit Machine Automation Controller NJ501 1x00 series 2
2. Sub Register r Parameter Data PDO Index index No Function name No Monitor and setting items resolution map 3012 D5 12BO Operation Frequency A142 RW 00 Digital Operator Possible hex hex hex Selection 2 01 Volume TxPDO 02 Voltage FV input 03 Current input 04 Modbus communication Modbus RTU 05 Do not set 07 Pulse train frequency 3012 D6 12B1 Operation Function A143 RW 00 Addition A141 A142 Possible hex hex hex Operator Selection 01 Subtraction A141 A142 TxPDO 02 Multiplication A141 x A142 4012 D8 1283 Frequency Addition A145 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex Amount Setting TxPDO 3012 DA 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 Possible hex hex hex Deceleration TxPDO Curve Ratio 1 3012 E1 12BC EL S Shape A153 RW 0 to 50 11 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 hex hex
3. 7 1 0 Bit Name Meaning 0 Forward stop 1 0 Stop 1 Forward command 1 Reverse stop 1 0 Stop 1 Reverse command Fault reset 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 Frequency reference Name Frequency reference Meaning 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 Multi step Position command 0 Name Multi step position command 0 Meaning 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 HUN 1 uonisod Z Y c v 4 Inverter Control Multi function input The bit data for the multi function input information is shown below 18 12 11 10 9 8 7 Bit Name Meaning 7 Multi function input 1 0 OFF 8 Multi function input 2 1 ON 9 Multi function input 3 10 Multi function input 4 11 Multi
4. 5 4 5 3 Velocity D e a 5 5 5 4 ODjSCU DICT OMAN Y r manca 5 6 5 4 1 Object Dictionary Areas i eid te i eiu tee ende ic etalon 5 6 5 4 2 Data Types io t incen nt neste Up de a CO TERCER CEU Ie 5 6 5 4 8 Object Description Formal 2 pe 5 6 5 5 CoE Communications Area 5 8 5 5 1 Communication Objects nance eee ad dead 5 8 5 5 2 PDO Mapping Objects certet pae ede 5 11 5 5 3 Sync Manager Communication Objects 5 13 5 6 Manufacturer Specific 5 16 5 6 1 Manufacturer Specific Objects ceno itr deese med d cede eb e ae Code tena 5 16 5 6 2 Inverter Parameter Objects 5 17 5 6 3 Independent Profile reset nnen nennen nns 5 19 5 7 Device Profile area c a ccccccesctecceceteceeceestetiereesteteeeeeececncesercenntiesexgentueeeecctuedsesrsnducestvscuaterssseueteets 5 22 5 7 1 Drive Protile Objects reri ae n t Dias tte Rd epe dg Eee a 5 22 Section 6 Handling of Errors and Maintenance 6 1 Communication Line Errors
5. Sub Register T Cube Data PDO Index index No Function name No R W Monitor and setting items resolution map 3000 1D 001C Fault Monitor 2 d082 RO Refer to Inverter fault factor list on Possible hex hex hex Cause page A 12 TxPDO 3000 1E 001D Fault Monitor 2 Refer to Inverter fault factor list on Possible hex hex hex Inverter Status page A 12 TxPDO 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 ripping TxPDO 3000 22 0021 hex Fault Monitor 2 Voltage DC input voltage at the time of 0 1 V Possible hex hex ripping TxPDO 4000 23 0022 hex Fault Monitor 2 Total RUN time at the time of 1 h Possible hex hex RUN Time ripping TxPDO 4000 25 0024 hex Fault Monitor 2 Power ON time at the time of 1 h Possible hex hex ON Time ripping TxPDO 3000 27 0026 hex Fault Monitor 3 d083 RO Refer to Inverter fault factor list on Possible hex hex Cause page A 12 TxPDO 3000 28 0027 hex Fault Monitor 3 Refer to Inverter fault factor list on Possible hex hex Inverter Status page A 12 TxPDO 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 ripping TxPDO 3000 2C 002B Fault Monitor
6. 3 3 Pro ess Data Objects PDO ied durat Led sotto 3 4 3 3 1 bn DE Eu 3 4 3 3 2 PDO Mapping Settings elc HR t een te te 3 4 3 3 3 Sync Manager PDO Assignment Settings essen 3 5 3 3 4 Fixed PDO Mapping nator te ea Peers ete cn vete ete tee ut 3 5 Service Data Objects 00 3 6 3 4 1 STE 3 6 3 4 2 Abort GOd S EEG Re EG OR e EU A IRR RM 3 6 Emergency Messages 3 7 3 5 1 3 7 3 5 2 Etfor Code List rire te dem br eat eerte Li aat de era iene 3 7 Sysmac Device Functions certet onere nata sahaa s naaie ann Eo Dra uu 3 8 Inverter Control eT fmc ERR 4 2 4 1 1 Function Selection eh ene eee ebbe iai de 4 2 4 1 2 Object loeo 4 2 Control with the Position Control ennen nnnn nnmnnn 4 4 4 2 1 Inverter Setting 224s E 4 4 4 2 2 Object Mapping i om ee e o tree etatis ite irren be en Cx eee de uS 4 4 4 2 3 Control Method e 4 5 4 2 4 SampleProgratm us eet eee ed ota c LATAS A 4 7 Control with the Independent
7. 1BFF hex 512th transmit PDO mapping All Sub index 0 Number of objects in this PDO Setting range Unit Default setting 01 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Setting range Unit Default setting 20020108 hex Size 4 bytes U32 Access RO PDO map Not possible This is a mapping object to notify that the EtherCAT Communication Unit has detected an error 2002 hex 01 hex Sysmac Error Status has been mapped When the Machine Automation Controller NJ501 1x00 series is connected assign this object to 1C13 hex Sync manager 3 PDO assignment By default Sysmac Studio assigns this object automatically 5 5 3 Sync Manager Communication Objects Objects 1 00 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 Unit Default setting 04 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Type SMO Setting range Unit Default setting 01 hex Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication type SM1 Setting range Unit Default setting 02 hex Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication type SM2 Setting range Unit Default setting 03 hex Siz
8. 3 4 3 3 1 Outline zc ne ense SET TERRE IG PD WD VE A UY Y 3 4 3 3 2 PDO Mapping 3 4 3 3 3 Sync Manager PDO Assignment Settings 3 5 3 3 4 Fixed PDO 3 5 3 4 Service Data Objects SDO 3 6 32421 QUUING A Se tA du RES 3 6 3 4 2 Abort Codes eet a ee RE UTR Renee 3 6 3 5 Emergency Messages 3 7 te ahaa RA tate 3 7 3 5 2 Error Code List e eS ee de RR NE Ru EA ES 3 7 3 6 Sysmac Device Functions 3 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 1 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 status transitions Mailbox 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 profil
9. 2 19 2 6 1 RUN Commanhd Settihg dee a ei Ore de Ba eee oe Reo E pe ce 2 19 2 6 2 Frequency Reference Setting nennen nnne neret nnn 2 19 2 6 3 Reset Selection Setting iure te cu ee p n eid De pisc ates edd e 2 19 Communication Starting and Operation Checking with CJ1W NCx82 Master 2 20 2 7 1 Starting the Syst rm 5 iii ol ries a Eden Lee dhe cta DRE 2 20 2 7 2 NetWork Setup nee Rm n bo ceperit Peer e ai ee Re pe tee e EE OR Tace crit uto EE Dee ee edet 2 20 2 7 3 Checking the Master Uit ence cue Ege ste aC rN dee cada cde 2 20 2 7 4 Checking the Inverter and EtherCAT Communication 2 21 2 7 5 Checking thie Operation et reir arce ee ER Mentre drea 2 21 Communication Starting and Operation Checking with NJ501 1x00 Master 2 22 2 8 1 Starting the Systerm nicae eee evene iinet stent Meee einai 2 22 2 8 2 enel ELE 2 22 2 8 3 Checking the NJ501 1x00 Master ssssssseseseeeeeeneen nennen eene nre rennen nnns 2 26 2 8 4 Checking the Inverter and EtherCAT Communication Unit eee 2 26 2 8 5 Checkingithe Operations x ace oe ea ee Bee 2 26 Common Slave Specifications Structure of CANopen over EtherCAT 3 2 Communications Status Transitions
10. EtherCAT 1 n EtherCAT telegram Ethernet frame header 1stEtherCAT 2nd EtherCAT n th EtherCAT telegram telegram telegram Datagram header WKC Working counter 1 4 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 i Process data communications functions PDO communications This is cyclic I O communication The EtherCAT Master Unit maps logical process data space cyclic data space to each slave node and realizes cyclic I O communications with Slave Units EtherCAT master Slave Slave Slave Slave J tt tt Ethernet frame Ethernet EtherCAT 1st EtherCAT 2nd EtherCAT 3rd EtherCAT header header telegram telegram telegram CRC Logic process data Dataa Datab Datac 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 Slave settings Monitor slave state EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1V2Jeui3 JO 2 1 sed
11. IyOJ8uIg eu 1 9 2 NSSSSSSSS EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 13 2 Starting a Sample System Mounting the EtherCAT Communication Unit onto the inverter 7 Mount the EtherCAT Communication Unit onto the location where the inverter optional board cover that you removed was attached Check that the connector is firmly connected 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 kgfecm OUAO EthercaT EDs IN OUT RUN ERR ADR Nez 47 X10 CM C 3G3AX MX2 ECT J AN WARNING fst oboe tok Read manual before installing A eWait 10 minutes for capacitor discharge after disconnecting power supply IN OUT 2 14 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
12. 1 N lt Ww Peripheral USB port connection Slave Unit Slave Unit First unit inverter 2nd unit inverter Node address 1 Node address 2 Built in EtherCAT port 2 e N fe ln Communications cable 1 Communications cable 2 Length 5 m Length 1 Refer to 2 4 NJ501 1x00 Master Setting on page 2 12 for details on Unit installation and setting method EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 3 CJ1W NCx82 Master Setting 2 3 1 Mounting the CJ1W NCx82 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 Dunes 1e1se y 28XON MLIPO E Z 2 3 2 CJ1W NCx82 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 For the setting tool use CX Programmer Ver 9 2 or later Z8XON MIPO 1 e z EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 11 2 Starting a Sample Sys
13. 2 7 2 2 Basic Usage Procedures and Configuration Example sees 2 8 2 2 1 Basic Usage ProcedUut6s ecu id dno ceras e p iad einen tn MH E hein 2 8 2 2 2 System Configuration Example essen nennen nnne nennen tenen 2 9 2 3 CJ1W NCx82 Master 2 11 2 3 1 Mounting the CJ1W NOX82 2 11 2 3 2 CUT W NGX82 Setting eg er Ee er REA REED 2 11 2 4 NJ501 1x00 Master Setting 2 12 2 4 1 Mo nting the NJ501 1X00 iiie ien erri tente ple ehe LIED oie ereiep cett 2 12 2 4 2 NJ501 1x00 Setllng 5 diede RON RR 2 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 5 2 8 Section 3 3 1 3 2 3 3 3 5 3 6 Section 4 4 1 4 2 4 3 4 4 CONTENTS Mounting and Wiring for the EtherCAT Communication Unit eese 2 13 2 5 1 Mounting the EtherCAT Communication Unit sess 2 13 2 5 2 Wiring the EtherCAT Communication 2 15 2 5 3 Wiring Conforming to EMC Directives sseseseeeeeeneneeenneneneeen nennen nennen 2 17 2 5 4 Node Address Settings for the EtherCAT Communication Unit 2 18 SYSDRIVE MX Series
14. Cause code Meaning Cause and possible corrections 0061 hex Unsupported data type is The data type of the allocated object is invalid Change to a correct specified data type 0070 hex Unsupported mode mode An operation mode other than FreeRun is set Set FreeRun mode other than FreeRun is specified hex 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 00E1 hex Specified size of the Refresh The used area of Sync Manager exceeds 2FFF hex Change the start area exceeds the range address 2 hex 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 OOES hex Sync Manager buffer overlap Sync Manager areas are overlapping Correct the start address OOE4 hex 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 5 hex Sync Manager operation Cannot operate Sync Manager because the PDO mapping is invalid invalid Correct the PDO mapping OOE6 hex Sync Manager
15. Index Area Meaning 0000 to OFFF hex Data Type area Definitions of data types 1000 to 1FFF hex CoE Communications area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufacturer Specific area 1 Variables with common definitions for all OMRON products 3000 to 5FFF hex Manufacturer Specific area 2 Variables with definitions for this unit Inverter parameters independent profile 6000 to 9FFF hex Device Profile area Variables defined in the inverter s CiA402 drive profile A000 to FFFF hex Reserved area Area reserved for future use 5 4 2 Data Types The data types shown in the following table are used in this profile Data type Code Size Range Boolean BOOL 1 bit Oto 1 Unsigned8 U8 1 byte 0 to 255 Unsigned16 U16 2 bytes 0 to 65 535 Unsigned32 U32 4 bytes 0 to 4 294 967 295 Integer8 INT8 1 byte 128 to 127 Integer16 INT16 2 bytes 92 768 to 327 671 Integer32 INT32 4 bytes 2 147 483 648 to 2 147 483 647 Visible string VS 5 4 3 Object Description Format In this manual objects are described in the following format Object description format Index Object name Operating Mode Setting range Setting range Unit Unit Default setting Default setting Size Size Access Access PDO map Possible Not possible Object description for
16. eese eese seen nnne nnne 4 10 4 3 1 Inverter Setting eren euet RE eth do ie n des ere bronce 4 10 4 3 2 Profile AllOGation REL 4 10 4 3 3 Control Method ende 4 10 Control with the CiA402 4 12 4 4 1 Inverter Setting de eda en create me eii ep e Re n e e aa 4 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 17 CONTENTS 4 4 2 Profile Allocation oet nn ree e eR E a eR ats ae 4 12 4 4 3 GontrolMethod cs assez eot e HEREDIBUS UR NU IRIS MA 4 12 4 5 Control with the PDO Free nennen nenas nnnm enhn nn snnt nnn nnns 4 14 4 5 1 Inverter 4 14 4 5 2 Obj ct Mapping Em 4 14 4 5 3 Objects Allocation in Sysmac Studio eeceeecceeceseeeeeeeeeeeeeeeeeeeeeeaeeseeseaeesaeeseeeesaeesieeeneeeeaeesas 4 15 4 5 4 ReStrictiOnS eS 4 16 4 6 Trial operation via EtherCAT Communication Unit esee 4 17 Section 5 CiA402 Drive Profile 5 1 Inverter State Control 5 2 5 1 1 Sjcwueli ce 5 2 5 1 2 cus 5 3 5 1 3 Comnmand Coding 5 ote udis iege ctae reicht ite dede E 5 3 5 1 4 State vies ves eve eevee eee 5 3 5 2 Modes of
17. euseeseeeseeeeseseeeenne enne nenne nennt nnn nn nsns nnns santa nnn nnmnnn 6 2 6 1 1 Status IndicatorExplanations and Error Handling seen 6 2 6 1 2 TTroubl shootirig 11 rr I d RB RO ER RR ERREUR E GA e MR S 6 4 6 2 Message Errors EM 6 5 6 3 Application Errors 6 6 6 3 1 Ettor Statuses caue eI d ee ae du Tert ese erede 6 6 6 3 2 Error Gode iu iiem teet ette ci cd ctt 6 6 6 3 3 List of Cause Codes for PDO Mapping 6 7 6 3 4 AL Status Code List cui the etit etait Na Teste aes 6 9 LZ MM lud cr ERR 6 10 Appendices DO A 2 A 1 1 Appearance and A 2 A 1 2 COMMON SpecifiCatioris wavs tir caves aoe eid ee set nee e Ro Reported s A 2 A 1 3 EtherCAT Communications Specifications sese nennen nnne A 3 A 2 Communications Response A 4 18 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT CONTENTS A 3 Object List ouai E oe it sie ed ace A 5 A 3 1 ODIeCtEISE hasta uut titus ud m A 5 A 4 Inverter Parameter List 1 eicere eden tee cadedeaesaveGuencsdeanesteceveactessencuanetedec
18. 1uepuedepu 9 S 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 Setting range 0000 to FFFF hex Unit Default setting 0000 hex Size 2 bytes U16 Access RO PDO map Possible This object gives the latest error code or warning code that occurred in the unit Error code 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 Setting range 0000 to FFFF hex Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Possible This object controls the state transitions of the unit Bit descriptions Controlword Bit Name Details 0 Switch on The state is controlled by these bits 1 Enable voltage Quick stop is not supported Even when the bit 2 is set to 0 it is ignored 2 Quick stop For details refer to 5 1 3 Command Coding on page 5 3 3 Enable operation 4to6 Reserved Not used Always keep at 0 7 Fault reset Faults and warnings are cleared when this bit turns ON 8to 15 Reserved Not used Always keep at 0 6041 hex Setting range 0000 to FFFF hex Unit Default set
19. RUN ERR Initial processing ON OFF OFF OFF Normal operation Flashing OFF ON OFF f three or more units are connected the status LEDs behave in the same way as the LEDs on the first unit except for the last unit L A OUT on the last unit is always unlit 2 7 5 Checking the Operation Execute the PLC control program and check that the operation is normal v24euj3 pue v 7 z EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 21 2 Starting a Sample System 2 8 Communication Starting and Operation Checking with NJ501 1x00 Master After completing the settings and wiring turn ON the power and check that the communication starts The inverter power supply must be turned ON to set the inverter When the power supply is turned ON the inverter may operate in unintended way Check the condition of the wiring and system carefully before starting the operation 2 8 1 Starting the System 2 8 2 Network Setup Check the condition of the wiring and system carefully and then turn ON the power supply for all the inverters and NJ501 1x00 Master It does not matter whether the inverter or NJ501 1x00 Master power supply is turned ON first However an error occurs unless the power supply for all the inverters is turned ON within a certain time Wait time for slave startup parameter of NJ501 1x00 default value is 30 seconds after turning ON the NJ501
20. eee 3 5 Independent profile 4 10 Independent Profile Objects 5 19 Inverter Parameter Objects 5 17 M Manufacturer Specific Objects 5 16 N Node address seiiet 2 4 Object Dictionary reneste eenneneern een 5 6 Object List niano ei ca A 5 Index 2 P Parameterilist 2 2 eri cedes eter te EUR A 9 PDO MEDI IE EE 3 4 PDOfjfree format eec 4 14 4 17 PDO Mapping sect Aen dodo 3 4 PDO Mapping Objects 5 11 Position Control Unit eee 4 4 Process data objects 3 4 R RXPDO mtis toti obiit idiom 4 2 S ipo dee ee 3 6 Service data objects 3 6 Specifications ecce cedent A 2 Stat s indicators n tee 2 3 6 2 Sync Manager 4 3 Sync Manager channel 3 5 Sync Manager Communication Objects 5 13 T cre ee tah tee ee eee ees 4 2 V Velocity mode 4 12 5 5 Wiring Standards sse 2 7 EtherCAT Communication Unit USER S
21. r o 0 Number of entries 04 hex 1 byte U8 RO Not possible 1 Vendor ID 00000083 hex 4 bytes U32 RO Not possible 2 Product code 00000053 hex 4 bytes U32 RO Not possible 3 Revision number XXXXXXXX hex 4 bytes U32 RO Not A possible 4 Serial number 00000000 hex 4 bytes U32 RO Not possible z 10F3 hex Diagnosis history 0 Number of entries 00 hex 1 byte U8 RO Not 4 possible 1 Maximum messages 00 to 08 hex 00 hex 1 byte U8 RO Not possible 2 Newest message 06 to OD hex 06 hex 1 byte U8 RO Not possible 5 Flags 0000 to 0001 hex 2 bytes U16 RW Not 0001 hex possible 6to 13 Diagnosis message 1 to 8 23 bytes VS RO Not possible 1600 to 1st to 5th receive PDO mapping Ln MI Number of objects x 0 1 byte U8 RW Not possible 1 1st object 00000000 hex 4 bytes U32 RW Not 1st Output Object to be mapped possible 2 2nd object 00000000 hex 4 bytes U32 RW Not 2nd Output Object to be mapped possible 1 V which shows the hardware version is saved EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 5 Appendices Sub Settin 4 Index Object name 9 Unit Default setting Size Access index range map 1700 hex 257th fixed receive PDO mapping 0 Number of objects 2 1 byte U8 RO
22. 1v2Jeur3 ez L 1 EtherCAT Network 1 3 EtherCAT System Configuration 1 3 1 System Configuration A typical system configuration is shown below EtherCAT master Configuration Tool CX One FA Integrated Tool Package Programmable Position Control Controller Unit SYSMAC CJ2 CJ1W NCx82 Sysmac Studio Machine Automation Controller NJ501 1x00 series Communications cable EtherCAT slave EtherCAT slave Other slaves Servo Drive M Digital I O EtherCAT Analog I O Communication Unit Pulse input etc SYSDRIVE 3G3AX MX2 ECT 3G3MX2 series 1 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 EtherCAT Network 1 3 2 Overview of Component Equipment m gt The overview of each structural device is as follows SES o EtherCAT master i5 S3 Manages the EtherCAT network and performs slave status monitoring and data exchange with the slaves 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 Field network slaves Slave devices that perform sequence control Examples Digital I O slaves analog I O slaves Motion network slaves Slave devices that perform motion control Examples Servo Units Inverter U
23. 1 1 Overview of the EtherCAT Communication Unit eere nennen 1 2 1 1 1 Features of the EtherCAT Communication 1 2 1 2 Overview of EtherCAT da 1 3 1 2 1 Features ot EtlierC AT hoi eset eie ete gen d ui eu PE ege eie ae 1 3 1 2 2 EtherGCAT System UI s 1 4 1 2 3 EtherCAT Communication Types esssssseseseeeeneeenene nennen nene nnne tereti nnne nnne nnns 1 5 1 3 EtherCAT System 1 6 1 3 1 System GCorifiguratior tee hain hin e REIR eoe Dadi eli athe eile 1 6 1 3 2 Overview of Component Equipment 1 7 Section 2 Starting a Sample System 16 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 2 2 1 1 eo iet dte eR HEN MR Open ou ens 2 2 2 1 2 Status Indicator Namaes ipaa Pate e Oo Nar Ee 2 3 2 1 3 Rotary Switches for Node Address Setting sssssssssseeeeneeeeneenenennnns 2 4 2 1 4 Communications 2 5 2 1 5 Recommended Products rete gei ae ace A cbe vo ue dee eels 2 6 2 1 6 Connection between Communications Cables and Connectors
24. 1B00 hex 257th fixed transmit PDO mapping Sub index 0 Number of objects All Setting range Unit Default setting 2 Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Setting range Unit Default setting 60410010 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Setting range Unit Default setting 60430010 hex Size 4 bytes U32 Access RO PDO map Not possible The PDO mapping when Velocity mode is used The following objects are mapped Statusword 6041 hex vl velocity demand 6043 hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 1B01 hex 258th fixed transmit PDO mapping All Sub index 0 Number of objects Setting range Unit Default setting 2 Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Setting range Unit Default setting 51000010 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Setting range Unit Default setting 51100010 hex Size 4 bytes U32 Access RO PDO map Not possible The PDO allocation when a fixed profile is used The following objects are mapped e Status information 5100 hex Output frequency monitor 5110 hex
25. 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 Maintenance This chapter explains how to handle any errors that occur in the EtherCAT Communication Unit Appendix The appendix provides a list of objects EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 15 CONTENTS CONTENTS Introduction 1 Read and Understand this Manual eee 2 Safety Precautions sias ceca ka diia cad KE Rad EE or En 4 Precautions for Safe Use cesis rir rien anke dnd RE caa Du RE RE a SEE Ca 7 Precautions for Correct USC ccsssssseeeeeeeeesseneneeeeeeeseeneeneeeeeessseeeeeeeeeeensnneneeaees 8 Applicable Standards iciccwccctccsccstewecesceecatavssssnnssvesevesesavensseewevevteasadevasusseeeesverndenates 10 Irun cm 11 Checking Before nenne nennen nnne nnn 12 ideis 13 Related Manuals niin nra ione b a e ad n E e ri RR 14 About This Manual 5 ciue cua secondi iege ds GO RR Fara RR RA ER RR ERN ER 15 Section 1 EtherCAT Network
26. Sub index 2 Newest message gives the sub index where the latest diagnosis message is saved Sub index 5 Flags sets whether or not to give notification of the diagnosis history as an emergency message It is set to Emergency Message Enabled 0001 hex when the power supply is turned ON Sub indexes 6 to 13 Diagnosis messages 1 to 8 give the diagnosis history The diagnosis history is saved in Diagnosis messages 1 to 8 in ascending order When the 9th error is reached it is saved as Diagnosis message 1 and the sequence starts again The diagnosis history is retained even when the power supply is turned OFF 5 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile Diagnosis history details Meaning Size Details Error code 4 bytes U32 The upper byte is the error code that is defined with CiA301 and CiA402 The lower 2 bytes are the code type and are fixed at E800 hex Error flag 2 bytes U16 Gives the error type Bit 1 Warning Bit 2 Error Other bits Reserved Reserved 17 bytes The reserved area 5 5 2 PDO Mapping Objects 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 Pally 302 S S BitOto7 Bit length of the mapp
27. 4 12 4 4 3 Control Method 0 0 ccc teens 4 12 4 5 Control with the PDO Free Format 4 14 4 5 1 Inverter Setting 4 14 4 5 2 Object Mapping 00 eee eee 4 14 4 5 3 Objects Allocation in Sysmac Studio 4 15 4 5 4 Restrictions tee 4 16 4 6 Trial operation via EtherCAT Communication Unit 4 17 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 performed 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 1 When using a Master Unit from another manufacturer check yourself whether it supports the above functions 2 If you are using your NJ501 1x00 as the master refer to the explanation on allocation in PDO free format 4 1 2
28. Communication 4 3016 C7 169A Sender Register of All P152 RW 0000 to FFFF hex Possible hex hex hex Stations in Co inverter Communication 4 3016 C8 169B Recipient Station Number P153 RW 1 to 247 Possible hex hex hex of All Stations in Co inverter Communication 5 3016 C9 169C Recipient Register of All P154 RW 0000 to FFFF hex Possible hex hex hex Stations in Co inverter Communication 5 3016 CA 169D Sender Register of All P155 RW 0000 to FFFF hex Possible hex hex hex Stations in Co inverter Communication 5 301E 3E 1E01 Coil Data 1 RO 20 Coil No 0010 hex to E Possible hex hex hex 215 Coil No 001F hex TxPDO 301E 1E02 Coil Data 2 RO 2 Coil No 0020 hex to Possible hex Res Mex 215 Coil No 002F hex 301E 40 1E03 Coil Data 3 RO 20 Coil No 0030 hex to Possible hex hex hex 215 Coil No 003F hex DEES 301E 41 1E04 Coil Data 4 RO 20 Coil No 0040 hex to E Possible hex ARR s 215 Coil No 004F hex EDO 301E 42 1 05 Data 5 RO 2 Coil No 0050 hex to Possible hex v 28 Coil No 0058 hex PIXE BO 301F 40 1F01 hex Coil Data 0 RW 21 Coil No 0001 hex to Possible hex T Mex 215 Coil No OOOF hex Each ofthe above holding registers Coil Data O to 5 consists of 16 sets of coil data Since coils are not supported in communication between inverters only holding registers are supported use
29. Reserved Reserved Reserved Reserved AHD Analog command held CP1 Position command selection 1 CP2 Position command selection 2 Position command selection 3 ORL Zero return limit signal ORG Zero return startup signal SPD Speed position switching GS1 951 input only GS2 GS2 input C004 only 485 Start co inverter communication Reserved HLD Retain output frequency ROK Permission of RUN command EB Rotation direction detection C007 only DISP Display fixed NO Not assigned Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO A 24 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Index Sub index Register No Function name Parameter No Monitor and setting items Data resolution PDO map 3014 hex 34 hex 140B hex Multi function Input Terminal Operation Selection C011 RW 3014 hex 35 hex 140C hex Multi function Input Terminal 2 Operation Selection C012 RW 3014 hex 36 hex 140D hex Multi function Input Terminal 3 Operation Selection C013 RW 3014 hex 37 hex 140E hex Multi function Input Terminal 4 Operation Selection C014 RW 3014 hex 38 hex 140F hex Multi function In
30. read the inverter parameter A004 Maximum Frequency 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 921 oq 6 sjoe qo 1 4 9 5 CiA402 Drive Profile 6049 hex vl velocity deceleration vi Sub index 0 Number of entries Setting range Unit Command Default setting 02 hex unit Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Delta speed Setting range 00000000 to FFFFFFFF hex Unit rpm Default setting 00000708 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Delta time Setting range 0000 to FFFF hex Unit s Default setting 000A hex Size 2 bytes U16 Access RW PDO map Not possible This object sets the deceleration time To read the Speed 6049 to 01 hex read the inverter parameter A004 Maximum Frequency To read and write the Time 6049 to 02 hex read and write the inverter parameter F003 Deceleration Time Setting 605B hex Shutdown option code All Setting range 1 Unit Default setting 1 Size 2 bytes Int16 Access RW PDO map Not possible e This object sets the behavior during Shutdown Operation enable Ready to switch Explanation of set values Set value Stop method 1 Deceleration stop 605C hex Disable operatio
31. 1 Switched For details refer to 5 1 4 State Coding on page 5 3 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter 9 Remote 0 Control from Controlword is disabled 1 Control from Controlword is enabled Reserved 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 freely allocated to PDOs to create an independent profile If you use in combination with the OMRON independent profile or the CiA402 drive profile you can perform advanced control and monitoring To use your OMRON NJ501 1x00 as the master allocate desired objects by referring to this section 4 5 1 Inverter Setting When using the OMRON independent profile set 001 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 PDO mapping PDO Descrip
32. 3013 69 1342 hex Window Comparator b063 RW 0 to 100 1 Possible hex hex Fl Upper Limit Level Lower limit b064 b065 x 2 3013 6A 1343 hex Window Comparator b064 RW 0 to 100 1 Possible hex hex FI Lower Limit Level Upper limit b063 6065 x 2 A 20 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter ex Data PDO Index index No Function name No R W Monitor and setting items resolution map 3013 6B 1344 hex Window Comparator b065 RW 0 to 10 1 Possible hex hex FI Hysteresis Width Upper limit 0063 6064 2 3013 70 1349 hex Analog Operation Level b070 RW 0 to 100 255 no 1 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 Fl TxPDO Disconnection 3013 75 134E Ambient Temperature b075 RW 10 to 50 1 C Possible hex hex hex 3013 78 1351 hex Integrated Power Clear b078 RW 00 Disabled Possible hex hex 01 Clear Return to 00 after clear 3013 79 1352 hex Integrated Power b079 RW 1to 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 In
33. RELEASE eg cui Gis are ERISQUE AE 2 2 2 1 2 Status Indicator Names 000 cece eee ees 2 3 2 1 3 Rotary Switches for Node Address Setting 2 4 2 1 4 Communications Connector 000 eee 2 5 2 1 5 Recommended Products 2 6 2 1 6 Connection between Communications Cables and Connectors 2 7 2 2 Basic Usage Procedures and Configuration Example 2 8 2 2 1 Basic Usage Procedures 2 8 2 2 2 System Configuration 2 9 2 3 CJ1W NCx82 Master Setting 2 11 2 3 1 Mounting the CJ1W NCx82 2 11 2 3 2 CJ1W NCXx82 Setting 2 11 2 4 NJ501 1x00 Master Setting 2 12 2 4 1 Mounting the 501 1 00 2 12 2 4 2 NJ501 1x00 Setting 0 0 eee eee 2 12 2 5 Mounting and Wiring for the EtherCAT Communication Unit 2 13 2 5 1 Mounting the EtherCAT Communication Unit 2 13 2 5 2 Wiring the EtherCAT Communication Unit 2 15 2 5 3 Wiring Conforming to EMC Directives 2 17 2 5 4 Node Address Settings for the EtherCAT Communication Unit 2 18 2 6 SYSDRIVE MX Serie
34. 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 FI 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 Operation ready FWR During forward operation RVR During reverse operation MJA Fatal fault signal WCFV Window comparator FV WCFI Window comparator FREF Frequency command Source REF RUN command source SETM Motor 2 selection EDM Safety device monitor Reserved NO Not assigned Possible TxPDO 3014 hex 44 hex 141B hex MP Selection C027 RW Output frequency Output current Output torque Digital output frequency Output voltage Input power Electronic thermal load rate LAD frequency Digital current monitor Cooling fin temperature Do no
35. indicates the Synchronization mode of Sync Manager 2 0000 hex Free Run mode Synchronization types supported 1C32 to 04 hex indicates the types of synchronization supported 0001 hex Free Run mode sjy efqo uoneoiunuulo2 1e8eue N ou S 9 G 1C33 hex SM 3 synchronization All Sub index 0 Number of synchronization parameters Setting range Unit Default setting 20 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Synchronization type Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 Synchronization types supported Setting range Unit Default setting 0001 hex Size 2 bytes U16 Access RO PDO map Not possible Synchronization type 1C33 to 01 hex indicates the Synchronization mode of Sync Manager 2 0000 hex Free Run mode e Synchronization types supported 1C33 to 04 hex indicates the types of synchronization supported 0001 hex Free Run mode EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 15 5 CiA402 Drive Profile 5 6 Manufacturer Specific Area 5 6 1 Manufacturer Specific Objects 2002 hex Sysmac Error All Sub index 0 Number of entries Setting range Unit Default setting 02 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Sysmac Error Status Setting range Unit Default setting 00 hex
36. 0 to 200 255 no 1 Possible hex hex hex quadrant mode TxPDO forward regeneration 3013 56 132F hex Torque LADSTOP b045 RW 00 Disabled Possible hex hex Selection 01 Enabled TxPDO 3013 57 1330 hex Reverse Rotation b046 RW 00 Disabled Possible hex hex Prevention Selection 01 Enabled TxPDO 3013 5A 1333 hex Heavy Load Light b049 RW 00 Heavy load mode Possible hex hex Load Selection 01 Light load mode TxPDO 3013 5B 1334 hex Controlled b050 RW 00 Disabled Possible hex hex Deceleration on Power 01 Deceleration stop TxPDO Loss 02 Constant voltage without recovery 03 Constant voltage with recovery 3013 5C 1335 hex DC Bus Voltage b051 RW 0 to 10000 0 1 V Possible hex hex Trigger Level of Ctrl TxPDO Decel 3013 5D 1336 hex Deceleration Hold b052 RW 0 to 10000 0 1 V Possible hex hex Level of Ctrl Decel TxPDO 4013 5E 1337 hex Deceleration Time of b053 RW 1 to 360000 0 01 s Possible hex hex Ctrl Decel TxPDO 3013 60 1339 hex Freq Drop to start Ctrl b054 RW to 1000 0 01 Hz Possible hex hex Decel TxPDO 3013 66 133F hex Window Comparator b060 RW 0 to 100 11 Possible hex hex FV Upper Limit Level Lower limit b061 b062 x 2 3013 67 1340 hex Window Comparator b061 RW 0 to 100 1 96 Possible hex hex FV Lower Limit Level Upper limit 6060 6062 2 3013 68 1341 hex Window Comparator b062 RW 0 to 10 Upper limit 1 96 Possible hex hex FV Hysteresis Width 0060 b061 2
37. 004C Fault Monitor 6 Power ON time at the time of 1 h Possible hex hex hex ON Time tripping TxPDO 3000 4F 004E Warning Monitor 9090 RO Warning code Possible hex hex hex TxPDO 3009 13 0900 hex EEPROM Write WO 0 Motor parameter recalculation Not hex hex 1 Set value storage in EEPROM possible Other Motor parameter recalculation and EEPROM 3009 15 0902 hex EEPROM Write Mode WO 0 Write disabled Not hex hex Selection 1 Write enabled possible EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 11 151 491J9AU Y Y Appendices Inverter fault factor list Trip factor high order factor Trip factor low order Inverter status Name Code Name Code No trip factor 0 During reset 0 Overcurrent protection during constant 1 During stop 1 speed Overcurrent protection during decelera 2 During deceleration 2 tion Overcurrent protection during accelera 3 At a constant speed 3 tion Overcurrent protection during stop 4 During acceleration 4 Overload protection 5 Operates at frequency 0 5 Braking resistor overload protection 6 During startup 6 Overvoltage protection 7 DB active DC injection braking active 7 EEPROM error 8 During overload limit 8 Undervoltage protection 9 Current detector error 10 CPU error 11 External trip 12 USP error 13 Grounding protection 14 Incoming overvoltage protec
38. 3 Voltage DC input voltage at the time of 0 1 V Possible hex hex hex ripping TxPDO 4000 2D 002C Fault Monitor 3 Total RUN time at the time of 1 h Possible hex hex hex RUN Time ripping TxPDO 4000 2F 002E Fault Monitor 3 Power ON time at the time of 1 h Possible hex hex hex ON Time ripping TxPDO 3000 31 0030 hex Fault Monitor 4 d084 RO Refer to Inverter fault factor list on Possible hex hex Cause page A 12 TxPDO 3000 32 0031 hex Fault Monitor 4 Refer to Inverter fault factor list on Possible hex hex Inverter Status page A 12 TxPDO 4000 33 0032 hex Fault Monitor 4 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO 3000 35 0034 hex Fault Monitor 4 Output current value at the time of 0 01 A Possible hex hex Current ripping TxPDO 3000 36 0035 hex Fault Monitor 4 Voltage DC input voltage at the time of 0 1 V Possible hex hex ripping TxPDO 4000 37 0036 hex Fault Monitor 4 Total RUN time at the time of 1 h Possible hex hex RUN Time ripping TxPDO 4000 39 0038 hex Fault Monitor 4 Power ON time at the time of 1 h Possible hex hex ON Time ripping TxPDO 3000 3B 003A Fault Monitor 5 d085 RO Refer to Inverter fault factor list on Possible hex hex hex Cause page A 12 TxPDO 3000 3C 003B Fault Monitor 5 Refer to Inverter fault factor list on Possible hex hex hex Inverter Status page A 12 TxPDO 4000 3D 003C Fault Monitor 5 0 to 100000 0 01 Hz Possible hex hex hex Frequency TxPDO 3000 3F 003E Fa
39. 43 131C Overcurrent b027 RW 00 Disabled Possible hex hex hex Suppression Selection 01 Enabled TxPDO 3013 44 131D Frequency Pull in b028 RW 200 to 2000 0 01 Possible hex hex hex Restart Level TxPDO 3013 45 131E Frequency Pull in b029 RW 1 to 30000 0 1 s Possible hex hex hex Restart Parameter TxPDO 3013 46 131F hex Starting Frequency at b030 RW 00 Frequency at interruption Possible hex hex Frequency Pull in 01 Max frequency TxPDO Restart Selection 02 Set frequency 3013 47 1320 hex Soft Lock Selection b031 RW 00 Data other than b031 cannot be Possible hex hex changed when terminal SFT is TxPDO ON 01 Data other than b031 and the set frequency cannot be changed when terminal SFT is ON 02 Data other than b031 cannot be changed 03 Data other than b031 and the set frequency cannot be changed 10 Data can be changed during RUN 3013 49 1322 hex Motor Cable Length b033 RW 5 to 20 Possible hex hex Code Selection TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 19 151 4 491J9AU Y Y Appendices Sub Register r Parameter NR Data PDO Index index m ENS Function name No R W Monitor and setting items resolution map 4013 4A 1323 hex RUN Time Power ON b034 RW 0 to 65535 10 h Possible hex hex Time Level TxPDO 3013 4C 1325 hex Rotation Direction b035 RW 00 No direc
40. 6042 hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 11 5 CiA402 Drive Profile 1701 hex 258th fixed receive PDO mapping Sub index 0 Number of objects All Setting range Unit Default setting 2 Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Setting range Unit Default setting 50000010 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Setting range Unit Default setting 50100010 hex Size 4 bytes U32 Access RO PDO map Not possible The PDO mapping when a fixed profile is used The following objects are mapped Command 5000 hex Frequency reference 5010 hex 1A00 to 1A04 hex 1st to 5th transmit PDO mapping Sub index 0 Number of objects All Setting range Unit Default setting 2 Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st Input Object to be mapped Setting range Unit Default setting 00000000 hex Size 4 bytes U32 Access RW PDO map Not possible Sub index 2 2nd Input Object to be mapped Setting range Unit Default setting 00000000 hex Size 4 bytes U32 Access RW PDO map Not possible The PDO mapping when freely allocated objects are used Objects can be allocated up to a total bit length of 32 bits
41. 7 Fault reset Resets an error or trip for the unit or inverter Reserved Set 0 Frequency reference Name Frequency reference Meaning 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 Status The 16 bit data is as shown below 15 12 9 7 3 1 0 Bit Name Meaning 0 During forward operation 0 Stopped during reverse operation 1 During forward operation 1 During reverse operation 0 Stopped during forward operation 1 During reverse operation 3 Fault 0 No error or trip occurred for the unit or inverter 1 No error or trip occurred for the unit or inverter 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter 9 Remote 0 Local Operations from EtherCAT are disabled 1 Remote Operations from EtherCAT are enabled 12 Frequency matching 0 During acceleration deceleration or stopped 1 Frequency matched 15 Connection error between the 0 Normal Optional Unit and inverter 1 Error Cannot update data for the inverter To restore turn the power supply OFF and then ON again Reserved Set 0 Output frequency monitor Name Meaning Output frequency monitor Displays the output frequency in increments of 0 01 Hz Ethe
42. Anerroroccurredin Non volatile memory failure non volatile mem Hardware ory Error 04BA0000 hex Connection An error occurred in Contact failure between the Error the connection Inverter and the EtherCAT between between the Communications Unit for the Inverter and Inverter and the Inverter Communica EtherCAT Commu e Inverter trip was reset Fore UNDE The Inverter was initialized or Wiener the mode was changed The EtherCAT Communications Unit for the Inverter failed 04BB0000 hex Inverter An Inverter warn An Inverter warning was Warning ing was detected detected 04BC0000 hex Inverter Trip An Inverter trip was An Inverter trip was detected detected 34F00000 hex PDO Setting There is an illegal The PDO mapping or Sync Error setting value in the Manager settings are incorrect A 36 PDO mapping EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices A 5 2 Error Descriptions i Controller Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on Detection Tells when the the source of the ti
43. IN of the Communication Unit Connect the communication connector OUT to the communication connector IN of the next EtherCAT slave Do not connect the communication connector OUT of the last EtherCAT slave Data will not be communicated correctly if the input output are connected in reverse In the system configuration example used in this 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 When constructing an EtherCAT network take sufficient safety measures according to the standards We recommend that specialized constructors familiar with the safety measures and standards be requested to perform the construction Do not install EtherCAT network devices near devices generating noise If there is no choice but to install them down in an environment with a high level of noise be sure to take measures against the noise such as covering each device in metal cases Precautions when installing communications cables To connect a cable to the communications connector of a device insert it securely until the connector of the communications
44. Meaning 0 to 15 Device profile number 402 192 hex Drive profile 16 to 23 Type 01 Inverter 25 to 31 Mode 0 Manufacturer specific 1001 hex Error register All Setting range Unit Default setting 0 Size 1 byte U8 Access RO PDO map Not possible Gives the error type that occurred Explanation of set values Bit Details Bit Details 0 Generic error 4 Communication error 1 Reserved 5 Device profile specific error 2 Reserved 6 Reserved 3 Reserved 7 Manufacturer specific error 1008 hex Manufacturer device name All Setting range Unit Default setting 3G3AX MX2 ECT Size 20 bytes VS Access RO PDO map Not possible e Gives the model Manufacturer hardware version Unit 1009 hex Setting range Default setting Size 20 bytes VS Access RO PDO map Not possible 1 V which shows the hardwave version is saved Gives the Manufacturer hardware version of the EtherCAT Communication Unit 100A hex Manufacturer software version Setting range Unit Default setting Size 20 bytes VS Access RO PDO map Not possible 1 The version number is saved in v Gives the Manufacturer software version of the EtherCAT Communication Unit 5 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1010 hex 5 CiA402 Drive Profile Store parameters All Sub index 0 Numbe
45. NJ501 1x00 Master data used in the control algorithms is treated as a set of variables If you want to assign a variable to each object that controls the inverter and use the assigned variables in the control algorithms define the variables on this pane lt Map Pane E Sysmac Studio mmand 2 24 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 4 Building a program Build the project program you created so as to convert it to the format supported by the NJ501 1x00 Master Select Build Controller from the Project Menu Confirm that the program that is built is with no errors 5 Synchronizing with the CPU Unit Transfer the program and settings created in Sysmac Studio to the NJ501 1x00 Master Go online and select Synchronization from the Controller Menu Click Transfer To Controller to transfer the program data When the transfer is completed successfully the RUN LED indicator on the inverter turns ON The inverter is now ready pue Hues 8 2 OOXL LOSPN lt Synchronization gt YIOMON 2 8 2 Computer Data Name Computer Update Dat Controlier Update Dat Controller Data Nama Compare EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 25 2 Starting a Sample System 2 8 3 Checking the NJ501 1x00 Master Check that the NJ501 1x00 Master is operating normally in the R
46. Not possible 1 1st object 60400010 hex 4 bytes U32 RO Not 1st Output Object to be mapped possible 2 2nd object 60420010 hex 4 bytes U32 RO Not 2nd Output Object to be mapped possible 1701 hex 258th fixed receive PDO mapping 0 Number of objects 2 1 byte U8 RO Not possible 1 1st object 50000010 hex 4 bytes U32 RO Not 1st Output Object to be mapped possible 2 2nd object 50100010 hex 4 bytes U32 RO Not 2nd Output Object to be mapped possible 1A00 to 1st to 5th transmit PDO mapping 1A04 h PERSE Number of objects 2 1 byte U8 RW Not possible 1 1st object 00000000 hex 4 bytes U32 RW Not 1st Input Object to be mapped possible 2 2nd object 00000000 hex 4 bytes U32 RW Not 2nd Input Object to be mapped possible 1B00 hex 257th fixed transmit PDO mapping 0 Number of objects 2 1 byte U8 RO Not possible 1 1st object 60410010 hex 4 bytes U32 RO Not 1st Input Object to be mapped possible 2 2nd object 60430010 hex 4 bytes U32 RO Not 2nd Input Object to be mapped possible 1B01 hex 258th fixed transmit PDO mapping 0 Number of objects 2 1 byte U8 RO Not possible 1 1st object 51000010 hex 4 bytes U32 RO Not 1st Input Object to be mapped possible 2 2nd object 51100010 hex 4 bytes U32 RO Not 2nd Input Object to be mapped possible 1BFF hex 512th transmit PDO Mapping 0 Number of object
47. Output Tab Page oipnis oeuis S ur uoneoo y sioe qo 9 y Click Edit PDO Map Settings in the Configurations and Setup of the EtherCAT slave to open the Edit PDO Map Settings pane Edit PDO Map Settings Process Data Size Input 40 bit 320 bit va Size Data type entry name Dutput 32 bit 320 bit Flag Ist receive PDO Mapping Editable No option 2nd receive Mapping Editable No option rd receive PDO Mapping No option Ath receive POO Mapping No option Sth receive PDO Mapping aption 257th receive Mapping 258th receive PDO Mapping No option Ist transmit Mapping No option 2nd transmit PDO Mapping No option 3rd transmit PDO Mapping aption 4th transmit PDO Mapping No Sth tranemit PDO Mapping No option 257th transmit PDO Mapping 258th transmit PDO Mapping Inout Input Inout Input Input No option 512th transmit PDO Mapping 00000 00 9000 00 00000 0000 A i EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 15 4 Inverter Control To allocate an object to a PDO in Sysmac Studio select Output or Input for one of 1st receive PDO Mapping to 5th receive PDO Mapping or 1st transmit PDO Mapping to 5th transmit PDO Mapping right click Add PDO Entry on the right side of the screen and then select a desired object from the list When Output or Input is selected the applicable PDO among 7st receive PDO Mapping to 5th receive PDO Mappin
48. Possible Bit Meaning Details 0 During forward operation 0 Stop reverse 1 During Forward operation 1 During reverse operation 0 Stop forward 1 During Reverse operation 2 Reserved Not used 3 Fault 1 A fault inverter trip occurred 4to6 Reserved Not used 7 Warning 1 A warning occurred 9 Remote 0 Commands other than those from the EtherCAT Communication Unit are enabled 1 Commands from the EtherCAT Communication Unit are enabled 10 to 11 Reserved Not used 12 Frequency matching 0 During Acceleration deceleration or stopped 1 Frequency matching 13 to 14 Reserved Not used 15 Connection error between the 1 Error Cannot update data for the inverter To reset the error turn the Optional Unit and inverter power supply OFF and then ON again Output frequency monitor Unit 0 01 Hz 0 1 Hz All Default setting 0000 hex Size 2 bytes U16 This object gives the output frequency of the inverter The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode 5200 hex PDO mapping error history Sub index 0 Number of entries Access RO PDO map Possible All Setting range Unit Default setting 0A hex Size 1 byte U8 Sub index 1 Newest PDO mapping error cause Access RO PDO map Not possible Setting range Unit Default setting 0000 hex Size 2 bytes U
49. Replace the EtherCAT Communica None for the Inverter failed tions Unit for the Inverter Attached None information Precautions None Remarks A 38 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Event name Inverter Warning Event code 04BB0000 hex Meaning An Inverter warning was detected Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System resetting slave errors Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None ES a Cause and Assumed cause Correction Prevention goue cuen An Inverter warning was detected Read the value in slave object 3000 Depends on the nature of the error hex sub index 4F hex and check the warning details Remove the cause of the warning accordingly Then exe cute an error reset with slave object 5000 hex or a fault reset with 6040 hex Attached None information Precautions None Remarks Event name Inverter Trip Event code 04BC0000 hex Meaning An Inverter trip was detected Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category
50. Servo Drive side is displayed under 1018 hex 04 hex Serial number With controllers conforming to the Sysmac device functions the network configuration can be checked using this serial number To check the network configuration set Setting Actual device under Serial Number Check Method on the EtherCAT Edit Screen of Sysmac Studio If the specified criteria cannot be met a Network Configuration Verification Error will occur EN Additional Information Since replacement of slave device can be detected all slave parameters will be set without fail EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 3 Common Slave Specifications Conforming to the ESI Specification ETG 2000 S R V1 0 1 The ESI Specification is a specification document defining the items described in the EtherCAT Slave Information ESI file With controllers conforming to the Sysmac device functions optional functions defined in the ESI Specification can be used to specify backup parameters on the slave side Specified backup parameters on the slave side can be backed up and restored by Sysmac Studio SII data check SII Slave Information Interface represents configuration information specific to each EtherCAT slave which is written to the nonvolatile memory in the EtherCAT slave With Sysmac device EtherCAT slaves SII information is checked on the slave side If the slave cannot operated based on the SII information written a SI
51. 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 mapping is invalid the RxPDO mapping 0024 hex Total number of assignment The total size of the objects specified with the Sync Manager PDO 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 more than 32 bits Keep the total object size that is mapped to a PDO to within 4 bytes 0043 hex Incorrect object specification An object of sub index 0 number of entries etc that cannot be sub index 0 is mapped allocated to a PDO was mapped Remove the corresponding object from the mapping 0044 hex Object not supported An object that does not exist was mapped Correct the PDO mapping A sub index of an object that does not exist was mapped Correct the PDO mapping 0045 hex 5000 to 5999 and 6000 to An object from 5000 to 5999 was allocated to RxPDO mapping at the 6999 objects mixed same time as an object from 6000 to 6999 Objects from 5000 to 5999 and 6000 to 6999 cannot be mixed in RxPDO so change the mapping to only one of the ranges When a PDO
52. System resetting slave errors Effects User program Continues Operation Motor stops Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None DH 25 Cause and Assumed cause Correction Prevention An Inverter trip was detected Read slave object 3000 hex sub index Depends on the nature of the error 13 hex cause and 3000 hex sub index 14 hex inverter status values and check the details Remove the cause of the trip accordingly Then execute an error reset with slave object 5000 hex or a fault reset with 6040 hex Attached None information Precautions None Remarks EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 39 10413 oeuis S suonduoseg 1043 2 9 Appendices Event name PDO Setting Error Event code 34F00000 hex Meaning There is an illegal setting value in the PDO mapping Source EtherCAT Master Function Module Source details Slave Detection At transfer of timing EtherCAT Config uration Setup Error attributes Level Minor fault Recovery Error reset after Log category System resetting slave errors Effects User program Continues Operation The slave can enter the Pre operational state Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None 3 d Cause and Assumed cause
53. U8 Access RW PDO map Not possible Sub index 1 1st PDO Mapping object index of assigned PDO Setting range Unit Default setting 1701 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 2 2nd PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 3 3rd PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 4th PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 5 5th PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible The receive PDOs used by this Sync Manager are given Up to 5 PDOs can be assigned An object from 5000 to 5999 cannot be allocated at the same time as an object from 6000 to 6999 5 14 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 1013 hex Sync Manager 3 PDO assignment All Sub index 0 Number of assigned TXPDOs Setting range Unit Default setting 00 hex Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st PDO Mapping object index of assigned PDO
54. a trip is generated for the Generated when a trip reset was performed with the inverter 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 Option timeout A trip occurs whena E69 The optional board is disconnected timeout is generated Check that the optional board case and inverter are fitted in communication together correctly and check for looseness in the fastening between the inverter screw and optional PCB The optional board is faulty gt If they are fitted together correctly the optional PCB may be faulty Replace the optional board 6 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices c 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 Specifications 2 cci e See x Be Pee eee aie Re A 2 A 1 1 Appearance and 5
55. closest possible ground location Also refer to the inverter manual 9ui 104 pue S Z yun 2 5 2 Wiring the EtherCAT Communication Unit Perform the wiring for the communications cables Preparing the communications cables Determine the number 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 on page 2 7 uoneoiunuuo 1v2Jeui3 eui 2 9 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 15 2 Starting a Sample System Wiring the communications cables 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
56. 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 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 Precautions for Correct Use Installation Follow the inverter mounting direction restrictions Modbus RTU communication If this EtherCAT Communication Unit i
57. function input 5 12 Multi function input 6 13 Multi function input 7 Reserved The reserved area Set 0 Use by assigning a function to the multi function input with the inverter parameters Status The bit data for the status information is shown below 15 12 9 7 3 1 0 Bit Name Meaning 0 Forward operation in 0 Stopped during reverse operation progress 1 During forward operation 1 Reverse operation in 0 Stopped during forward operation progress 1 During reverse operation 3 Fault 0 No error or trip occurred for the unit or inverter 1 Error or trip occurred for the unit or inverter 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter 9 Remote 0 Local Operations from EtherCAT are disabled 1 Remote Operations from EtherCAT are enabled 12 Frequency matching 0 During acceleration deceleration 1 Frequency matched 15 Connection error between the 0 Normal Optional Unit and inverter 1 Error Cannot update data for the inverter To restore turn the power OFF and then ON again Reserved The reserved area Set 0 Output frequency monitor Output frequency monitor Current Current position Name position monitor Name monitor Meaning Displays the output frequency in increments of 0 01 Hz Meaning Displays the value of inverter parameter d030 Current posi
58. hex Selection 2 LOG1 to LOG3 TxPDO 3014 C3 149A Logic Output Signal 3 C150 RW 00 AND Possible hex hex hex Operator Selection 01 OR TxPDO 02 XOR 3014 CD 14A4 Input Terminal 1 C160 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 CE 14A5 nput Terminal 2 C161 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 CF 14A6 nput Terminal 3 C162 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 DO 14A7 nput Terminal 4 C163 R W Oto 200 1 Possible hex hex hex Response Time TxPDO 3014 D1 14A8 nput Terminal 5 C164 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 D2 14A9 nput Terminal 6 C165 RW 0 to 200 1 Possible hex hex hex Response Time TxPDO 3014 D3 14AA nput 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 2 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 Possible hex hex 02 Auto tuning data TxPDO 3015 2bE 1503 hex Motor Capacity 1 H003 RW 00 0 1 Possible hex hex 01 0 2 TxPDO 02 0 4 03 0 55 04 0 75 05 1 1 06 1 5 07 2 2 08 3 0 09 3 7 10 4 0 11288 12 78 13 11 0 14 15 0 15 18 5 3015 2F 1504 hex Motor Pole Number 1 H004 RW 00 2P Poss
59. 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 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 Slave Slave Slave Reading of output data addressed to self Writing of input data Ethernet frame 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 Ethernet data Max of 1 498 bytes CRC header
60. is connected correctly to the connector Check that the communications cable is wired correctly Check that the Master Unit is operating correctly If using an OMRON Master Unit check the Master Unit mode and the node address setting rotary switches of the Communication Unit f using a Master Unit from another manufacturer refer to the user s manual for that master e If there are devices that generate noise take necessary measures against the noise to protect the Master Unit Communication Unit and communications cables OFF OFF OFF Power supply error Power is not supplied correctly to the Communication Unit 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 Check that the Communication Unit is mounted correctly onto the inverter Eliminate the cause of the error and then turn the inverter power supply OFF and ON again OFF ON Hardware error A hardware error has occurred Check that the Communication Unit is mounted correctly onto the inverter Replace the Communication Unit EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 Handling of Errors and Maintenance RUN ERR dre Meaning Remarks B Invalid node The setting of the node Check the setting of th
61. is set in 000000 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 area turns ON 8 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 5b 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 HUN 1 uonisod eui YUM Jonuo2 p z p 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
62. jogging stop Enabled in operation 3012 60 123B Torque Boost A041 RW 00 Manual torque boost Possible hex hex hex Selection 1 01 Automatic torque boost TxPDO 3012 61 123C Manual Torque Boost A042 RW 0 to 200 0 1 Possible hex hex hex Voltage 1 3012 62 123D Manual Torque Boost A043 RW 0 to 500 0 1 Possible hex hex hex Frequency 1 3012 63 123E Control Method 1 A044 RW 00 Constant torque characteristics Possible hex hex hex 01 Reduced torque characteristics TxPDO 02 Free V f setting 03 Sensorless vector control 3012 64 123F hex Output Voltage Gain 1 A045 RW 20 to 100 1 Possible hex hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 15 151 491J9AU Y Y Appendices Sub Register r Parameter Data PDO Index index Function name No RW Monitor and setting items resolution map 3012 65 1240 hex Automatic Torque A046 RW 0 to 255 1 Possible hex hex Boost Voltage Compensation Gain 1 3012 66 1241 hex Automatic Torque A047 RW 0 to 255 1 Possible hex hex Boost Slip Compensation Gain 1 3012 6A 1245 hex Internal DC Injection A051 RW 00 Disabled Possible hex hex Braking Selection 01 Enabled during stop TxPDO 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 he
63. option code 1 1 2 bytes INT16 RW Not possible 6060 hex Modes of operation 2 02 hex 1 byte INT8 RW Possible 6061 hex 0 Modes of operation display Oto 10 02 hex 1 byte INT8 RO Possible TxPDO 6502 hex 0 Supported drive modes 00000002 hex 4 bytes U32 RO Not possible A 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 4 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 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 Inverter Parameter List Appendices Holding register number list frequency reference and fault monitor Sub Register Parameter UA Data PDO Index index INO Function name No R W Monitor and setting items resolution map 4000 02 0001 hex Output Frequency F001 RW 0 to maximum frequency enabled 0 01 Hz Possible hex hex Setting when A001 03 TxPDO 3000 05 0004 hex Inverter Status B RO 0 Stopped Possible hex hex 1 During operation TxPDO 2 During trip 3000 06 0005 hex Inverter Status C RO 0 Possible hex hex 1 Sto
64. setting x 10 x 1 Z WARNING _ Risk of electric shock Read manual before installing A e Wait 10 minutes for capacitor discharge after_disconnecting nower sunn v LIN Communications connector 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 QUAD IN OUT RUN ERR OUAO O the IN OUT RUN ERR SGSAA MAZ EUT 1v249u13 10 sPunjes pue S WEN L Z Name Color State Meaning L A IN Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing link OUT Green OFF Link not established in physical layer Link established in physical layer o Flickering In operation after establishing link B RUN Green OFF Init state E Blinking Pre operational state Single flash Safe operational state S ON Operational state 2 ERR Red OFF No error Blinking Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout EN Additional Information The timing of each flashing state of indicato
65. size is 0 The size assigned to Sync Manager was set to 0 because the PDO mapping is invalid Correct the PDO mapping 00E7 hex Incorrect direction setting The access direction read write setting of Sync Manager is incorrect Change the setting 8 hex Buffer mode is incorrect The Butter mode setting of Sync Manager is incorrect Change the 8000 to 8002 hex Other error setting An error other than those above occurred Turn the power supply OFF and ON again If the problem persists replace the unit FFFF hex No error EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 3 4 AL Status Code List 6 Handling of Errors and Maintenance Code Meaning Cause and possible corrections 0011 hex Invalid status transition An impossible status transition request was received Perform the request received 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
66. text inside or near e The symbol shown to the left indicates typical compulsory items EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Safety Precautions N WARNING Do not remove the terminal block cover or the EtherCAT Communication Unit while the power is being supplied and within 10 minutes after the power is turned 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 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
67. 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 Position Control Units CJ1W NC28 1 NC481 NC88 1 NCF8 1 NC482 NC882 OPERATION MANUAL Cat No W487 2 7 3 Checking the Master Unit Check that the Master Unit has transitioned to normal operation from initial processing The indicators of the CJ1W NCx82 make it easy to check the changes in status 7 segment ECAT ECAT Initial processing Flashing ON OFF OFF OFF OFF ON Normal operation 00 ON OFF OFF ON OFF Flashing For details refer to Position Control Units CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 OPERATION MANUAL Cat No W487 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 7 4 Checking the Inverter and EtherCAT Communication Unit Check the POWER indicator 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 pue Dunes Z Z J91SPW ZEXON MIPO BUID L A IN L AOUT RUN ERR ON ON OFF Initial processing OFF Normal operation Flashing Flashing ON OFF 2nd unit WAIN
68. 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 Objects 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 RxPDOs 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 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 Host Controller Inverter 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 00 hex of the mapping table In this mapping table 1600 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs The following table is an exam
69. was assigned to Sync Manager 2PDO assignment 1C12 hex objects from 5000 to 5999 and 6000 to 6999 were mixed in the assignment Correct the assignment so that they are not mixed 0046 hex Object specified for PDO map An object that cannot be allocated to a PDO was mapped Correct the is invalid PDO mapping 0047 hex Incorrect data size for The specified object data size is incorrect Change to a correct size 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT registers are overlapping Such as a start command or speed reference is allocated more than once Change the PDO mapping S10413 uoneoijddy 9 S10413 Buidde N 20 esneo jo 151 e 9 6 Handling of Errors and Maintenance
70. written Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None EE EE Cause and Assumed cause Correction Prevention Sorntec hon Non volatile memory failure Replace the EtherCAT Communica None tions Unit or the EtherCAT slave Attached None information Precautions This error is not recorded in the error log of the slave Remarks Event name Connection Error between Inverter and Communications Event code 04BA0000 hex Unit Meaning An error occurred in the connection between the Inverter and the EtherCAT Communications Unit for the Inverter Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System cycling slave power Effects User program Continues Operation Inverter communications will not operate Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None m m Cause and Assumed cause Correction Prevention correction Contact failure between the Inverter Securely install the EtherCAT Com Securely install the EtherCAT Com and the EtherCAT Communications munications Unit for the Inverter munications Unit for the Inverter Unit for the Inverter Inverter trip was reset Turn ON the Inverter s power supply None The Inverter was initialized or the again mode was changed The EtherCAT Communications Unit
71. 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 7 3 Common Slave Specifications 3 6 Sysmac Device Functions The control device products designed according to the unified communication specifications and user interface specifications applicable to OMRON s control devices are called Sysmac devices In addition the functions of these devices are called Sysmac device functions The following explains the functions available when this product is combined with the Machine Automation Controller including NJ Series or automation software The EtherCAT Communication Unit 3G3AX MX2 ECT is a Sysmac device that if the unit version is 1 1 or later supports Sysmac device functions Sysmac error status Errors generated by slaves are systematically defined in Sysmac devices When Sysmac Studio is used error messages and remedial actions can be checked by following common operating procedures Errors are notified by 2002 hex 01 hex Sysmac Error status If errors detected by the EtherCAT Communication Unit are to be displayed in Sysmac Studio 2002 hex 01 hex Sysmac E
72. 00 hex 2 bytes U16 RW Possible FFFF hex 6041 hex 0 Statusword 0000 to 0000 hex 2 bytes U16 RO Possible FFFF hex TxPDO 6042 hex 0 vl target velocity 8000 to rpm 0000 hex 2 bytes INT16 RW Possible 7FFF hex 6043 hex 0 vl velocity demand 8000 to rpm 0000 hex 2 bytes INT16 RO Possible 7FFF hex TxPDO 6044 hex 0 vl velocity actual value 8000 to rpm 0000 hex 2 bytes INT16 RO Possible 7FFF hex TxPDO 6046 hex vl velocity min max amount 0 Number of entries Command 02 hex 1 byte U8 RO Not unit possible 1 vl velocity min amount 00000000 to rpm 0000000F hex 4 bytes U32 RW Not FFFFFFFF hex possible 2 vl velocity max amount 00000000 to rpm 00000708 hex 4 bytes U32 RW Not FFFFFFFF hex possible 6048 hex vl velocity acceleration 0 Number of entries Command 02 hex 1 byte U8 RO Not unit possible 1 Delta speed 00000000 to rpm 00000708 hex 4 bytes U32 RO Not FFFFFFFF hex possible 2 Delta time 0000 to S 000A hex 2 bytes U16 RW Not FFFF hex possible 6049 hex vl velocity deceleration 0 Number of entries Command 02 hex 1 byte U8 RO Not unit possible 1 Delta speed 00000000 to rpm 00000708 hex 4 bytes U32 RO Not FFFFFFFF hex possible 2 Delta time 0000 to s 000A hex 2 bytes U16 RW Not FFFF hex possible 605B hex 0 Shutdown option code 1 1 2 bytes INT16 RW Not possible 605C hex 0 Disable operation option code 1 1 2 bytes INT16 RW Not possible 605E hex 0 Fault reaction
73. 013 39 1312 hex Free electronic b017 RW Free electronic Thermal Frequency 1 Hz Possible hex hex Thermal Frequency 2 1 to Free Setting Electric Thermal TxPDO Frequency 3 3013 3A 1313 hex Free electronic b018 RW 0 00 to rated current 0 01 Possible hex hex Thermal Current 2 TxPDO 3013 3B 1314 hex Free electronic b019 RW Free electronic Thermal Frequency 1 Hz Possible hex hex Thermal Frequency 3 2 to 400 1000 TxPDO 3013 3C 1315 hex Free electronic b020 RW 0 00 to rated current 0 01 Possible hex hex Thermal Current 3 TxPDO 3013 3D 1316 hex Overload Limit 1 6021 RW 00 Disabled Possible hex hex Selection 01 Enabled during TxPDO acceleration constant speed 02 Enabled during constant speed 03 Enabled during acceleration constant speed accelerated during regeneration 3013 3E 1317 hex Overload Limit 1 Level b022 RW 200 to 2000 0 01 Possible hex hex TxPDO 3013 3F 1318 hex Overload Limit 1 b023 RW 1 to 30000 0 1 s Possible hex hex Parameter TxPDO 3013 40 1319 hex Overload Limit 1 b024 RW 00 Disabled Possible hex hex Selection 2 01 Enabled during TxPDO acceleration constant speed 02 Enabled during constant speed 03 Enabled during acceleration constant speed accelerated during regeneration 3013 41 131A Overload Limit 1 b025 RW 200 to 2000 0 01 Possible hex hex hex Level 2 TxPDO 3013 42 131B Overload Limit 1 b026 RW 1 to 30000 0 1 s Possible hex hex hex Parameter 2 TxPDO 3013
74. 10000 0 1 Hz Possible hex hex TxPDO 3022 80 223B Torque Boost A241 RW 00 Manual torque boost Possible hex hex hex Selection 2 01 Automatic torque boost TxPDO 3022 81 223C Manual Torque Boost A242 RW 0 to 200 0 1 Possible hex hex hex Voltage 2 3022 82 223D Manual Torque Boost A243 RW 0 to 500 0 1 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 33 Appendices Sub Register Data PDO Index NS Function name No R W Monitor and setting items 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 hex Output Voltage Gain 2 A245 RW 20 to 100 1 Possible hex hex 3022 85 2240 hex Automatic Torque A246 RW 0 to 255 1 Possible hex hex Boost Voltage Compensation Gain 2 3022 86 2241 hex Automatic Torque A247 RW 0 to 255 1 Possible hex hex Boost Slip Compensation Gain 2 4022 94 224F hex Frequency Upper A261 RW 0 0 01 Hz Possible hex hex Limit 2 Frequency Lower Limit 2 to TxPDO Maximum Frequency 2 4022 96 2251 hex Frequency Lower A262 RW 0 0 01 Hz Possible hex hex Limit 2 Starting F
75. 14 65 143C Overtorque Level C056 RW 0 to 200 1 96 Possible hex hex hex Reverse TxPDO Regeneration 3014 66 143D Overtorque Level C057 RW 0 to 200 11 Possible hex hex hex Reverse Power TxPDO Running 3014 67 143E Overtorque Level C058 RW 0 to 200 11 Possible hex hex hex Forward TxPDO Regeneration 3014 68 143F hex Overtorque Undertorq C059 RW 00 During Possible hex hex ue Signal Output acceleration deceleration TxPDO Mode Selection constant speed 01 Only during constant speed 3014 6A 1441 hex Electronic Thermal C061 RW 0 to 100 1 Possible hex hex Warning Level TxPDO 3014 6C 1443 hex 0 Hz Detection Level C063 RW 0 to 10000 0 01 Hz Possible hex hex TxPDO 3014 6D 1444 hex Cooling Fin Overheat C064 RW 0 to 110 1 C Possible hex hex Warning Level TxPDO 3014 74 144B Communication Speed C071 RW 03 2 400 bps Possible hex hex hex 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 27 151 491J9AU Y Y Appendices Sub Register 7 Parameter 7 Data PDO Index index No Function name No R W Monitor and setting items resolution map 3014 75 144C Communication C072 RW 1 to 247 Possible hex hex hex Station No Selection TxPDO 3014 77 14
76. 16 Access RO PDO map Not possible Sub index 4 Number of error message Setting range Unit Default setting 00 hex Size 2 bytes U16 Access RO PDO map Not possible Sub indexes 5 to A PDO mapping error messag e1to6 Unit Unit Default setting 0000 hex Size 2 bytes U16 Access RO PDO map Not possible Gives the cause of not being able to transit to Op when PDOs are freely mapped Gives up to 6 PDO mapping error messages Sub index 1 error cause gives the latest cause code Sub index 4 number of error messages gives the number of error messages that are registered Sub indexes 5 to 10 PDO mapping error message 1 to 6 give the cause codes when errors occur in PDO mapping Messages are saved in sequence from 1 to 6 and no more are saved The history is cleared when the power supply is turned OFF or the state transitions from initialization Init to pre operational Pre Op is made 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 RxPDO mapping is invalid 0024 hex Total number of as
77. 1x00 power supply Firstly enter the network settings How to set the network is explained below by taking the MX2 ECT sample project as an example 1 Starting the Sysmac Studio lt Project Window gt Click the New Project Button enter MX2 ECT sample under the Project name and then click the Create Button EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 Registering an EtherCAT slave lt Controller Configurations and Setup Pane gt Right click EtherCAT under the Configurations and Setup menu on the left side of the pane and open the Edit Pane When a group of items that can be registered as an EtherCAT slave appears on the right side of the pane select Frequency Inverter From the slave list on the right side of the pane drag and drop 3G3AX MX2 ECT onto Master at the center of the pane and the Unit will be registered as an EtherCAT slave pue Hues 8 2 00 1 108 Buy OMEN 2 8 2 drug amp drop EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 23 2 Starting a Sample System lt Pane when 2 inverters are registered gt The pane after 2 inverters are registered is shown below Sysmac Studio PDO Map Settings 3 Registering an map Right click Map under the Configurations and Setup menu on the left side of the pane and open the Edit Pane With the
78. 3 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 Overcurrent 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register A Parameter Data PDO Index index No Function name No R W Monitor and setting items resolution map 3013 32 130B Overvoltage Overcurrent b010 RW 1to3 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 3013 34 130D Electronic Thermal b012 RW 200 to 1000 0 1 Possible hex hex hex Level 1 TxPDO 3013 35 130E Electronic Thermal b013 RW 00 Reduced torque characteristics Possible hex hex hex Characteristics 01 Constant torque characteristics TxPDO Selection 1 02 Free setting 3013 37 1310 hex Free electronic b015 RW 0 to Free electronic Thermal 1 Hz Possible hex hex Thermal Frequency 1 Frequency 2 TxPDO 3013 38 1311 hex Free electronic b016 RW 0 00 to rated current 0 01 Possible hex hex Thermal Current 1 TxPDO 3
79. 3013 AC 1385 hex Overvoltage b130 RW 00 Disabled Possible hex hex Suppression Function 01 DC voltage kept constant TxPDO Selection During 02 Acceleration enabled Deceleration 3013 AD 1386 hex Overvoltage b131 RW 200 V class 330 to 390 1IV Possible hex hex Suppression Level 400 V class 660 to 780 TxPDO During Deceleration 3013 AE 1387 hex Overvoltage b132 RW 10 to 3000 0 01 s Possible hex hex Suppression Parameter TxPDO 3013 AF 1388 hex Overvoltage b133 RW 0 to 500 0 01 Possible hex hex Suppression Proportional Gain Setting 3013 BO 1389 hex Overvoltage b134 RW 0 to 1500 0 1 s Possible hex hex Suppression Integral Time Setting 3013 BB 1394 hex GS Input Operation b145 RW 00 No tripping Possible hex hex Selection 01 Tripping TxPDO 3013 co 1399 hex Main Panel Display b150 RW 0 to 60 hex BCD d001 to d060 Possible hex hex Selection 3013 CA 13A3 d050 Monitor Target 1 b160 RW 0 to 30 hex BCD d001 to d030 Possible hex hex hex 3013 CB 13A4 d050 Monitor Target 2 b161 RW 0 to 30 hex BCD 9001 4030 Possible hex hex hex 3013 CD 13A6 9001 9007 Frequency b163 RW 00 Disabled Possible hex hex hex Setting Mode Selection 01 Enabled 3013 CE 13A7 Initial Screen b164 RW 00 Disabled Possible hex hex hex Automatic Switching 01 Enabled Function A 22 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Su
80. 3AX MX2 ECT 5 17 5 CiA402 Drive Profile 3102 hex Inverter parameter object 259 16 bit access All Sub index 0 Number of assigned Setting range Unit Default setting 04 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Inverter register FFFC hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map Sub index 2 Inverter register FFFD hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map Sub index 3 Inverter register FFFE hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map P Sub index 4 Inverter register FFFF hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO 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 Unit Default setting FE hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Inverter register 0000 hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO Sub index 2 Inverter register 0001 hex Setting range Unit Default setting
81. 4000000 10000000 0 01 Possible hex hex Monitor after TxPDO conversion 4010 2 100 Real Frequency dooa8 RO 100000 to 4 100000 0 01 Hz Possible hex hex hex Monitor TxPDO 3010 2E 100D Torque Reference 9009 RO 200 to 200 1 Possible hex hex hex Monitor TxPDO 3010 2F 100E Torque Bias Monitor d010 RO 200 to 200 1 Possible hex hex hex TxPDO 3010 31 1010 hex Output Torque Monitor 4012 RO 200 to 200 1 Possible hex hex TxPDO 3010 32 1011 hex Output Voltage d013 RO 0 to 6000 0 1 V Possible hex hex Monitor TxPDO 3010 33 1012 hex Input Power Monitor do14 RO 0 to 9999 0 1 kW Possible hex hex TxPDO 4010 34 1013 hex Integrated Power d015 RO 0 to 9999000 Possible hex hex Monitor TxPDO 4010 36 1015 hex Total RUN Time d016 RO 0 to 999000 1 Possible hex hex Monitor TxPDO 4010 38 1017 hex Power ON Time d017 RO 0 to 999000 1 Possible hex hex Monitor TxPDO 3010 3A 1019 hex Fin Temperature d018 RO 200 to 1500 0 1 C Possible hex hex Monitor TxPDO 3010 3E 101D Life Assessment d022 RO 2 Capacitor on main circuit board Bit Possible hex hex hex Monitor 21 Cooling fan TxPDO 3010 47 1026 hex DC Voltage Monitor d102 RO 0 to 10000 0 1 V Possible hex hex TxPDO 3010 48 1027 hex Regenerative Braking d103 RO 0 to 1000 0 1 Possible hex hex Load Rate Monitor TxPDO 3010 49 1028 hex Electronic Thermal d104 RO 0 to 1000 0 1 Possible hex hex Load Rate Monitor TxPD
82. 4E Communication Parity C074 RW 00 Disabled Possible hex hex hex Selection 01 Even TxPDO 02 Odd 3014 78 144F hex Communication Stop C075 RW 1 1 bit Possible hex hex Bit Selection 2 2 bits TxPDO 3014 79 1450 hex Operation Selectionon C076 RW 00 Trip Possible hex hex Communication Error 01 Trip after deceleration stop TxPDO 02 Ignore 03 Free run stop 04 Deceleration stop 3014 7A 1451 hex Communication Error C077 RW 0 Timeout disabled 0 01 s Possible hex hex Timeout Period 1 to 9999 TxPDO 3014 7B 1452 hex Communication Wait C078 RW 0 to 1000 1 ms Possible hex hex Time TxPDO 3014 7E 1455 hex FV Adjustment C081 RW 0 to 2000 0 1 Possible hex hex 3014 7F 1456 hex FI Adjustment C082 RW 0 to 2000 0 1 76 Possible hex hex 3014 82 1459 hex Thermistor Adjustment C085 RW 0 to 2000 0 1 Possible hex hex 3014 88 145F hex Debug Mode Selection C091 RW For factory adjustment Do not change Possible hex hex 3014 8D 1464 hex Communication C096 RW 00 Modbus communication Possible hex hex Selection Modbus RTU TxPDO 01 Communication between inverters 02 Communication between inverters management 3014 8F 1466 hex Co inverter C098 RW 1to8 Possible hex hex Communication TxPDO Starting Station Number 3014 90 1467 hex Co inverter C099 RW 1to8 Possible hex hex Communication TxPDO Ending Station Number 3014 91 1468 hex Co inverter C100 RW 00 485 terminals start Possible
83. 5 A 2 A 1 2 5 A 2 A 1 3 Communications Specifications A 3 A 2 Communications Response Time A 4 A 3 Object Lists riu zlii x gn le eae tah ga eil Saher A 5 A 3 1 Object List meri crer in dee Re ES A 5 A 4 Inverter Parameter List A 9 5 Sysmac Error Status Codes A 36 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 1 Appendices A 1 Specifications A 1 1 Appearance and Dimensions Status Indicator Rotary switches for node address setting i 44 9 28 6 i pare E E UE ug 4 363AX MX2 ECT T o io g EEES aa nm WARNING _ Risk of electric shock o a fr 6 OS l cINa pour Jj EM TIT I FG cable 53 1 Communic
84. 6 9 6 4 Inverter Errors 5 2 le6 lci ewAveIl x4 SLT ba Se tied 6 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 1 6 Handling of Errors and Maintenance 6 1 6 1 1 The 7 types of indicator lighting status are shown below Abbreviation ON ON Communication Line Errors Status IndicatorExplanations and Error Handling Name and status OFF OFF F Flickering ON 50 ms and OFF 50 ms B Blinking ON 200 ms and OFF 200 ms SF Single flash ON 200 ms and OFF 1 000 ms D Double flash ON 200 ms OFF 200 ms ON 200 ms and OFF 1 000 ms RUN ON ERR OFF L A IN L A OUT ON Undefined During EtherCAT communications Meaning EtherCAT communications are being executed Remarks The status is normal if either process data communications message communications or both are being executed Link established in physical layer The operation waiting status after the link is established in the physical layer There was a status transition instruction from the host system during operation and atransition was made to a status other than Operational Check that the Master Unit is operating correctly Refer to the manual for the Master Unit OFF Link not established in physical layer The link is not established in the physical layer cannot participate in the network Check that the communications cable
85. 65530 0 01 mH Possible hex hex hex TxPDO 3025 67 251C Motor 2 Parameter lo H223 RW 1 to 65530 0 01 A Possible hex hex hex TxPDO 4025 68 251D Motor 2 Parameter J H224 RW 1 to 9999000 0 01 Possible hex hex hex TxPDO 3025 70 2525 hex Motor 2 Parameter R1 H230 RW 1 to 65530 0 001 Q Possible hex hex Auto tuning Data TxPDO 3025 72 2527 hex Motor 2 Parameter R2 H231 RW 1 to 65530 0 001 Q Possible hex hex Auto tuning Data TxPDO 3025 74 2529 hex Motor 2 Parameter L H232 RW 1 to 65530 0 01 mH Possible hex hex Auto tuning Data TxPDO 3025 76 252B Motor 2 Parameter lo H233 RW 1 to 65530 0 01 A Possible hex hex hex Auto tuning Data TxPDO 4025 77 252C Motor 2 Parameter J H234 RW 1 to 9999000 0 01 Possible hex hex hex Auto tuning Data TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 35 1511 J91J9AU p V 1511 10940 1 6 Appendices 5 Sysmac Error Status Codes A list and descriptions of the error event codes that display in Sysmac Studio are provided A 5 1 Error Table The errors that may occur for this Unit are listed below Event levels are given in the table as follows Abbreviation Name Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information Level Event code Event name Meaning Assumed cause Reference Maj Prt Min Obs Info 04A10000 hex Non volatile
86. Appendices Sub Register 3 Parameter d Data PDO Index index INO Function name No R W Monitor and setting items resolution map 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 00 AND Possible hex hex Operator Selection 01 OR TxPDO 02 XOR 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 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 3014 1497 hex Logic Output Signal 2 C147 RW 00 AND Possible hex hex Operator Selection 01 OR TxPDO 02 XOR 3014 C1 1498 hex Logic Output Signal3 C148 RW Same as C021 to C022 excluding Possible hex hex Selection 1 LOG1 to LOG3 TxPDO 3014 C2 1499 hex Logic Output Signal 3 C149 RW Same as C021 to C022 excluding Possible hex
87. Cause and possible corrections Slaves are not connected to the network Checkthat the Master Unit is operating correctly If using an OMRON Master Unit check the Master Unit mode and the slave node addresses f 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 e f the L A IN and OUT indicators of a certain slave remain OFF replace the corresponding slave fthere are devices that generate noise take necessary measures against the noise to protect the Master Unit Communication Unit and communications cables L A IN and L A OUT indicators remain flashing green The slave status has not transitioned to Operational Refer to the Master Unit s manual and check that the Master Unit is operating correctly e f the L A IN and OUT indicators of a certain 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 show
88. Correction Prevention correction The PDO mapping or SyncManager Read and check the ALStatus code Check that there are no mistakes in settings are incorrect and the value in 5200 hex Correct the settings for the PDO mapping and settings SyncManager Attached None information Precautions None Remarks A 40 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Index EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Index 1 Index Index A Abort Codes 2 ce Ase 3 6 C Cable length i cde eei de es 2 6 CANOPEN lene aUe s 3 2 Cause code list 5 21 CiA402 profile eeeseeeseeseenennnee 4 12 CoE Communications area 5 8 Communications cable sese 1 7 Communications Connector 2 5 Configuration tool sesseseeeeeeeneenenee 1 7 D Device Profile area 5 22 E Emergency Messages 3 7 3 8 Error Code List RG RE ke 6 6 RERBA 1 7 Ethernet frame 1 4 EtherCAT master esssssssssseeeeeenennennns 1 7 EtherCA slave a deme 1 7 EtherCAT telegram seseseseeeenene 1 4 F Fixed PDO Mapping
89. Details 1012 hex Allocate RxPDO master to slave Up to 5 RxPDOs can be allocated 1013 hex Allocate TxPDO slave to master Up to 5 TxPDOs can be allocated eullino L t Budde 199190 2 1 7 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 f 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 2 2 Object Mapping The object that will be used is allocated with the fixed settings below PDO mapping PDO Description 1701 hex 5000 Command 5010 Frequency reference 1600 hex 4016 6B 60 Multi step position command 1601 hex 301F 40 Mu
90. Hz Possible hex TxPDO 3012 80 125B Jump Frequency A068 RW 0 to 1000 10000 0 01 Hz Possible hex hex hex Width 3 TxPDO 4012 81 125C Acceleration Stop A069 RW 0 to 40000 0 01 Hz Possible hex hex hex Frequency TxPDO 3012 83 125E Acceleration Stop A070 RW 0 to 600 0 1 s Possible hex hex hex Time TxPDO 3012 84 125F hex PID Selection A071 RW 00 Disabled Possible hex hex 01 Enabled TxPDO 02 Reverse output enabled 3012 85 1260 hex PID P Gain A072 RW 2 to 2500 0 01 Possible hex hex 3012 86 1261 hex PID I Gain A073 RW 0 to 36000 0 1 s Possible hex hex 3012 87 1262 hex PID D Gain A074 RW 0 to 10000 0 01 s Possible hex hex 3012 88 1263 hex PID Scale A075 RW 1 to 9999 0 01 Possible hex hex TxPDO 3012 89 1264 hex PID Feedback A076 00 Current Fl 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 0 to 1000 0 1 Possible hex hex Limit TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter eX Data PDO Index index INO Function name No R W Monitor and setting items resol
91. I verification error will occur If the error still occurs after turning the power OFF and then ON again contact your OMRON sales representative H Precautions for Correct Use Do not modify the SII information using a setting tool by other manufacturer EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Inverter Control Re rss This chapter describes the profiles that are used to control inverters ee ee aene e eu etel e RUE 4 2 4 1 1 Function Selection 0 0 00 eect ene 4 2 4 1 2 Object Mapping IIR Ih 4 2 4 2 Control with the Position Control Unit 4 4 4 2 1 Inverter Setting lille nh 4 4 4 2 2 amp 4 4 4 2 3 Control Method 4 5 4 2 4 Sample 4 7 4 3 Control with the Independent Profile 4 10 4 8 4 Inverter Setting 0 0 0 cette eee 4 10 43 2 Profile Allocation acer bu ee eed eee aks ee ee 4 10 4 3 3 Control Method 0 00 ccc s 4 10 4 4 Control with the CiA402 Profile 4 12 4 4 1 Inverter Setting 4 12 4 4 2 Profile
92. MANUAL 3G3AX MX2 ECT Authorized Distributor
93. MMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO 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 Read and Understand this Manual 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
94. O 3016 67 163A Pulse Train Frequency P056 RW 1 to 200 0 01 s Possible hex hex hex Filter Time Constant TxPDO 3016 68 163B Pulse Train Bias 57 RW 100 to 100 1 Possible hex hex hex Amount TxPDO 3016 69 163C Pulse Train Limit 58 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 4016 6F 1642 hex Multi step Position P062 RW Position range setting reverse to 1 Possible hex hex Command 2 position range setting forward Displays MSB 4 digits including 4016 71 1644 hex Multi step Position 6 RW Position range setting reverse to 1 Possible hex hex Command 3 position range setting forward Displays MSB 4 digits including 4016 73 1646 hex Multi step Position P064 RW Position range setting reverse to 1 Possible 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 revers
95. O 4010 57 1036 hex Position Reference do29 RO 268435455 to 268435455 1 Possible hex hex Monitor TxPDO 4010 59 1038 hex Current position d030 RO 268435455 to 268435455 1 Possible hex hex monitor TxPDO 3010 78 1057 hex Inverter Mode Monitor 4060 RO 0 1 IM heavy load Possible hex hex 1 l V IM light load TxPDO 2 H I IM power supply harmonics EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 13 151 491J9AU Y Y Appendices Holding register number list F group Sub Register T OR Data PDO Index PAANS Function name No R W Monitor and setting items 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 Holding register number list A b C H P group Sub Register Data PDO Index 5 Function No R W Monitor and setting items 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 04 Optional board 06
96. OMRON Inverter MX2 Series EtherCAT Communication Unit User s Manual 3G3AX MX2 ECT EtherCAT Communication Unit WARNING 1574 E1 02 OMRON 2011 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 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
97. ON If parameter C102 is not displayed first set parameter b037 to 01 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 19 2 Starting a Sample System 2 7 Communication Starting and Operation Checking with CJ1W NCx82 Master 2 7 1 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 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 inverters is turned ON within a certain time All Registered Slave Participation Standby Time parameter of CJ1W NCx82 default value is 10 seconds after turning ON the PLC power supply 2 7 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 NCXx82 the I O table to start the support tool When the support tool starts the Network Auto Setup dialog box is displayed Perform
98. 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 PDO Mapping This unit uses the PDOs below to allocate the objects 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 1st receive PDO Mapping to allocated to each PDO 5th receive PDO Mapping 1700 hex The fixed allocation that conforms to the CiA402 drive profile 257th receive PDO Mapping 1701 hex The fixed allocation of the independent profile 258th receive PDO Mapping 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 1st transmit PDO Mapping to allocated to each PDO 5th transmit PDO Mapping 1B00 hex The fixed allocation that conforms to the CiA402 drive profile 257th transmit PDO Mapping 1B01 hex The fixed allocation of the independent profile 258th transmit PDO Mapping 1BFF hex By default Sysmac Studio assigns 2002 hex Sysmac error status 512th transmit PDO Mapping 4 2 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control Sync ManagerAssignment In this unit specify the PDOs that you want to use as follows Sync Manager Sync Manager PDO assignment
99. Pulse train frequency 07 Do not set 10 Operation function output 3012 27 1202 hex RUN Command A002 RW 01 Control circuit terminal block Possible hex hex Selection 1 02 Digital operator TxPDO 03 Modbus communication Modbus RTU 04 Optional board 3012 28 1203 hex Base Frequency 1 A003 RW 300 to Maximum Frequency 1 0 1 Hz Possible hex hex TxPDO 3012 29 1204 hex Maximum Frequency 1 A004 RW 300 to 4000 10000 0 1 Hz Possible hex hex TxPDO 3012 2A 1205 hex FV FI Selection A005 RW 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 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 4012 32 120D FV End Frequency A012 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 3012 34 120F hex FV Start Ratio A013 RW 0 to 100 1 Possible hex hex TxPDO 3012 35 1210 hex FV End Ratio A014 RW to 100 1 Possible hex hex TxPDO 3012 36 1211 hex FV Start Selection A015 RW 00 Start frequency Possible hex hex 01 0Hz TxPDO 3012 37 1212 hex FV Fl sampling A016 RW 1 to 30 31 with 500 ms filter 0 1 1 Possible hex hex Hz hysteresis TxPDO 3012 3A 1215 hex Multi step Speed A019 RW 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 Star
100. Setting range Unit Default setting 1B01 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 2 2nd PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 3 3rd PDO Mapping object index of assigned PDO a Setting range Unit Default setting 0000 hex a Size 2 bytes U16 Access RW PDO map Not possible 9 Sub index 4 4th PDO Mapping object index of assigned PDO h Setting range Unit Default setting 0000 hex 3 Size 2 bytes U16 Access RW PDO map Not possible 3 Sub index 5 5th PDO Mapping object index of assigned PDO Setting range Unit Default setting 0000 hex Size 2 bytes 016 Access RW PDO map Not possible a The transmit PDOs used by this Sync Manager are given 5 e Up to 5 PDOs can be assigned 1C32 hex SM 2 synchronization All Sub index 0 Number of synchronization parameters Setting range Unit Default setting 20 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Synchronization type Setting range Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 Synchronization types supported Setting range Unit Default setting 0001 hex Size 2 bytes U16 Access RO PDO map Not possible Synchronization type 1C32 to 01 hex
101. Size 1 byte U8 Access RO PDO map Possible Sub index 2 Sysmac Error Status Clear Setting range Unit Default setting 00 hex Size 1 byte U8 Access RW PDO map Not possible Notify and clear the Sysmac Error Status Sub index 1 Sysmac Error Status This object is used to notify that the EtherCAT Communication Unit has detected an error When the Machine Automation Controller NJ501 1x00 series etc is connected this object is mapped to the PDO Sub index 2 Sysmac Error Status Clear This object is used to allow the Sysmac product controller to reset the error present in the EtherCAT Communication Unit ES Additional Information By default Sysmac Studio automatically maps sub index 01 hex Sysmac Error status to the PDO by allocation of 1BFF hex 512th transmit PDO Mapping 2100 hex Error history clear All Setting range 6C636C65 hex Unit Default setting 00000000 hex Size 4 bytes U32 Access RW PDO map Not possible This object clears the contents of Diagnosis history 10F3 hex This function can be executed by writing 6C636C65 hex using SDO mailbox communications n the following cases an abort code is returned Writing with CompleteAccess Writing a value other than 6C636C65 hex 5 16 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 5 6 2 Inverter Parameter Objects Inverter parameters are allocated to ob
102. Size 2 bytes U32 Access RW PDO map Sub index 253 hex Inverter register OOFC hex Setting range Unit Default setting Size 2 bytes U32 Access RW d PDO map 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 All Same format as 3000 hex inverter registers OOFD to FFFB hex 5 18 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 Unit Default setting 04 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Inverter register FFFC hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map i Sub index 2 Inverter register FFFD hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map i Sub index 3 Inverter register FFFE hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map Sub index 4 Inverter register FFFF hex Setting range Unit Default setting Size 2 bytes U32 Access RW PDO map PDO mapping can only be performed for parameters that exist in the inverter Only para
103. UN Mode Status of NJ501 1x00 Master eae peratinginormally z User program is running User program is stopped Front LED PWR Green ON ON indicators RUN Green ON OFF ERROR Red OFF OFF 2 8 4 Checking the Inverter and EtherCAT Communication Unit Check the POWER indicator 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 L A IN L AOUT RUN ERR ON ON OFF Initial processing OFF Normal operation Flashing Flashing ON OFF 2nd unit WAIN UAOUT RUN ERR Initial processing ON OFF OFF OFF Normal operation Flashing OFF ON OFF f three or more units are connected the status LEDs behave in the same way as the LEDs on the first unit except for the last unit L A OUT on the last unit is always unlit 2 8 5 Checking the Operation Execute the NJ501 1x00 Master control program and check that the operation is normal 2 26 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Common Slave Specifications EE This chapter explains the common slave specifications during EtherCAT communication and about the PDOs and SDOs 3 1 Structure of CANopen over EtherCAT 3 2 3 2 Communications Status Transitions 3 3 3 3 Process Data Objects
104. and 4000 to 4999 that can be allocated to RxPDO master to slave are limited to those that can be changed during operation e t is not possible to allocate only the LSW or only the MSW to RxPDO or TxPDO The greater the number of RxPDOs or TxPDOs is the longer the data updating cycle becomes 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 Inverter Control 4 6 Trial operation via EtherCAT Communication Unit You can use the Test Operation function of your parameter setting tool CX Drive etc to operate the inverter on a trial basis Before performing trial operation of the inverter via the EtherCAT Communication Unit make sure EtherCAT network communications have been established properly The main purpose of trial operation is to confirm that the system operates correctly from the electrical viewpoint Perform trial operation after confirming safety around the devices If an error occurs during trial operation remove the error by referring to Chapter 6 Handling of Errors and Maintenance or the User s Manual for MX2 Series and resume operation after conforming safety Jv249ui3 BIA 9 p How to perform trial operation using a parameter setting tool 7 Start your parameter setting tool and make online connection via EtherCAT 2 Select the Test Operation functio
105. as the relations between them You should assume that anything not described in this manual is not possible 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 Designing the control system Installing and or connecting the control equipment Field management EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 Read and Understand this Manual 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 CO
106. ations connector IN 10 310 3 Communications ids connector OUT pb WA l par sss qj COCIC 5 2 a N Ej COICC ma ah 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 A 2 Item Model Specifications 3G3AX MX2 ECT Power supply Supplied from the inverter Protective structure Open type IP20 Temperature 10 to 50 C Storage temperature 20 to 65 Humidity 20 to 90 RH with no condensation Vibration 5 9 m s 0 6 G 10 to 55 Hz Application environment At a maximum altitude of 1 000 m indoors without corrosive gases or dust Weight 100 g max EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices 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 Pr
107. azardous situation which if not avoided may result in WA H G minor or moderate injury or may result in serious injury or death Additionally there may be significant property damage Indicates a potentially hazardous situation which if not avoided may result in C rs ut l 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 14 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Safety Precautions Example of Symbols S This symbol indicates a prohibited item an item you must not do UN The specific instruction is indicated using an illustration or text inside or near The symbol shown to the left indicates disassembly prohibited Z This symbol indicates danger and caution The specific instruction is indicated using an illustration or text inside or near The symbol shown to the left indicates beware of electric shock o This symbol indicates a compulsory item an item that must be done The specific instruction is indicated using an illustration or
108. b Register Parameter ex Data PDO Index ENS Function name No R W Monitor and setting items resolution map 3013 CF 13A8 Selection of Operating b165 RW 00 Trip Possible hex hex hex Level on Digital 01 Trip after deceleration stop Operator 02 Ignore Disconnection 03 Free run stop 04 Deceleration stop 3013 D5 13AE Inverter Mode b171 RW 00 Selection disabled Possible hex hex hex Selection 01 Induction motor TxPDO 02 High frequency induction motor 3013 DE 13B7 Perform Initialization b180 RW 00 Function disabled Possible hex hex hex Mode Selection 01 Initialization Mode Selection TxPDO Execution Execution EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 23 151 491J9AU Y Y Appendices Index Sub index Register No Function name Parameter No Monitor and setting items Data resolution PDO map 3014 hex 2A hex 1401 hex Multi function Input 1 Selection C001 RW 3014 hex 2B hex 1402 hex Multi function Input 2 Selection C002 RW 3014 hex 2C hex 1403 hex Multi function Input 3 Selection C003 RW 3014 hex 2D hex 1404 hex Multi function Input 4 Selection C004 RW 3014 hex 2E hex 1405 hex Multi function Input 5 Selection C005 RW 3014 hex 2F hex 1406 hex Multi function Input 6 Selection C006 RW 3014 hex 30 hex 1407 he
109. cable is locked e Install and wire the communications cables separately from high voltage electrical power lines Do not install the cables near devices generating noise Do not install the cables in high temperature and high humidity environments Use the cables in locations without powder dust or oil mist EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 5 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 i Wiring the communications cables Install the 3 clamp cores shown below near the communications connectors of the communications cables that are connected to the communicatio
110. 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 Selection 03 Trip reset only f 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 1C12 hex 1701 hex Fixed allocation of the independent profile 1013 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 format Control information master to slave Word Meaning n Command n 1 Frequency reference 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 Bit and data information Command 7 1 0 Bit Name Meaning 0 Forward stop 0 Stop 1 Forward command 1 Reverse stop 0 Stop 1 Reverse command
111. correctly Check that RxPDO is being refreshed on the master 001D hex RxPDO setting error An RxPDO Sync Manager setting error was detected Correct the RxPDO mapping setting For the detailed cause check the contents of object 5200 hex 001E hex TxPDO setting error A TxPDO Sync Manager 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 6 9 S10J13 uoneoirjddy 9 1511 9po2 SNIS TV r E 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 Meaning Error code Check point and remedy Option error When an E60 The inverter unit version is old unrecoverable error is Check that the unit version of the inverters is 1 1 or higher detected in the 1 0 or lower do not operate Replace the inverter optional board
112. d PDO Mapping object index of possible assigned PDO 4 Assigned PDO 4 0000 hex 2 bytes U16 RW Not 4th PDO Mapping object index of possible assigned PDO 5 Assigned PDO 5 0000 hex 2 bytes U16 RW Not 5th PDO Mapping object index of possible assigned PDO 1C13 hex Sync Manager PDO assignment 0 Number of assigned TxPDOs 01 hex 1 byte U8 RW Not possible 1 Assigned PDO 1 1B01 hex 2 bytes U16 RW Not 1st PDO Mapping object index of possible assigned PDO 2 Assigned PDO 2 0000 hex 2 bytes U16 RW Not 2nd PDO Mapping object index of possible assigned PDO 3 Assigned PDO 3 0000 hex 2 bytes U16 RW Not 8rd PDO Mapping object index of possible assigned PDO 4 Assigned PDO 4 0000 hex 2 bytes U16 RW Not 4th PDO Mapping object index of possible assigned PDO 5 Assigned PDO 5 0000 hex 2 bytes U16 RW Not 5th PDO Mapping object index of possible assigned PDO 1C32 hex SM2 synchronization 0 Number of synchronization 20 hex 1 byte U8 RO Not parameter possible 1 Synchronization type 0000 hex 2 bytes U16 RW Not possible 4 Synchronization types supported 0001 hex 2 bytes U16 RO Not possible 1C33 hex SM3 synchronization 0 Number of synchronization 20 hex 1 byte U8 RO Not parameter possible 1 Synchronization type 0000 hex 2 bytes U16 RW Not possible 4 Synchronization types supported 0001 hex 2 bytes U16 RO Not possible 2002 hex S
113. e 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication type SM3 Setting range Unit Default setting 04 hex Size 4 bytes U8 Access RO PDO map Not possible The Sync Manager has the following settings e 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 13 ea1y 302 S S sjyo efqo 1e8eue N ou S c S 5 CiA402 Drive Profile 1010 hex Sync Manager 0 PDO assignment All Sub index 0 Number of assigned RxPDOs Setting range Unit Default setting 00 hex Size 1 byte U8 Access RO PDO map Not possible The PDO mapping used by this Sync Manager is given Mailbox reception Sync Manager does not have PDOs 1C11 hex Sync Manager 1 PDO assignment All Sub index 0 Number of assigned PDOs Setting range Unit Default setting 00 hex Size 1 byte U8 Access RO PDO map Not possible 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 All Sub index 0 Number of assigned RxPDOs Setting range Unit Default setting 00 hex Size 1 byte
114. e 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 communications 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 operational suonisueJ snjejs suoneoiunuiuo 2 Safe operational Operational SDO PDO PDO State ERR SU 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
115. e to 1 Possible hex hex hex Command 6 position range setting forward Displays MSB 4 digits including 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 hex Zero Return Direction P069 RW 00 Forward Possible 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 7E 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 3016 84 1657 hex Positioning Mode Selection P075 RW 00 Limit Possible hex hex 01 Do not limit TxPDO 3016 86 1659 hex Encoder Disconnection P077 RW 0 to 100 0 1 s Possible hex hex Detection Time 3016 BB 168E Number of Send Data of P140 RW 1to5 Possible hex hex hex All Stations in Co inverter Communication 3016 BC 168F hex Recipient Station Number P141 RW 1 to 247 Possible hex hex of All Stations in Co inverter Communication 1 3016 BD 1690 hex Recipient Register of All P142 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Co
116. e as follows Inverter CJ1W NCx82 Master NJ501 1x00 Master 1st unit Node address 17 1 Rotary switch x 10 Set to the 1 position Set to the 0 position Rotary switch x 1 Set to the 7 position Set to the 1 position 2nd unit Node address 22 2 Rotary switch x 10 Set to the 2 position Set to the 0 position Rotary switch x 1 Set to the 2 position Set to the 2 position Notes on setting are provided below for each Master Unit lt CJ1W NCx82 Master gt 1 The EtherCAT Communication Unit uses input and output areas for 5 node addresses For this reason when using the inverter with a fixed allocation set 5 or larger number to the node address of the next unit 2 Node addresses can be set in a range of 17 to 80 Make sure the node addresses set for the Unit do not overlap with other slave 3 For the restrictions related to CJ1W NCx82 Master refer to Position Control Units CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 OPERATION MANUAL Cat No W487 NJ501 1x00 Master 1 Node addresses can be set in a range of 1 to 99 Make sure the node addresses set for the Unit do not overlap with other slave 2 Unlike with the CJ1W NCx82 master the node address of the next unit can be set without intervals 3 For the restrictions related to your NJ501 1x00 refer to NJ series CPU Unit Software User s Manual Cat No W501 Notes If a slave other than this product is also connected to the same network set the unit b
117. e 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 9 Applicable Standards 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 5 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 conformance to the Machinery Directive becomes invalid EtherCAT Conformance Test This product is conformance tested ae EtherCAT Conformance tested 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Trademarks 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 Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries Sysmac is a FA product of OMRON and a trademark or registered trademark of OMRON in Japan and other countries CX One is a registered trademark of OMRON s FA Integrated Too
118. e node address setting address setting rotary address setting rotary switches turn OFF Switches is invalid the power supply of the inverter and then restart it EEPROM data This is an EEPROM data Use the tool to restore the default data and error error restart Sync Manager The Sync Manager setting is Change to a correct setting setting error invalid D Process data An error occurred in Check the items below turn OFF the power communications communications supply of the inverter and then restart it timeout s the cable length OK Max 100 m s the cable disconnected or loosen s there too much noise SF Safe operational An instruction to transition to If it was generated during system operation state safe operational state was check the status of the host master generated by the master B 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 S40413 1 9 10113 pue suoneue dxaJoreorpu SNIS 4 9 6 Handling of Errors and Maintenance 6 1 2 Troubleshooting Jl Errors related to the EtherCAT Communication Unit Problem Both the RUN and ERR indicators are OFF Cause and possible corrections Power is not supplied correctl
119. ect 10F3 hex up to 8 errors If a trip occurred for the inverter check the trip history of the inverter Meaning Possible correction Error in the communication unit Check that the Communication Unit is mounted correctly and inverter connection onto the inverter The Communication Unit is faulty Replace the Communication Unit A connection error occurred because a trip reset was performed with the inverter Set the inverter C102 to 3 Trip reset only and turn the power supply OFF and ON again Aconnection 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 Anerror was detected in data inside EEPROM when the power supply was turned ON Replace the Communication Unit The Diagnosis history cannot be saved because the EEPROM has reached the end of its service life There is no effect on operations but if you want to use the 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 FF01 hex A trip occurred for the inverter Eliminate the cause and set bit 7 Fault rese
120. ed object For example for 32 bits 20 hex is given Bit8to5 Sub index of the mapped object Bit 16 to 31 Index of the mapped object 1600 to 1604 hex 1stto 5th receive PDO mapping All Sub index 0 Number of objects i Setting range Unit Default setting 0 8 Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st Output Object to be mapped 5 Setting range Unit Default setting 00000000 hex 8 Size 4 bytes 032 Access RW PDO map Not possible Sub index 2 2nd Output Object to be mapped 8 Setting range Unit Default setting 00000000 hex Size 4 bytes 032 Access RW PDO map Not possible The PDO mapping when freely allocated objects are used Objects can be allocated up to a total bit length of 32 bits 1700 hex 257th fixed receive PDO mapping Sub index 0 Number of objects Setting range Unit Default setting 2 Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Setting range Unit Default setting 60400010 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Setting range Unit Default setting 60420010 hex Size 4 bytes U32 Access RO PDO map Not possible The PDO mapping when Velocity mode is used The following objects are mapped Controlword 6040 hex vl target velocity
121. ed 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 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 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 h
122. eed control CiA402 profile RxPDO 6040 hex Controlword 1700 hex 6042 hex vl target 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 setting 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 05030000 hex Meaning Toggle bit not changed 05040000 hex SDO protocol timeout 05040001 hex Client Server command specifier not valid or unknown 05040005 hex Out of memory 06010000 hex Unsupported access to an object 06010001 hex Attempt to read a write only object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object can not be mapped into the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompat
123. emoved Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error One of the following System System event log Access Access event log One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 37 10413 2oeuis S suonduoseg 1043 z S V Appendices Error Descriptions Event name Non volatile Memory Hardware Error Event code 04A10000 hex Meaning An error occurred in non volatile memory Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions after turning ON power to the slave Error attributes Level Minor fault Recovery Error reset after Log category System cycling slave power Effects User program Continues Operation Non volatile memory cannot be
124. eration constant speed accelerated during regeneration 3023 5E 2317 hex Overload Limit Level 2 b222 RW 100 to 2000 0 1 Possible hex hex TxPDO 3023 5F 2318 hex Overload Limit 2 b223 RW 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 34 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter ritu Data PDO Index ENS Function name No R W Monitor and setting items resolution map 3025 4E 2503 hex Motor Capacity 2 H203 RW 00 0 1 Possible hex hex 01 0 2 TxPDO 02 0 4 03 0 55 04 0 75 05 1 1 06 1 5 07 2 2 08 3 0 09 3 7 10 4 0 11 5 5 3025 4 2504 hex Motor Pole Number 2 H204 RW 00 2P Possible hex hex 01 4P TxPDO 02 6P 03 8P 04 10 3025 51 2506 hex Speed Response 2 H205 RW 1 to 1000 1 Possible hex hex 3025 52 2507 hex Stabilization H206 RW 0 to 255 1 Possible hex hex Parameter 2 3025 61 2516 hex Motor 2 Parameter R1 H220 RW 1 to 65530 0 001 O Possible hex hex TxPDO 3025 63 2518 hex Motor 2 Parameter R2 H221 RW 1 to 65530 0 001 O Possible hex hex TxPDO 3025 65 251A Motor 2 Parameter L H222 RW 1 to
125. erence 8 Starting Frequency to nth Maximum Frequency 4012 4D 1228 hex Multi step Speed A029 RW 0 0 01 Hz Possible hex hex Reference 9 Starting Frequency to nth Maximum Frequency 4012 4F 122A Multi step Speed A030 RW 0 0 01 Hz Possible hex hex hex Reference 10 Starting Frequency to nth Maximum Frequency 4012 51 122C Multi step Speed A031 RW 0 0 01 Hz Possible hex hex hex Reference 11 Starting Frequency to nth Maximum Frequency 4012 53 122E Multi step Speed A032 RW 0 0 01 Hz Possible hex hex hex Reference 12 Starting Frequency to nth Maximum Frequency 4012 55 1230 hex Multi step Speed A033 RW 0 0 01 Hz Possible hex hex Reference 13 Starting Frequency to nth Maximum Frequency 4012 57 1232 hex Multi step Speed A034 RW 0 0 01 Hz Possible hex hex Reference 14 Starting Frequency to nth Maximum Frequency 4012 59 1234 hex Multi step Speed A035 RW 0 0 01 Hz Possible hex hex Reference 15 Starting Frequency to nth Maximum Frequency 3012 5D 1238 hex Jogging Frequency A038 RW Starting Frequency to 999 10000 0 01 Hz Possible hex hex 3012 5E 1239 hex Jogging Stop A039 RW 00 Free run on jogging Possible hex hex Selection 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 Free run on jogging stop Enabled in operation 04 Deceleration stop on jogging stop Enabled in operation 05 DC injection braking on
126. erter can be checked in Supported drive modes 6502 hex 5 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 5 3 Velocity Mode In this operation mode the output speed of the inverter can be controlled vl target velocity 6042 hex Velocity vl velocity min max amount 6046 hex limit function vl velocity vl velocity actual vl velocity acceleration 6048 hex Ramp 6043 hex Velocity value 6044 hex function control function vl velocity deceleration 6049 hex Related objects o e Index Name Details 6040 hex Controlword Gives commands to the inverter 3 6042 hex vl target velocity Gives speed commands to the inverter 7 6046 hex vl velocity min max amount Sets the maximum speed and minimum speed that can be output a 6048 hex vl velocity acceleration Sets the acceleration time 6049 hex vl velocity deceleration Sets the deceleration time 6041 hex Statusword Sets the status of the inverter 6043 hex vl velocity demand Gives the command speed 6044 hex vl velocity actual value Gives the output speed 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
127. ex 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 hex Arrival Frequency C045 RW 0 to 40000 100000 0 01 Hz Possible 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 3014 61 1438 hex Feedback Comparison C052 RW 0 to 1000 0 1 Possible hex hex Signal Off Level TxPDO 3014 62 1439 hex Feedback Comparison C053 RW 0 to 1000 0 1 Possible hex hex Signal On Level TxPDO 3014 63 143A Overtorque Undertorq C054 RW 00 Overtorque Possible hex hex hex ue Selection 01 Undertorque TxPDO 3014 64 143B Overtorque Level C055 RW 0 to 200 11 Possible hex hex hex Forward Power TxPDO Running 30
128. ex Deceleration Time 03 Do not set TxPDO 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 Possible hex hex Setting 3016 51 1624 hex Torque Bias Mode 6 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 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 A 30 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter Seer Data PDO Index indo Function name No R W Monitor and setting items resolution map 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 TxPD
129. fter the Switch on state S 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 If there are any warnings 6041 hex Statusword bit 7 they are reset The state will change according to command bits 0 to 3 8 When Fault reset is executed with bit 7 set the bit back to O before giving the next command State other than Fault 5 1 4 State Coding The state is indicated by the combination of bits in Statusword 6041 hex as shown in the following table State Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 sod qs ve f oe so rtso Not ready to switch on 0 0 0 0 0 0 Switch on disabled 1 1 0 0 0 0 Ready to switch on 0 1 0 0 0 1 Switched on 0 1 1 0 0 1 1 Operation enabled 0 1 1 0 1 1 1 Fault reaction active 0 1 1 1 1 1 Fault 0 1 1 0 0 0 Notes sod Switch on disabled qs Quick stop ve Voltage enabled f Fault oe Operation enabled so Switched on rtso Ready to switch on EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 5 2 Modes of Operation The operation mode indicated below is supported 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 inv
130. g 00000000 hex Size 4 bytes U32 Access RO PDO map Not possible This object contains device information Sub index 1 Vendor ID gives the manufacturer identifier Sub index 2 Product code gives the product s identifier Sub index 3 Revision number gives the device revision number Explanation of set values Bit Details Oto 15 Device s minor revision number 16 to 31 Device s major revision number Sub index 4 Revision number gives the serial number for each product This is not used by MX2 inverters 10F3 hex Diagnosis history All Sub index 0 Number of entries Setting range Unit Default setting OD hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Maximum messages Setting range 00 to 08 hex Unit Default setting 00 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Newest message Setting range 06 to OD hex Unit Default setting 06 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 5 Flags Setting range 0000 to 0001 hex Unit Default setting 0001 hex Size 2 bytes U16 Access RW PDO map Not possible Sub indexes 6 to 13 Diagnosis messages 1 to 8 Setting range Unit Default setting Size 23 bytes VS Access RO PDO map Not possible This object gives up to 8 diagnosis history items It also enables or disables emergency messages Sub index 1 Maximum messages gives the number of error messages
131. g or 1st transmit PDO Mapping to 5th transmit PDO Mapping will be allocated to Sync Manager Note that up to 5 PDOs can be selected each for the target of Output or Input Add PDO Entry In the example shown below Jogging Frequency Index 3012 5Dh and Manual Torque Boost Frequency 1 Index 3012 62h are allocated to 1st receive PDO Mapping 0 3012 62 16 eed Tee ened Taga Mapping PDO Mapping No option 4th receive PDO Mapping No option Sth receive PDO Mapping No option 257th receive POO Mapping 258th receive PDO Mapping No option Ist transmit PDO Mapping No option 2nd transmit PDO Mapping aption 3rd tranemit Mapping No option Ath transmit PDO Manong No Sth transmit PDO Mapping No option 257th transmit PDO Mapping 258th transmit PDO Mapping No option 512th transmit PDO Mapping 4 5 4 Restrictions The PDO free format has the restrictions that are described below Up to 2 objects can be allocated to each PDO from 1600 to 1604 hex and 1A00 to 1A04 hex Keep the total size of the allocated objects to within 4 bytes Up to 5 PDOs each can be allocated to 1C12 and 1C13 An object from 5000 to 5999 cannot be allocated to RXPDO master to slave together with an object from 6000 to 6999 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 The inverter parameters objects 3000 to 3999
132. g SYSDRIVE MX2 series Setting RUN command Ref section 2 6 1 Y Setting frequency reference Ref section 2 6 2 Y Setting reset selection Ref section 2 6 3 LE Checking communication start operation Starting system Ref section 2 7 1 Ref section 2 8 1 Y Network setup Ref section 2 7 2 Ref section 2 8 2 Checking Master Unit Ref section 2 7 3 Ref section 2 8 3 Y Checking Inverter and EtherCAT Communications Unit Ref section 2 7 4 Ref section 2 8 4 Y Checking operation Ref section 2 7 5 Ref section 2 8 5 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 CJ1W NCx82 Master Master Unit CJ2 series PLC CJ1W NCx82 Slave Unit x 2 3G3MX2 A2001 3G3AX MX2 ECT x 2 sets pue oIseg Z Z Notes This Communication Unit can be used with all the capacities in the SYSDRIVE 2 series Used for data setting Monitoring status and File management etc monitoring ejdurexa3 ueis S 2 2 2
133. hex The default setting is to send emergency messages 10F3 hex sub index 05 hex Flags 1 Set the sub index 05 hex Flags in object 10F3 hex to 0 every time the power is turned ON to disable the sending of emergency messages soDesso y G E Emergency messages consist of 8 bytes of data AEC ESS ES Tee fe ip Error register Manufacturer specific error field Object 1001 hex reserved Meaning Error code 6 i 3 5 2 Error Code List 3 8 Error code Meaning Possible correction 5300 hex Error in the option and inverter Check that the Communication Unit is mounted correctly connection onto the inverter The Communication Unit is faulty Replace the Communication Unit e 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 An error was detected in data inside EEPROM when the power supply was turned ON Replace the Communication Unit The Diagnosis history cannot be saved because the EEPROM has reached the end of its service life There is no effect on operations but if
134. hex Time TxPDO 4012 E5 12C0 PID Sleep Function A156 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex Operation Level TxPDO 3012 ET 12C2 PID Sleep Operation A157 RW 0 to 255 0 1 s Possible hex hex hex Delay Time TxPDO 4012 EB 12C6 VR Start Frequency A161 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 4012 ED 12C8 VR End Frequency A162 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex TxPDO 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 Possible hex hex hex TxPDO 3012 1 12 VR Start Selection A165 RW 00 Start Frequency A161 Possible hex hex hex 01 0 Hz TxPDO 3013 28 1301 hex Retry Selection b001 RW 00 Trip Possible hex hex 01 0 Hz restart TxPDO 02 Frequency matching restart 03 Trip after frequency matching deceleration stop 04 Frequency pull in restart 3013 29 1302 hex Allowable Momentary 6002 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 2 1305 hex Restart During b005 RW 00 16 times Possible hex hex Momentary Power 01 No limit TxPDO Interruption Selection 401
135. hex hex Communication 01 Always started TxPDO Starting Selection 3014 92 1469 hex UP DWN Storage C101 RW 00 Do not store frequency data Possible hex hex Selection 01 Store frequency data TxPDO 3014 93 146A Reset selection C102 RW 00 Trip reset at power ON Possible hex hex hex 01 Trip reset at power OFF 02 Enabled only during trip Reset when the power is ON 03 Trip reset only 3014 94 146B Reset Restart Selection C103 RW 00 0 Hz restart Possible hex hex hex 01 Frequency matching restart TxPDO 02 Frequency pull in restart 3014 95 146C UP DWN Clear C104 RW 00 0 Hz Possible hex hex hex Terminal Mode 01 EEPROM data at power ON TxPDO 3014 96 146D MP Gain Setting C105 RW 50 to 200 1 Possible hex hex hex 3014 97 146E AM Gain Setting C106 RW 50 to 200 1 Possible hex hex hex 3014 9A 1471 hex AM Bias Setting C109 RW 0 to 100 1 Possible hex hex 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 1 1488 2 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 A 28 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT
136. ibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match length of service parameter too high 06070013 hex Data type does not match length of service parameter too low 06090011 hex Subindex does not exist 06090030 hex Value range of parameter exceeded only for write access 06090031 hex Value of parameter written too high 06090032 hex Value of parameter written too low 06090036 hex Maximum value is less than minimum value 08000000 hex General error 08000020 hex Data cannot be transferred or stored to the application 08000021 hex Data cannot be transferred or stored to the application because of local control 08000022 hex Data cannot be transferred or stored to the application because of the present device state 08000023 hex Object dictionary dynamic generation fails or no object dictionary is 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
137. ible hex hex 01 4P TxPDO 02 6P 03 8P 04 10P 3015 31 1506 hex Speed Response H005 RW 0 to 1000 1 Possible hex hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 29 151 491J9AU Y Y Appendices Sub Register r Parameter Data PDO Index index Function name No R W Monitor and setting items resolution map 3015 32 1507 hex Stabilization H006 RW 0 to 255 1 Possible hex hex Parameter 1 3015 41 1516 hex Motor 1 Parameter R1 20 RW 1 to 65530 0 001 Possible hex hex TxPDO 3015 43 1518 hex Motor 1 Parameter R2 21 RW 1 to 65530 0 001 Possible hex hex TxPDO 3015 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 H023 RW 1 to 65530 0 01 A Possible hex hex hex TxPDO 4015 48 151D Motor 1 Parameter J H024 RW 1 to 9999000 0 01 Possible hex hex hex kgm TxPDO 3015 50 1525 hex Motor 1 Parameter R1 H030 RW 1 to 65530 0 001 Possible hex hex Auto tuning Data TxPDO 3015 52 1527 hex Motor 1 Parameter R2 H031 RW 1 to 65530 0 001 Possible hex hex Auto tuning Data TxPDO 3015 54 1529 hex Motor 1 Parameter L H032 RW 1 to 65530 0 01 mH Possible hex hex Auto tuning Data TxPDO 3015 56 152B Motor 1 Parameter lo H033 RW 1 to 65530 0 01 A Possible hex hex hex Auto tuning Da
138. igital I O slaves as well as Inverters allowing flexible network building 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 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 1VOJeui3 JO Z L 1 2 1 Features of EtherCAT EtherCAT has the features shown below 1VOJeul3 jo seunyee4 z L 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
139. 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 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 assign
140. ions Features of the EtherCAT Communication Unit The EtherCAT Communication Unit has the features shown below Optimal functionality and ease of operation by standardizing specifications As a Sysmac Device you can use the MX2 Series EtherCAT Communication Unit together with the NJ series Machine Automation Controller and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave designed with unified communications specifications and user interface specifications Communication function as easy as I O control When the CJ1W NCx82 Master Unit or Machine Automation Contoroller NJ501 1x00 series is used the basic control function frequency setting function and output frequency monitor function are assigned to the process data This means that the inverter can be controlled as easily as normal I O control 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 This product can be used when the communication master is a Machine Automation Controller NJ501 1x00 series fi Using together with slaves EtherCAT supports connection with Servo Drives and d
141. is turned ON the new setting will not be used until the next time that the power is turned ON Do not change the setting on the rotary switches after the power supply has been turned ON f node addresses overlap an error occurs and the operation stops 2 4 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 connector OUT Communications connector IN The EtherCAT connector specifications are shown below Electrical characteristics Connector structure Terminal arrangement Conform to IEEE 802 3 RJ45 8 pin modular connector conforms to ISO 8877 Pin No Signal Abbreviation Function 1 Send data TD Send data 2 Send data TD Send data 3 Receive data RD Receive data 4 Not used 5 Not used 6 Receive data RD Receive data 7 Not used 8 Not used Hood Frame ground FG EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT uoneorunuiuo 1Vv24eui3 10 sPunjes pue SOWeN L Z JOJDBUUOD suoneoiunuluo rp L c 2 Starting a Sample System 2 1 5 Recommended Products li Connection cables and RJ45 connectors For the communications cable use a category 5 or higher straight type cable that is double shielded with aluminum ta
142. itialization Selection b084 RW 00 Initialization disabled Possible hex hex 01 Clear fault monitor TxPDO 02 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 02 Only reset is enabled 3013 82 135B Free run Stop b088 RW 00 0 Hz restart Possible hex hex hex Selection 01 Frequency matching restart TxPDO 02 Frequency pull in restart 3013 83 135C Automatic Carrier b089 RW 00 Disabled Possible hex hex hex Reduction 01 Enabled depends on the TxPDO current 02 Enabled depends on the fin temperature 3013 84 135D Usage Rate of b090 RW 0 to 1000 0 1 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 hex Cooling Fan Operation b092 RW 00 Always Possible 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 Initializati
143. jects 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 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 gt 3000 hex Inverter parameter object 1 16 bit access All Sub index 0 Number of assigned Setting range Unit Default setting FE hex 5 Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Inverter register 0000 hex 8 Setting range Unit Default setting Size 2 bytes 016 Access RW PDO map gt Sub index 2 Inverter register 0001 hex 2 Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map Sub index 253 hex Inverter register OOFC hex Setting range Unit Default setting Size 2 bytes U16 Access RW PDO map 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 All sjoe qo 1ejeurejeg JeueAu Z 9 S Same format as 3000 hex inverter registers OOFD to FFFB hex EtherCAT Communication Unit USER S MANUAL 3G
144. l Package 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 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 LUCTUS 1FA4 t US IND CONT EQ LIBTES OMRON Corporation MADE IN JAPAN Checking the Model 3G3AX MX2 ECT 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 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 tan Ne 1574 E1 02 p Revised symbols Revision code Changes and revision pages 01 August 2010 First printing 02 July 2011 Added information on Machine Automation Cont
145. lti 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 Sync Manager assignment Sync Manager PDO assignment Description 1C12 hex 1701 Fixed allocation of the independent profile 1600 Setting as above 1601 Setting as above 1013 hex 1 00 Fixed allocation of the independent profile 1A00 Setting as above 1A01 Setting as above anna 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 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 Status information slave to master Word Meaning m Status 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 Command The bit data for the command is shown below
146. mat when there is a sub index Index Object name Operating Mode Sub index 0 Setting range Setting range Unit Unit Default setting Default setting Size Size Access Access PDO map Possible Not possible Sub index N Setting range Setting range Unit Unit Default setting Default setting Size Size Access Access PDO map Possible Not possible 5 6 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 The object name Operating mode Related operating modes Setting range The possible range of settings Unit Physical units e Default setting The default value set before shipment Size The object size is given in bytes Access Indicates whether the object is read only or read and write RO Read only WO Write only RW Read and write PDO map Indicates the PDO mapping attribute Aseuonsig Pafqo 9 yewo uonduoseq Pafqo v 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 Unit Default setting 00010192 hex Size 4 bytes U32 Access RO PDO map Not possible Gives the CoE device profile number Explanation of set values Bit Name
147. meters that can be set during operation can be mapped to RxPDO 9 G 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 Unit Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Possible This object gives an operation command to the inverter Bit descriptions sj efqo 1uepuedepu 9 G Bit Meaning Details 0 Forward stop 0 Stop 1 Forward 1 Reverse stop 0 Stop 1 Reverse 2106 Reserved Not used Always keep at 0 7 Fault reset Faults and warnings are cleared when this bit turns ON 81015 Reserved Not used Always keep at 0 5010 hex Frequency reference All Setting range 0000 to FFFF hex Unit 0 01 Hz 0 1 Hz Default setting 0000 hex Size 2 bytes U16 Access RW PDO map Possible This object gives an output frequency command to the inverter The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 19 5 CiA402 Drive Profile 5100 hex Setting range 0000 to FFFF hex Status Unit All Default setting 0000 hex Size 2 bytes U16 This object gives the present state of the unit Bit descriptions 5110 hex Setting range 0000 to FFFF hex Access RO PDO map
148. ming error is detected error Error attributes Level Tells the level of Recovery Gives the recov Log category Tells which log influence on con ery method 2 the error is saved trol 3 Effects User program Tells what will happen Operation Provides special information on the operation that results to execution of the from the error user program 4 Indicators Gives the status of the built in EtherNet IP port and built in EtherCAT port indicators Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet IP Function Module System defined Variable Data type Name SURE Lists the variable names data types and meanings for system defined variables that provide direct error notification that are directly affected by the error or that contain settings that cause the error Cause and cor Assumed cause Correction Prevention rection Lists the possible causes corrections and preventive measures for the error Attached This is the attached information that is displayed by the Sysmac Studio or an NS series PT information Precautions Provides precautions restrictions and supplemental information Remarks 1 One of the following 2 3 4 Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information One of the following Automatic recovery Normal status is restored automatically when the cause of the error is r
149. mmunication 1 3016 BE 1691 hex Sender Register of All P143 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Communication 1 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 31 151 4 491J9AU Y Y Appendices Sub Register r Parameter 7 Data PDO Index index Function name No R W Monitor and setting items resolution map 3016 BF 1692 hex Recipient Station Number P144 RW 1 to 247 Possible hex hex of All Stations in Co inverter Communication 2 3016 1693 hex Recipient Register of All P145 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Communication 2 3016 C1 1694 hex Sender Register of All P146 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Communication 2 3016 C2 1695 hex Recipient Station Number P147 RW 1 to 247 Possible hex hex of All Stations in Co inverter Communication 3 3016 C3 1696 hex Recipient Register of All P148 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Communication 3 3016 C4 1697 hex Sender Register of All P149 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter Communication 3 3016 C5 1698 hex Recipient Station Number P150 RW 1 to 247 Possible hex hex of All Stations in Co inverter Communication 4 3016 C6 1699 hex Recipient Register of All P151 RW 0000 to FFFF hex Possible hex hex Stations in Co inverter
150. n 3 Set a desired frequency acceleration time and deceleration time and then select Forward or Reverse and run the motor The motor will keep running until Stop is selected EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 17 4 Inverter Control EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT CiA402 Drive Profile ae This chapter explains about the CiA402 drive profile 5 1 Inverter State 5 1 1 State Machine 2 2 ios po ee eee ed VR PPS 5 1 2 State 5 5 1 3 Command 5 1 4 State 5 2 Modes of Operation 5 8 Velocity Mode 5 4 Object Dictionary 5 4 1 Object Dictionary Area 5 4 2 DataTypes 0 p i e ee 5 4 3 Object Description Format 5 5 CoE Communications Area 5 5 1 Communication Objects 5 5 2 PDO Mapping Objects 5 5 3 Sync Manager Communication Objects 5 6 Manufacturer Specific Area 5 6 1 Manufacturer Specific Objects 5 6 2 Inverter Parameter Objects 5 6 3 Indepe
151. n 08000021 hex Data cannot be transferred or stored to the application because of local control 08000022 hex Data cannot be transferred or stored to the application because of the present device state 08000023 hex EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Object dictionary dynamic generation fails or no object dictionary is present S104J3 2 9 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 display Status when error occurs 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 6 3 2 Error CodeList Error code 5300 hex Errors that were detected in the unit and inverter are stored in the Diagnosis history obj
152. n below Value 05030000 hex Meaning Toggle bit not changed 05040000 hex SDO protocol timeout 05040001 hex Client Server command specifier not valid or unknown 05040005 hex Out of memory 06010000 hex Unsupported access to an object 06010001 hex Attempt to read a write only object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object can not be mapped into the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match length of service parameter too high 06070013 hex Data type does not match length of service parameter too low 06090011 hex Subindex does not exist 06090030 hex Value range of parameter exceeded only for write access 06090031 hex Value of parameter written too high 06090032 hex Value of parameter written too low 06090036 hex Maximum value is less than minimum value 08000000 hex General error 08000020 hex Data cannot be transferred or stored to the applicatio
153. n option code All Setting range 1 Unit Default setting 1 Size 2 bytes Int16 Access RW PDO map Not possible e This object sets the behavior during Disable operation Operation enable Switched on Explanation of set values Set value Stop method 1 Deceleration stop 605E hex Fault reaction option code All Setting range 1 Unit Default setting 1 Size 2 bytes Int16 Access RW PDO map Not possible This object sets the behavior when an error occurs Explanation of set values Set value Stop method 1 Deceleration stop 5 24 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 6060 hex Setting range 2 Unit Default setting 02 hex Size 1 byte Int8 Access RW PDO map Possible This object sets the operation mode Explanation of set values Modes of operation All Value Details 1 Velocity mode 6061 hex Modes of operation display All Setting range 0 to 10 Unit Default setting 02 hex Size 1 byte Int8 Access RO PDO map Possible This object gives the present operation mode The value definitions are the same as for Modes of operation 6060 hex 6502 hex Supported drive modes Setting range Unit Default setting 00000002 hex Size 4 bytes U32 Access RO PDO map Not possible This object indicates the supported operation modes Bit descriptions Bit Sup
154. ndent Profile Objects 5 7 Device 5 7 1 Drive Profile Objects EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 CiA402 Drive Profile 5 1 Inverter State 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 on page 5 3 and for details on the command codings refer to 5 1 3 Command Coding on page 5 3 Power turned OFF or reset Q start 9O 0 After the main power supply is turned on Not ready to switch on i 1 After initialization is completed i Switch on 15 Fault reset i disabled Shutdown 2 7 Disable Voltage 1 Ready to switch on Switch on 3 6 Shutdown 14 Error response operation completed Disable Voltage o Fault i Enable operation 4 reaction active 5 Disable operation Operation 8 Shut down 13 Error r enabled 3 9 Disable Voltage s E ics de e oe T m eee ee hee Rau n m S rs eee ee cee d Rd Notes The Quick stop active
155. nge L White Orange 3 4 Blue Blue 4 5 White Blue White Blue 5 6 Orange Orange 6 7 White Brown White Brown 7 8 Brown M Brown 8 Connector Shielded cable Shielded cable come 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 pue se qe suopeoarunwwog ueewjeq 9 1 2 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 CJ1W NCx82 NJ501 1x00 1 PESE Mase Master Unit setting Ref section 2 3 1 Ref section 2 4 1 ESI file setting Ref section 2 3 2 Ref section 2 4 2 PE Mounting and wiring of EtherCAT Communications Unit Mounting of EtherCAT Communications Unit Ref section 2 5 1 Y Wiring of EtherCAT Communications Unit Ref section 2 5 2 Y Setting the node address of the EtherCAT Communications Unit Ref section 2 5 3 Settin
156. nits When this 3G3AX MX2 ECT EtherCAT Communication Unit is installed on an inverter it can be operated as a motion network slave inverter e jueuudinb3 3ueuoduio2 JO M8IAJOAQ Z L Configuration tool Computer software for setting the EtherCAT network and each slave Communications cable The communications cable that connects the Master Unit with the Slave Units and the Slave Units to each other In an EtherCAT network use an STP double shield cable of Ethernet category 5 or higher EtherCAT Slave Information ESI file A file in XML format that contains the information unique to the EtherCAT slave When this ESI file is loaded into the tool it makes it easy to perform the various settings such as the mapping of the EtherCAT slave s I O memory If OMRON s Configuration Tool is used the ESI file is used together with the Configuration Tool so you need not worry about installing this file If a master by other manufacturer is connected the ESI file must be loaded into a Configuration Tool supporting that master 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 SSS 4 This chapter explains information such as the mounting wiring and setting methods for the EtherCAT Communication Unit 2 1 Part Names and Settings for the EtherCAT Communication Unit 2 2 22021 PartName s
157. ns 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 Symbol Nam Mamas Model FC1 FC2 FC3 NEC TOKIN ESD SR 160 f Wiring the FG cable Install the FG cable with the shortest possible wiring 3G3MX2 iE DRIVE RON PAR L0 9 6 0 1 STOP A RUN RESET A CDI XN 2 n OUAO O thecar EO IN_ OUT RUN ERR ADR 42X10 3G3AX MX2 ECT N WARNING Risk of electric shock Read manual before installing LN Neit 10 minutes for capacitor discharge after disconnecting power supply 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 17 1V249ul3 9ui 104 pue S Z yun OWA 0 Buruuojuo S z 2 Starting a Sample System 2 5 4 Node Address Settings for the EtherCAT Communication Unit Node address settings Set the rotary switches of the EtherCAT Communication Unit to determine the node address In the system configuration example used in this chapter the settings ar
158. ocess 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 1 ERR x 1 CiA402 drive profile Velocity mode suoneoyroeds Y suoneoiunuiuo 1v24eui3 L v EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 3 Appendices A 2 Communications Response Time A 4 The table below lists the communications response time CJ1W NCx82 Master Meaning Performance Conditions Starting time Approx 10to 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 Data transmitting Write Approx 27 ms pc Time needed to write read inverter parameters from ime Read Approx 24 ms pc the PLC CJ1W NCx82 When the communication cycle is 250 us IO data updating cycle 4 ms or 6 ms Varies depending on the number of allocated PDOs Due to the characteristics of EtherCAT the result will become the same with any node as long as the communication cycle is the same NJ501 1x00 Master Meaning Performance Conditions Starting time Approx 6 to 10 ms Time after the inverter is started from the PLC until the motor produces output NJ501 1x00 When the communication cycle is 500 us Data transmitting Write Approx 7 m
159. on Target b094 RW 00 All data Possible hex hex Selection 01 Data other than TxPDO terminal communications 02 U registration 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 6096 RW 330 to 380 660 to 760 1 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 21 151 491J9AU Y Y Appendices Sub Register r Parameter Data PDO Index index No Function name No RW _ Monitor and setting items resolution map 3013 92 136B Free V f Frequency 3 b104 RW 0 to Free V f Frequency 4 1 Hz Possible hex hex hex TxPDO 3013 93 136C Free V f Voltage 3 b105 RW 0 to 8000 0 1 V Possible hex hex hex TxPDO 3013 94 136D Free V f Frequency 4 b106 RW 0 to Free V f Frequency 5 1 Hz Po
160. ord Address Meaning m CIO 3900 Command Bit 0 During forward operation Bit 1 During reverse operation Bit 3 Fault m 1 CIO 3901 Output frequency monitor increments of 0 01 Hz EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 7 HUN 1 uonisod 24 Z Y ajdwes t z v 4 Inverter Control fl Ladder program example MOV vee 021 Frequency 00000 reference Frequency 3801 setting 3900 03 0 03 e Fault occurred Fault Fault reset 30 00 Fault occurred 0 01 0 02 3900 01 30 00 3900 15 3800 00 O Forward stop word bit 0 Forward Reverse During reverse Fault Option Inverter operation occurred connection fault 0 02 0 01 3900 00 30 00 3900 15 3800 01 Reverse stop 9 word n bit 1 Reverse Forward During forward Fault Option Inverter operation occurred connection fault 0 03 3900 03 3800 07 Fault reset k word n bit 7 Fault reset Fault END 001 Time chart 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 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 i Explanation of operations 1 When the Frequency setting contact is turned ON the frequency reference data that
161. p 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 Feedback RO 0 to 10000 0 01 Possible hex hex TxPDO 3000 12 0011 hex Fault Counter 2080 RO 0 to 65530 1 time Possible hex hex TxPDO 3000 13 0012 hex Fault Monitor 1 d081 RO Refer to Inverter Fault Factor Listin Possible hex hex Cause the operation manual for the MX2 TxPDO inverter 3000 14 0013 hex Fault Monitor 1 Refer to Inverter Fault Factor Listin Possible hex hex Inverter Status 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 Voltage DC input voltage at the time of 0 1 V Possible hex hex 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 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 9 151 491J9AU Y Y Appendices
162. pe and braided shielding Use a shielded connector of category 5 or higher H Precautions for Correct Use The maximum cable length between nodes is 100 m However some cables are specified for less than 100 m Generally transmission performance of twisted wire condactor is lower than that of solid wire Confirm the details with the cable manufacturer Use the shielded type RJ45 connectors When selecting a connector confirm if it can be used with the recommended cable Confirm the following items conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc ES Additional Information If an Ethernet cable of category 5 or higher is used communications will be possible even if the cable is not shielded However we recommend a cable with double aluminum tape and braided shielding to ensure sufficient noise immunity 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 DO BH uoneorunuluo 1V24eui3 ay 10 pue soweN L Z Pin No Wire color Wire color Pin No 1 White Green A N White Green 1 2 Green Green 2 3 White Ora
163. ple of PDO mapping Object dictionary ZZZ hex Ot hex 6TTT hex TT hex 8 17227 hex 02 hex 6000 hex UU hex 8 PDO_1 Mapping objects ud Object A Object B Object D STT hex Object A 6UUU hex Object B 6VVV hex Object C Application 3 4 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Common Slave Specifications 3 3 3 Sync Manager PDO Assignment Settings A Sync Manager channel consists of several PDOs The Sync Manager PDO assignment objects describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 00 hex of the Sync Manager PDO assignment table In this table index 1C12 hex is for RXPDOs and 1C13 hex is for TXPDOs The following table is an example of Sync Manager PDO mapping Object dictionary 1C1Z hex 1A00 hex Odd si e qo eq E E 1C1Z hex 1A01 hex 1C1Z hex 1A03 hex 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 i PDO mapping for speed control independent profile juawubissy Odd 4 ou S 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 sp
164. ported mode Definition 0 pp Profile Position mode 0 Not supported 1 vl Velocity mode 1 Supported 2 pv Profile Velocity mode 0 Not supported 3 tq Profile Torque mode 0 Not supported 4 Reserved 0 5 hm Homing mode 0 Not supported 6 ip Interpolated Position mode 0 Not supported 7 csp Cyclic Sync Position mode 0 Not supported 8 csv Cyclic Sync Velocity mode 0 Not supported 9 cst Cyclic Sync Torque mode 0 Not supported 10 to 31 Reserved 0 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 25 921 oq Z S sjoe qo L 7 8 5 CiA402 Drive Profile EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Handling of Errors and Maintenance os This chapter explains how to handle errors that occur in the EtherCAT Communication Unit 6 1 Communication Line Errors 000 ee 6 2 6 1 1 Status IndicatorExplanations and Error Handling 6 2 6 1 2 Troubleshooting llle RII 6 4 6 2 Message Errors l1 n ilm IIb eL xk vx 6 5 6 3 Application Errors 6 6 6 3 1 ErrorStat ses oe uec ena wea dec a m dca 6 6 6 3 2 Error Gode List sersrree ner yore uote EW cece nha es Sees ra 6 6 6 3 3 List of Cause Codes for PDO Mapping Errors 6 7 6 3 4 AL Status Code List c cesis cesi sisse Rmus
165. profile IO format Control information master to slave Word Meaning n Controlword n 1 vl target velocity Status information slave to master Word Meaning m Statusword m 1 vl velocity demand EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control i Bit and data information Controlword The 16 bit data is as shown below 7 3 2 1 0 A Bit Name Meaning 0 Switch on The state is controlled by these bits 5 1 Enable voltage For details refer to 5 1 3 Command Coding on page 5 3 S 2 Quick stop z 3 Enable operation if Fault reset Faults and warnings are cleared when this bit turns ON Reserved Set 0 gt When Quick stop is set to 0 during operation deceleration stop is made After completely stopping the next S operation is accepted 3 vi target velocity Name vl target velocity Meaning Specify the command speed in rpm Setting range maximum speed to maximum speed Specify the operation direction with a symbol When a value is set that exceeds d the maximum frequency operation is performed at the maximum frequency Statusword The 16 bit data is as shown below 3 9 7 6 5 4 3 2 1 0 Bit Name Meaning 0 Ready to switch on These bits indicate the state
166. put Terminal 5 Operation Selection C015 RW 3014 hex 39 hex 1410 hex Multi function Input Terminal 6 Operation Selection C016 RW 3014 hex 3A hex 1411 hex Multi function Input Terminal 7 Operation Selection C017 RW 00 01 NO NO contact NC NC contact Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO Possible TxPDO 3014 hex 3E hex 1415 hex Multi function Output Terminal P1 EDM Selection C021 RW 3014 hex 3F hex 1416 hex Multi function Output Terminal P2 Selection C022 RW RUN During RUN FA1 Constant speed reached FA2 Set frequency min reached OL Overload warning OD PID excessive deviation AL Alarm output 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 FI disconnection detection FBV PID FB statu
167. r is as follows 50 on H ms off on NT 200 200 Blinking ms me off Single flash 200 1000 14200 ms ms ms off 4 on Double flash 200 200 200 1000 Ra ms ms ms ms off EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 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 EtherCAT network decimal The 10s digit is set on the left rotary switch and the 1s digit is set on the right rotary switch The setting range is 00 to 99 m 227 0 7 feo M he m 609 613 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 Host Controller from another OMRON Host Controller 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 14 Precautions for Correct Use The set node address is read only once when the inverter power supply is turned ON If the setting is changed after the power supply
168. r of entries Setting range Unit Default setting 01 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Save all parameters Setting range Unit Default setting 00000001 hex Size 4 bytes U32 Access RW PDO map Not possible All savable parameters are saved in the Inverter EEPROM Saving is executed only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means save MSB LSB e V a S 65 hex 76 hex 61 hex 73 hex A value of 00000001 hex command valid is given when reading Parameters cannot be saved to the EEPROM during inverter operation In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 65766173 hex Writing to the EEPROM may take up to 1 second This is when all objects are changed There is a limit to the number of times you can write to the EEPROM 1011 hex Restore default parameters Sub index 0 Number of entries Setting range Unit Default setting 01 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore all default parameters Setting range Unit Default setting 00000001 hex Size 4 bytes U32 Access RW PDO map Not possible Inverter parameters are reset to their default settings A restoration operation i
169. rCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 11 1uepuedepu eui p O4JUOD 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 profile 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 f parameter C102 is not displayed set 6037 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 1012 hex 1700 hex Fixed allocation conforming to the CiA402 drive profile 1013 hex 1B00 hex Fixed allocation conforming to the CiA402 drive profile The values below are the fixed mapping for the PDOs 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
170. requency to Frequency TxPDO Upper Limit 2 3022 AE 2269 hex AVR Selection 2 A281 RW 00 Always ON Possible hex hex 01 Always OFF TxPDO 02 OFF during deceleration 3022 AF 226A Motor Incoming A282 RW 200 V class 00 200 Possible hex hex hex Voltage Selection 2 01 215 TxPDO 02 220 03 230 04 240 400 V class 05 380 06 400 07 415 4022 B4 226F hex 2nd Acceleration Time A292 RW 1 to 360000 0 01 s Possible hex hex 2 4022 B6 2271 hex 2nd Deceleration Time A293 RW 1 to 360000 0 01 s Possible hex hex 2 3022 B8 2273 hex 2 step A294 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 RW 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 2 TxPDO 4022 BB 2276 hex 2 step Deceleration A296 RW 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 2 TxPDO 3023 53 230C Electronic Thermal b212 RW 2000 to 10000 0 01 Possible hex hex hex Level 2 TxPDO 3023 54 230D Electronic Thermal b213 RW 00 Reduced torque characteristics Possible hex hex hex Characteristics 01 Constant torque characteristics TxPDO Selection 2 02 Free setting 3023 5D 2316 hex Overload Limit 2 b221 RW 00 Disabled Possible hex hex Selection 01 Enabled during TxPDO acceleration constant speed 02 Enabled during constant speed 03 Enabled during accel
171. roller NJ501 1x00 series EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 13 Related Manuals 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 Multi function Compact Inverter SYSDRIVE MX2 SERIES USER S MANUAL 1570 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 NJ series CPU Unit Software User s Manual W501 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 About This Manual This User s Manual consists of chapters listed below Understanding the following configuration ensures more effective use of the product Overview Chapter 1 This chapter explains the overview features and specifications of the EMErCAT NetWork EtherCAT Communication Unit Chapter 2 This chapter explains information such as the mounting wiring and system setting methods for the EtherCAT Communication Unit Chapter 3 This chapter explains the common slave specifications during EtherCAT Common Slave Specifications communication and about the ESIs PDOs and SDOs
172. rom the master side Q 8 When the slave power is turned on the set o p Seen 7 gt Register 0010 hex 3 i value of node address is reflected in the register A Register 0012 hex ke L 2 i address 0012 hex by the software Sister Uo SX 4 The EtherCAT master reads the set value at 1 Node address the register address 0012 hex switch 5 The EtherCAT master writes the value at the address 0012 hex to the address 0010 hex as EtherCAT Slave the node address EtherCAT Communication Unit Node address switch setting The value set by the node address switches on the slave becomes the node address EtherCAT Master 3 Nonvolatile EtherCAT memor 1 While the power is off set the node address Slave Controller y switches Sil 2 When the slave power is turned on the value set by the node address switches is reflected Register 0010 hex e in the register address 0012 hex SETS eum 3 The EtherCAT master reads the set value at Register 0012 hex 1 the register address 0012 hex a Node address 4 The EtherCAT master writes the value at the switch address 0012 hex to the address 0010 hex as the node address EtherCAT Slave 2 EtherCAT Communication Unit Displaying the serial number The serial number saved in the nonvolatile memory on the
173. rror status must be mapped to the PDO By default Sysmac Studio automatically maps 2002 hex 01 hex Sysmac Error status to the PDO by allocation of 1BFF hex 512th transmit PDO Mapping ES Additional Information For the Sysmac error status refer to 5 6 1 Manufacturer Specific Objects on page 5 16 Forthe errors displayed in Sysmac Studio refer to A 5 Sysmac Error Status Codes on page A 36 Saving the node address settings When the node address switch is set to 00 it means that the system is in the software setting mode and the node address values set by Sysmac Studio become effective In the software setting mode execute Write Slave Node Address on the EtherCAT Edit Screen of Sysmac Studio to save the set values to the nonvolatile memory on the EtherCAT Communication Unit side EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 3 Common Slave Specifications Software setting The value saved in the non volatile memory on the slave side as SII Slave Information Interface information becomes the node address EtherCAT Master e o o lt o 3 8 I3 ME o lt i o bod 4 6 Eth Nonvolatile 1 While the power is off set the node address 2 pog erCAT Switches to 00 3 Slave Controller memory gt o Fog 2 SII 2 Write the set value of node address to SII on the slave f
174. s Settings 2 19 2 6 1 Command Setting 2 19 2 6 2 Frequency Reference Setting 2 19 2 6 3 Reset Selection Setting 2 19 2 7 Communication Starting and Operation Checking with CJ1W NCx82 Master 2 20 2 7 1 Starting the System 2 20 2 7 2 Network Setup 2 20 2 7 3 Checking the Master Unit 2 20 2 7 4 Checking the Inverter and EtherCAT Communication Unit 2 21 2 7 5 Checking the Operation 2 21 2 8 Communication Starting and Operation Checking with NJ501 1x00 Master 2 22 2 8 1 Starting the System 2 22 2 8 2 Network Setup 2 22 2 8 3 Checking the NJ501 1x00 2 26 2 8 4 Checking the Inverter EtherCAT Communication Unit 2 26 2 8 5 Checking the Operation 2 26 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
175. s executed only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value means load MSB LSB d a 64 hex 61 6f hex 6c hex A value of 00000001 hex command valid is given when reading In the following cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 64616F6C hex Writing to the EEPROM may take up to 3 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 9 ea1y suoneoiunululo 302 S S sjoefqo L G G 5 CiA402 Drive Profile 1018 hex Identity object All Sub index 0 Number of entries Setting range Unit Default setting 04 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vendor ID Setting range Unit Default setting 00000083 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product code Setting range Unit Default setting 00000053 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision number Setting range Unit Default setting Refer to the table Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial number Setting range Unit Default settin
176. s in this PDO 01 hex 1 byte U8 RO Not possible 1 1st Input Object to be mapped 20020108 hex 4 bytes U8 RO Not possible 1C00 hex Sync manager communication type 0 Number of used SM channels 04 hex 1 byte U8 RO Not possible 1 Communication type SMO 01 hex 4 bytes U8 RO Not possible 2 Communication type SM1 02 hex 4 bytes U8 RO Not possible 3 Communication type SM2 03 hex 4 bytes U8 RO Not possible 4 Communication type SM3 04 hex 4 bytes U8 RO Not possible 1C10 hex Sync Manager 0 PDO assignment 0 Number of assigned PDOs 00 hex 1 byte U8 RO Not possible 1C11 hex Sync Manager 1 PDO assignment 0 Number of assigned PDOs 00 hex 1 byte U8 RO Not possible A 6 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Settin PDO Index Object name 9 Unit Default setting Size Access index range map 1C12 hex Sync manager 2 PDO assignment 0 Number of assigned RxPDOs 01 hex 1 byte U8 RW Not possible 1 Assigned PDO 1 1701 hex 2 bytes U16 RW Not 1st PDO Mapping object index of possible assigned PDO 2 Assigned PDO 2 0000 hex 2 bytes U16 RW Not 2nd PDO Mapping object index of possible assigned PDO 3 Assigned PDO 3 0000 hex 2 bytes U16 RW Not 8r
177. s 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 After installing this EtherCAT Communication Unit to the inverter warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions Notes The overall appearance varies depending on the inverter capacity SYSDRIVE RUN 3G3MX2_ INVERTER Q D R RUN STOP RESET A COS OUAO t IN OUT RUN ERR 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 Z WARNING Risk of electric shock Read manual before installing A f amp S eR Rt BUT RRS ESL o REPRUBREMAAUAILIOY Ea BUCK EL IN OUT A e Wait 10 minutes for capacitor discharge after disconnecting power supply IN OUT 8 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Precautions for Correct Use 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 th
178. s output NDc Communication disconnection detection LOG1 Logic operation output 1 LOG2 Logic operation output 2 LOGS 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 FI FREF Frequency command Source REF RUN command source SETM Motor 2 selection EDM Safety device monitor Reserved NO Not assigned Possible TxPDO Possible TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 25 151 491J9AU Y Y Appendices Index Sub index Register No Function name Parameter No Monitor and setting items Data resolution PDO map 3014 hex 43 hex 141A hex Multi function Relay Output MA MB Function Selection C026 RW RUN During RUN FA1 Constant speed reached FA2 Set frequency min reached OL Overload warning OD PID excessive deviation AL Alarm output FA8 Meet designated frequency during accel decel OTQ Overtorque Undertorque UV Signal during undervoltage TRQ During torque limit
179. s pc Time needed to write read inverter parameters from timg Read Approx 6 ms pc the PLC NJ501 1x00 When the communication cycle is 500 us IO data updating cycle 4 ms or 6 ms Varies depending on the number of allocated PDOs Due to the characteristics of EtherCAT the result will become the same with any node as long as the communication cycle is the same EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices A 3 Object List A 3 1 Object List Sub Settin PDO Index Object name 9 Unit Default setting Size Access index range map 1000 hex 0 Device type 00010192 hex 4 bytes U32 RO Not possible 1001 hex 0 Error register 0 1 byte U8 RO Not possible 1008 hex 0 Manufacturer device name 2 20 bytes VS RO Not possible 1009 hex 0 Manufacturer hardware version 1 20 bytes VS RO Not possible 100A hex 0 Manufacturer software version 20 bytes VS RO Not possible 1010 hex Store parameters Number of entries 01 hex 1 byte U8 RO Not possible Save all parameters 00000001 hex 4 bytes U32 RW Not possible 1011 hex Restore default parameters Number of entries 01 hex 1 byte U8 RO Not gt possible e Restore all default parameters 00000001 hex 4 bytes U32 RW Not g possible o 1018 Identity object
180. signment exceeded 0040 hex RxPDO object overlap 0041 hex Number of PDO mapping exceeded 0042 hex PDO map size exceeded more than 32 bits 0043 hex Incorrect object specification sub index 0 is mapped 0044 hex Object not supported 0045 hex 5000 to 5999 and 6000 to 6999 objects mixed 0046 hex Object specified for PDO map is invalid 0047 hex Incorrect data size for specified object 0048 hex PDO mapping exists but size is 0 004F hex Specified access method not supported 0050 hex Specified object mapping is invalid 0060 hex RxPDO object overlap MX2 registers are overlapping 0061 hex Unsupported data type is specified 0070 hex Unsupported mode mode other than FreeRun is specified 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 OOE2 hex Start address of the Refresh area is different from the value in pre operational Pre Op hex Sync Manager buffer overlap 00E4 hex Map size and Sync Manager size are different 5 hex Sync Manager operation invalid OOE6 hex Sync Manager size is 0 00E7 hex Incorrect direction setting 8 hex Buffer mode is incorrect 8000 hex Resource depletion 8001 hex Internal inconsistency 8002 hex Other error FFFF hex No error For details refer to Chapter 6 Handling of Errors and Maintenance EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 5 21 1eJnjoejnue N 9 S syalqoO
181. ssible hex hex hex TxPDO 3013 95 136E Free V f Voltage 4 b107 RW 0 to 8000 0 1 V Possible hex hex hex TxPDO 3013 96 136F hex Free V f Frequency 5 b108 RW 0 to Free V f Frequency 6 1 Hz Possible hex hex TxPDO 3013 97 1370 hex Free V f Voltage 5 b109 RW 0 to 8000 0 1 V Possible hex hex TxPDO 3013 98 1371 hex Free V f Frequency 6 b110 RW 0 to Free V f Frequency 7 1 Hz Possible hex hex TxPDO 3013 99 1372 hex Free V f Voltage 6 b111 RW 0 to 8000 0 1 V Possible hex hex TxPDO 3013 9A 1373 hex Free V f Frequency 7 b112 RW 0 to 400 1000 Hz 1 Hz Possible hex hex TxPDO 3013 9B 1374 hex Free V f Voltage 7 b113 RW 0 to 8000 0 1 V Possible hex hex TxPDO 3013 A2 137B Brake Control b120 RW 00 Disabled Possible hex hex hex Function Selection 01 Enabled TxPDO 3013 137 Brake Release Wait b121 RW 0 to 500 0 01 s Possible hex hex hex Time TxPDO 3013 A4 137D Acceleration Wait b122 RW 0 to 500 0 01 s Possible hex hex hex Time TxPDO 3013 5 137E Stop Wait Time b123 RW 0 to 500 0 01 s Possible hex hex hex TxPDO 3013 A6 137F hex Brake Wait Time for b124 RW 0 to 500 0 01 s Possible hex hex Confirmation TxPDO 3013 7 1380 hex Brake Release b125 RW 0 to 40000 0 01 Hz Possible hex hex Frequency TxPDO 3013 8 1381 hex Brake Release Current b126 RW 0 to 20000 0 01 Possible hex hex TxPDO 3013 AQ 1382 hex Break ON Frequency b127 RW 0 to 40000 0 01 Hz Possible hex hex TxPDO
182. 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 Not ready to switch on Switch on disabled Details The power supply is turned ON and initialization is being executed Initialization has been completed Parameters can be set Parameters can be set Parameters can be set Inverter can be controlled Parameters can be set There was an error in the inverter and the cause is being determined Parameters can be set Ready to switch on Switched on Operation enabled Fault reaction active Fault There is an error in the inverter Parameters can be set T 2 5 1 3 Command Coding The state is controlled by combining the bits in Controlword 6040 hex as shown in the following table A Controlword bit 9 Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transition 8 fr eo qs ev so Shutdown 1 1 0 2 6 8 Switch on 0 1 1 1 3 Switch on 1 1 1 1 344 enable operation Disable voltage 0 7 9 10 g Quick stop 0 1 7 9 10 m Disable operation 0 1 1 1 5 2 Enable operation 1 1 1 1 4 o Fault reset 0 128 z 2 15 y Notes fr Fault reset eo Enable operation qs Quick stop ev Enable voltage so Switch on 2 1 The state automatically transitions to the Enable operation state a
183. t of Command 5000 hex or bit 7 Fault reset of Controlword 6040 hex to ON 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 Sync Manager 3PDO assignment 1C13 hex 1A00 to 1A04 hex 1B00 to 1B01 hex 0022 hex RxPDO map overlap The same PDO is assigned more than once to
184. t set Pulse train input monitor Do not set Possible TxPDO 3014 hex 45 hex 141C hex AM Selection C028 RW Output frequency Output current Output torque Output voltage Input power Electronic thermal load rate LAD frequency Cooling fin temperature Output torque signed Do not set Do not set Possible TxPDO A 26 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter ex Data PDO Index index INO Function name No R W Monitor and setting items resolution map 3014 47 141E Digital Current Monitor RW 2000 to 20000 0 01 Possible hex hex hex Reference Value 3014 48 141F hex Multi function Output C031 RW 00 NO NO contact Possible hex hex P1 EDM Contact 01 NC NC contact TxPDO Selection 3014 49 1420 hex Multi function Output C032 RW 00 NO NO contact Possible hex hex P2 Contact Selection 01 NC NC 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 h
185. ta TxPDO 4015 57 152C Motor 1 Parameter J H034 RW 1 to 9999000 0 01 Possible hex hex hex Auto tuning Data kgm TxPDO 3015 68 153D Control With Speed H050 RW 0 to 1000 0 1 Possible hex hex hex Feedback Slip Compensation Proportional Gain 3015 69 153E V f Control With Speed H051 RW 0 to 1000 0 1 Possible hex hex hex Feedback Slip Compensation Integral Gain 3016 30 1603 hex Pulse Train Input RW 00 Frequency setting including Possible hex hex Terminal RP Selection PID TxPDO 01 Feedback pulse Enabled only when motor 1 control is selected 02 Do not set 3016 31 1604 hex Feedback Pulse Train P004 RW 00 Single phase pulse input Possible hex hex Input Type Selection 01 2 phase pulse 1 TxPDO 02 2 phase pulse 2 03 Single phase pulse train direction 3016 38 160B Number of Encoder P011 RW 32 to 1024 1 Possible hex hex hex Pulses TxPDO 3016 39 160C Simple Position P012 RW 00 Simple position control disabled Possible hex hex hex Control Selection 02 Simple position control enabled TxPDO 3016 3C 160F hex Creep Speed Setting P015 RW Starting frequency to 1000 0 01 Hz Possible hex hex TxPDO 3016 47 161A Overspeed Error P026 RW to 1500 0 1 9 Possible hex hex hex Detection Level TxPDO 3016 48 161B Speed Deviation Error P027 RW 0 to 12000 0 01 Hz Possible hex hex hex Detection Level TxPDO 3016 4 161F hex Acceleration 1 RW 00 Digital Operator Possible hex h
186. teees A 9 A 5 Sysmac Error Status Codes ceed A 36 A 5 1 Error lable cs os eni iiis 36 5 2 Error Descrlptioris iei te RR od e ee A 37 Index EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 19 CONTENTS 20 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 1 2 1 Features of EtherCAT 1 2 2 EtherCAT System 1 2 3 EtherCAT Communication Types 1 3 EtherCAT System Configuration 1 3 1 System Configuration 1 3 2 Overview of Component Equipment EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 1 1 1 EtherCAT Network Overview of the EtherCAT Communication Unit 1 1 1 The EtherCAT Communication Unit is an interface unit When installed to SYSDRIVE MX2 series multi function 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 applicat
187. tem 2 4 NJ501 1x00 Master Setting 2 4 1 Mounting the NJ501 1x00 Perform configuration of the NJ501 1x00 Master rack For the specific configuration method refer to NJ series CPU Unit Software User s Manual Cat No W501 2 4 2 501 1 00 Setting Set the NJ501 1x00 Master For the setting method for each part refer to NJ series CPU Unit Software User s Manual Cat No W501 2 12 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 5 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 9ui 104 pue S Z yun 2 5 1 Mounting the EtherCAT Communication Unit i 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
188. the above holding registers if you want to access the coil A 32 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Holding register number list 2nd setting F group Sub Register Parameter mers Data PDO Index ENS Function name No R W Monitor and setting items resolution map 4021 46 2103 hex 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 Holding register number list 2nd setting Group A b and P Sub Register 7 Parameter 1 E Data PDO Index 15 Function No R W Monitor and setting items 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 gt 10 Operation function output D 3 3022 47 2202 hex RUN Command A202 RW 01 Control circuit terminal block Possible hex hex Selection 2 02 Digital operator TxPDO S 03 Modbus communication Modbus RTU AY 04 Optional boad 3 3022 48 2203 hex Base Frequency 2 A203 RW 300 to Maximum Frequency 2 0 1 Hz Possible 2 hex hex TxPDO r 3022 49 2204 hex Maximum Frequency 2 A204 RW 300 to 4000
189. ting 0000 hex Size 2 bytes U16 Access RO PDO map Possible This object gives the present state of the unit Bit descriptions Statusword Bit Name Details 0 Ready to switch on These bits give the state 1 Switched on For details refer to 5 1 4 State Coding on page 5 3 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 0 No warning occurred for the unit or inverter 1 Warning occurred for the unit or inverter Reserved Not used 9 Remote 0 Control from Controlword is disabled 1 Indicates that control is being performed by Controlword 10 to 15 Reserved Not used 5 22 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 Unit rpm Default setting 0000 hex Size 2 bytes INT16 Access RW PDO map Possible This object gives a command speed and rotation direction command to the inverter 6043 hex vl velocity demand vl Setting range 8000 to 7FFF hex Unit rpm Default setting 0000 hex Size 2 bytes INT16 Access RO PDO map Possible 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 Unit rpm Default setting 0000 hex Size 2 bytes INT16 Access RO PDO map Possible This object gives the outp
190. ting 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 A 14 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter Data PDO Index Wy Function name No R W Monitor and setting items resolution map 4012 3D 1218 hex Multi step Speed A021 RW 0 0 01 Hz Possible hex hex Reference 1 Starting 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 4012 41 121 Multi step Speed A023 RW 0 0 01 Hz Possible hex hex hex Reference 3 Starting Frequency to nth Maximum Frequency 4012 43 121E Multi step Speed A024 RW 0 0 01 Hz Possible hex hex hex Reference 4 Starting Frequency to nth Maximum Frequency 4012 45 1220 hex Multi step Speed A025 RW 0 0 01 Hz Possible hex hex Reference 5 Starting Frequency to nth Maximum Frequency 4012 47 1222 hex Multi step Speed A026 RW 0 0 01 Hz Possible hex hex Reference 6 Starting Frequency to nth Maximum Frequency 4012 49 1224 hex Multi step Speed A027 RW 0 0 01 Hz Possible hex hex Reference 7 Starting Frequency to nth Maximum Frequency 4012 4B 1226 hex Multi step Speed A028 RW 0 0 01 Hz Possible hex hex Ref
191. tion 1600 hex 4011 26 F002 Acceleration time setting 1 1st receive PDO Mapping 1601 hex 4011 28 F003 Deceleration time setting 1 2nd receive PDO Mapping 1A00 hex 3010 24 4002 Output current monitor 1st transmit PDO Mapping Sync Manager assignment Sync Manager PDO assignment Description 1012 hex 1701 hex Fixed allocation of the independent profile 1600 hex Setting as above 1601 hex Setting as above 1013 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 n4 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 Communication Unit USER S MANUAL 3G3AX MX2 ECT 4 Inverter Control Status information slave to master Word Meaning m Status 1 Output frequency monitor m 2 Output current monitor 4 5 3 Objects Allocation in Sysmac Studio In Sysmac Studio you can edit the PDO map settings for each slave D Sysmac Studio File Edit View Insert Project Controller Simulation Tools O O O O OOOO 8844 BY JONUOD E002 3G3AX MX2 ECT Rev 1 1 PDO Map Settings Distributed Clock Enable Reference Clock B a
192. tion 15 Abnormal temperature 21 Main circuit error 25 Driver error 30 Thermistor error 35 Brake error 36 Emergency shutoff 37 Overload protection in a low speed 38 range Digital operator connection error 40 Modbus communication Modbus RTU 41 error Internal data error 43 to 45 50 to 69 Encoder disconnection 80 Overspeed 81 Position control range trip 83 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Holding register number list monitor Appendices Sub Register A Parameter TENE Data PDO Index ENS Function name No R W Monitor and setting items resolution map 4010 22 1001 hex Output Frequency d001 RO 0 to 40000 100000 0 01 Hz Possible hex hex Monitor TxPDO 3010 24 1003 hex Output current monitor 4002 RO 0 to 65530 0 01 A Possible hex hex TxPDO 3010 25 1004 hex Rotation Direction d003 RO 0 Stop Possible hex hex Monitor 1 Forward TxPDO 2 Reverse 4010 26 1005 hex PID Feedback Value d004 RO O to 1000000 0 1 Possible hex hex Monitor TxPDO 3010 28 1007 hex Multi function Input d005 RO 29 Terminals S1 Bit Possible hex hex Monitor 2 to 29 Terminals S7 EB TxPDO 3010 29 1008 hex Multi function output d006 RO 20 Terminals P1 EDM Bit Possible hex hex monitor to 21 Terminal P2 TxPDO 26 Relay output terminal 4010 2A 1009 hex Output Frequency d007 RO 0 to
193. tion limit Possible hex hex Limit Selection 01 Only Forward is enabled TxPDO Reverse is limited 02 Only Reverse is enabled Forward is limited 3013 4D 1326 hex Reduced Voltage b036 RW 0 Reduced voltage startup time Possible hex hex Startup Selection small to 255 Reduced voltage TxPDO startup time large 3013 4E 1327 hex Display Selection b037 RW 00 Complete display Possible hex hex 01 Individual display of functions TxPDO 02 User setting this setting 03 Data comparison display 04 Basic display 05 Monitor display only 3013 4F 1328 hex Initial Screen Selection b038 RW 00 Screen on which the Entry was Possible hex hex last pressed TxPDO 001 to 060 d001 to 4060 201 F001 3013 50 1329 hex User Parameter b039 RW 00 Disabled Possible hex hex Automatic Setting 01 Enabled TxPDO Function 3013 51 132A Torque Limit Selection b040 RW 00 Four quadrant separate setting Possible hex hex hex 01 Terminal switching TxPDO 02 Analog voltage input 03 Do not set 3013 52 132B Torque Limit 1 four b041 RW 0 to 200 255 no 1 96 Possible hex hex hex quadrant mode TxPDO forward power running 3013 53 132C Torque Limit 2 four b042 RW 0 to 200 255 no 1 Possible hex hex hex quadrant mode TxPDO reverse regeneration 3013 54 132D Torque Limit 3 four b043 RW 0 to 200 255 no 1 Possible hex hex hex quadrant mode TxPDO reverse power running 3013 55 132E Torque Limit 4 four b044 RW
194. tion monitor e Multi function output monitor The bit data for the multi function output monitor information is shown below 6 1 0 Bit Name Meaning 0 Multi function output P1 EDM 0 OFF 1 Multi function output P2 1 ON 6 Multi function relay output Reserved 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 2 4 Sample Program Configuration 4 Inverter Control 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 I Parameter settings The shared parameter settings of CJ1W NCx82 are as follows 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 Control information master to slave Word Address Meaning n CIO 3800 Command Bit 0 Forward stop Bit 1 Reverse stop Bit 7 Fault reset n 41 CIO 3801 Frequency reference increments of 0 01 Hz Status information slave to master W
195. uency 1 TxPDO 3012 A2 127D Acceleration Pattern A097 RW 00 Linear Possible hex hex hex Selection 01 S shape curve TxPDO 02 U shape curve 03 Inverted U shape curve 04 EL S shape curve 3012 127 Deceleration Pattern A098 RW 00 Linear Possible hex hex hex Selection 01 S shape curve TxPDO 02 U shape curve 03 Inverted U shape curve 04 EL S shape curve 4012 A6 1281 hex FI Start Frequency A101 RW 0 to 40000 100000 0 01 Hz Possible hex hex TxPDO 4012 A8 1283 hex FI End Frequency A102 RW 0 to 40000 100000 0 01 Hz Possible hex hex TxPDO 3012 AA 1285 hex FI Start Ratio A103 RW 0 to 100 1 Possible hex hex TxPDO 3012 AB 1286 hex FI End Ratio A104 RW 0 to 100 1 Possible hex hex TxPDO 3012 AC 1287 hex FI Start Selection A105 RW 00 Start frequency Possible hex hex 01 0 Hz TxPDO 3012 CA 12A5 Acceleration Curve A131 RW 01 small curve to Possible hex hex hex Parameter 10 large curve TxPDO 3012 CB 12A6 Deceleration Curve A132 RW 01 small curve to Possible hex hex hex Parameter 10 large curve TxPDO 3012 D4 12AF Operation Frequency A141 RW 00 Digital Operator Possible hex hex hex Selection 1 01 Volume TxPDO 02 Voltage FV input 03 Current input 04 Modbus communication Modbus RTU 05 Do not set 07 Pulse train frequency EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 17 151 491J9AU Y Y Appendices
196. ult Monitor 5 Output current value at the time of 0 01 A Possible hex hex hex Current ripping TxPDO 3000 40 003F hex Fault Monitor 5 Voltage DC input voltage at the time of 0 1 V Possible hex hex ripping TxPDO 4000 41 0040 hex Fault Monitor 5 Total RUN time at the time of 1 h Possible hex hex RUN Time ripping TxPDO 4000 43 0042 hex Fault Monitor 5 Power ON time at the time of 1 h Possible hex hex ON Time ripping TxPDO A 10 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT Appendices Sub Register Parameter Et Data PDO Index ENS Function name No R W Monitor and setting items resolution map 3000 45 0044 hex Fault Monitor 6 d086 RO Refer to Inverter fault factor list on Possible hex hex Cause page A 12 TxPDO 3000 46 0045 hex Fault Monitor 6 Refer to Inverter fault factor list on Possible hex hex Inverter Status page A 12 TxPDO 4000 47 0046 hex Fault Monitor 6 0 to 100000 0 01 Hz Possible hex hex Frequency TxPDO 3000 49 0048 hex Fault Monitor 6 Output current value at the time of 0 01 A Possible hex hex Current tripping TxPDO 3000 4A 0049 hex Fault Monitor 6 Voltage DC input voltage at the time of 0 1 V Possible hex hex tripping TxPDO 4000 4B 004A Fault Monitor 6 Total RUN time at the time of 1 h Possible hex hex hex RUN Time tripping TxPDO 4000 4D
197. ut 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 Access RO PDO map Not possible Sub index 1 vl velocity min amount Setting range 00000000 to FFFFFFFF hex Unit rpm Default setting 0000000F hex Size 4 bytes U32 Access RW PDO map Not possible Sub index 2 vl velocity max amount Setting range 00000000 to FFFFFFFF hex Unit rpm Default setting 00000708 hex Size 4 bytes U32 Access RW PDO map Not possible This object sets the maximum speed and minimum speed To read and write the minimum speed read or write the inverter parameter b082 Starting Frequency To read and write the maximum speed read or write the inverter parameter A004 Maximum 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 Access RO PDO map Not possible Sub index 1 Delta speed Setting range 00000000 to FFFFFFFF hex Unit rpm Default setting 00000708 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Delta time Setting range 0000 to FFFF hex Unit s Default setting 000A hex Size 2 bytes U16 Access RW PDO map Not possible This object sets the acceleration time To read the Speed 6048 to 01 hex
198. ution map 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 3012 8F 126A Motor Incoming A082 RW 200 V class 00 200 Possible hex hex hex Voltage Selection 1 01 215 TxPDO 02 220 03 230 04 240 400 V class 05 380 06 400 07 415 3012 90 126B AVR Filter Time A083 RW 0 to 1000 0 01 s Possible hex hex hex Parameter TxPDO 3012 91 126C AVR Deceleration A084 RW 50 to 200 1 Possible hex hex hex Voltage Gain TxPDO 3012 92 126D RUN Mode Selection A085 RW 00 Normal operation Possible hex hex hex 01 Energy saving operation TxPDO 3012 93 126E Energy saving A086 RW 0 to 1000 0 1 Possible hex hex hex Response Accuracy Adjustment 4012 99 1274 hex 1st Acceleration Time A092 RW 1 to 360000 0 01 s Possible hex hex 2 4012 9B 1276 hex 1st Deceleration Time A093 RW 1 to 360000 0 01 s Possible hex hex 2 3012 9D 1278 hex 2 step A094 RW 00 Switched via word 2 terminal Possible hex hex Acceleration Decelerat 01 Switched by setting TxPDO ion Selection 1 02 Switched only when switching forward reverse 4012 9E 1279 hex 2 step Acceleration A095 RW 0 to 40000 100000 0 01 Hz Possible hex hex Frequency 1 TxPDO 4012 AO 127B 2 step Deceleration A096 RW 0 to 40000 100000 0 01 Hz Possible hex hex hex Freq
199. x Multi function Input 7 Selection C007 RW 00 01 02 03 04 05 06 07 08 09 FW Forward RV Reverse CF1 Multi step speed 1 CF2 Multi step speed 2 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 FRS Free run stop 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 STP 3 wire stop F R 3 wire forward reverse PID PID disabled PIDC PID integral reset UP UP DWN function accelerated DWN UP DWN function decelerated 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 SF4 Multi step speed bit 4 SF5 Multi step speed bit 5 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 PCLR Position deviation clear ADD Frequency addition F TM Forced terminal block ATR Torque reference input permission KHC Integrated power clear Reserved Reserved Reserved
200. x 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 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 RW to 100 1 Possible hex hex hex Braking Power TxPDO 3012 71 124C Startup Internal DC A058 RW 0 to 600 0 1 s Possible hex hex hex Injection Braking Time TxPDO 3012 72 124D DC Injection Braking A059 RW 20 to 150 0 1 kHz Possible hex hex hex Carrier Frequency TxPDO 4012 74 124F hex Frequency Upper A061 RW 0 0 01 Hz Possible hex hex Limit 1 Frequency Lower Limit 1 to TxPDO Maximum Frequency 1 4012 76 1251 hex Frequency Lower A062 RW 0 0 01 Hz Possible hex hex Limit 1 Starting Frequency to Frequency TxPDO Upper Limit 1 4012 78 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 hex hex Width 2 TxPDO 4012 7E 1259 hex Jump Frequency 3 A067 RW 0 to 40000 100000 0 01
201. y referring to its User Manual In such cases check that the node addresses do not overlap with other units 2 18 EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT 2 Starting a Sample System 2 6 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 1570 for the SYSDRIVE MX2 series inverter for details on operating the inverter parameter settings and for the meaning of the parameter values sbulyes seues ZXIN 3AIHQSAS 9 2 2 6 1 RUN Command Setting Change the control method for the RUN command Parameter No Functonname Daa _ Default value A002 RUN Command Selection 1 04 Optional boad 02 Digital Operator 2 6 2 Frequency Reference Setting Change the control method for the frequency reference Parameter No Function name Daa Default value A001 Frequency Reference Selection 1 04 Optional boad 02 Digital Operator NNY 1 9 2 2 6 3 Reset Selection Setting Set the operation of the reset signal parameter No Funelion name bata betaurtvatue C102 03 Trip reset only 00 Trip reset at power
202. y to the Communication Unit Check that the 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 Check that the Communication Unit is mounted correctly onto the inverter The Communication Unit is faulty Replace the Communication Unit ERR indicator is flashing red The setting of the rotary switches for node address setting is invalid Check the setting of the rotary switches for node address setting turn OFF the power supply of the inverter and then restart it There is an error in the Slave Unit s EEPROM memory data Use the tool to initialize the settings The Sync Manager setting is invalid Change to a correct setting Anerror 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 and status does not change There was a status transition instruction from the host system during operation and a transition was made to a status other than Operational Refer to the Master Unit s manual and check that the host Master Unit is operating correctly i Errors related to the network Problem L A IN and L A OUT indicators remain OFF
203. ysmac Error 0 Number of entries 02 hex 1 byte U8 RO Not possible 1 Sysmac Error Status 00 hex 1 byte U8 RO Possible TxPDO 2 Sysmac Error Status Clear 00 hex 1 byte U8 RW Not possible 2100 hex 0 Error history clear 6C636C65 hex 00000000 hex 4 bytes U32 RW Not possible 5000 hex 0 Command 0000 to 0000 hex 2 bytes U16 RW Possible FFFF hex 5010 hex 0 Frequency reference 0000 to 0 01 Hz 0000 hex 2 bytes U16 RW Possible FFFF hex 0 1 Hz 5100 hex 0 Status 0000 to 0000 hex 2 bytes U16 RO Possible FFFF hex TxPDO EtherCAT Communication Unit USER S MANUAL 3G3AX MX2 ECT A 7 1517 199 40 v 1511 10940 v Appendices Sub Settin PDO Index Object name 9 Unit Default setting Size Access index range map 5110hex 0 Output frequency monitor 0000 to Unit 0000 hex 2 bytes U16 RO Possible FFFF hex 0 01 Hz TxPDO 0 1 Hz 5200 hex PDO mapping error history 0 Number of entries hex 1 byte U8 RO Not possible 1 Newest PDO mapping error code FFFF hex 2 bytes U16 RO Not possible 4 Number of error messages 00 hex 2 bytes U16 RO Not possible 5toA PDO mapping error message 1to 0000 hex 2 bytes U16 RO Not 6 possible 603F hex 0 Error code 0000 to 0000 hex 2 bytes U16 RO Possible FFFF hex TxPDO 6040 hex 0 Controlword 0000 to 00

MX2 Series EtherCAT Communication Unit User`s Manual

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