OMRON MX2 Series 3G3AX-MX2-ECT EtherCAT Communication Unit User's Manual

Inverter

MX2 Series

EtherCAT Communication Unit

User’s Manual

3G3AX-MX2-ECT

EtherCAT Communication Unit

I574-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 permission 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 information 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 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)

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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 COMMERCIAL 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.

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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 imply that the uses listed may be suitable for the products:

 Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

 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.

 Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY

WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS,

AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE

WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

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)

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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

WARNING

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or may result in serious injury or death. Additionally there may be significant property damage.

Caution

Indicates a potentially hazardous situation which, if not avoided, may result in 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.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure that the product does not become inoperative, malfunction, or disrupt functionality and performance.

Additional Information

Additional information to increase understanding or make operation easier.

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

Safety Precautions

Example of Symbols

This symbol indicates a prohibited item (an item you must not do).

The specific instruction is indicated using an illustration or text inside or near .

The symbol shown to the left indicates "disassembly prohibited".

This symbol indicates danger and caution.

The specific instruction is indicated using an illustration or text inside or near .

The symbol shown to the left indicates "beware of electric shock".

This symbol indicates a compulsory item (an item that must be done).

The specific instruction is indicated using an illustration or text inside or near .

The symbol shown to the left indicates "typical compulsory items".

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

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Safety Precautions

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.

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.

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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 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

• Be sure to confirm safety before conducting maintenance, inspection or parts replacement.

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

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Precautions for Correct Use

Precautions for Correct Use

Installation

Follow the inverter mounting direction restrictions.

Modbus-RTU communication

If this EtherCAT Communication Unit is installed, the inverter Modbus-RTU communication becomes disabled.

Product Disposal

Comply with the local ordinance and regulations when disposing of the product.

Warning Label Location

• 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.

200V

3PHASE

RUN

STOP

RESET

RUN PWR

Hz

A

ALM

PRG

8

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.

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 the inverter can be checked on the nameplate of the inverter.

(The unit version can not be checked on the CX-Drive.)

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

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Applicable Standards

Applicable Standards

EC Directives

EC Directives

EMC Directive

Applicable Standard

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

UL/cUL UL508c

Applicable Standard

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.

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

Trademarks

Trademarks

• EtherCAT is a registered trademark of Beckhoff Automation GmbH (Germany). EtherCAT technology is protected by patents.

EtherCAT



is a registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

• Windows, Windows 98, Windows XP, Windows Vista and Windows 7 are registered trademarks of

Microsoft Corporation in the USA and other countries.

• Sysmac is a FA product of OMRON and a trademark or registered trademark of OMRON in Japan and other countries.

• CX-One is a registered trademark of OMRON's FA Integrated Tool Package.

• Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies.

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

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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.

****** ********

Checking the Model

3 G 3 A X - M X 2 - E C T

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.

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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.

Man.No.

I574-E1-02

01

02

Revision code Revision date

August 2010

July 2011

Revised symbols

Changes and revision pages

First printing

Added information on Machine Automation Controller NJ501-1x00 series.

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

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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.

Model/Name

Multi-function Compact Inverter SYSDRIVE MX2 SERIES USER’S MANUAL

* Refer to the user’s manual of the Inverter for information on Inverter operation.

Manual number

I570

EtherCAT Master manual

Model/Name

Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL

Manual number

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.

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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.

Chapter 1

Chapter 2

Chapter 3

Chapter 4

Chapter 5

Chapter 6

Appendix

EtherCAT Network

Starting a Sample System

Common Slave Specifications

Inverter Control

CiA402 Drive Profile

Handling of Errors and

Maintenance

Overview

This chapter explains the overview, features and specifications of the

EtherCAT Communication Unit.

This chapter explains information such as the mounting, wiring and setting methods for the EtherCAT Communication Unit.

This chapter explains the common slave specifications during EtherCAT communication, and about the ESIs, PDOs and SDOs.

This chapter describes the profiles that are used to control inverters.

This chapter explains about the CiA402 drive profile.

This chapter explains how to handle any errors that occur in the

EtherCAT Communication Unit.

The appendix provides a list of objects.

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

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CONTENTS

CONTENTS

Introduction ............................................................................................................... 1

Read and Understand this Manual .......................................................................... 2

Safety Precautions .................................................................................................... 4

Precautions for Safe Use.......................................................................................... 7

Precautions for Correct Use..................................................................................... 8

Applicable Standards.............................................................................................. 10

Trademarks .............................................................................................................. 11

Checking Before Unpacking................................................................................... 12

Revision History ...................................................................................................... 13

Related Manuals ...................................................................................................... 14

About This Manual .................................................................................................. 15

Section 1 EtherCAT Network

1-1 Overview of the EtherCAT Communication Unit................................................................... 1-2

1-1-1 Features of the EtherCAT Communication Unit .......................................................................... 1-2

1-2 Overview of EtherCAT ............................................................................................................. 1-3

1-2-1

1-2-2

Features of EtherCAT.................................................................................................................. 1-3

EtherCAT System........................................................................................................................ 1-4

1-2-3 EtherCAT Communication Types ................................................................................................ 1-5

1-3 EtherCAT System Configuration ............................................................................................ 1-6

1-3-1

1-3-2

System Configuration.................................................................................................................. 1-6

Overview of Component Equipment ........................................................................................... 1-7

Section 2 Starting a Sample System

2-1 Part Names and Settings for the EtherCAT Communication Unit ....................................... 2-2

2-1-1

2-1-2

Part Names ................................................................................................................................. 2-2

Status Indicator Names............................................................................................................... 2-3

2-1-3

2-1-4

2-1-5

2-1-6

Rotary Switches for Node Address Setting ................................................................................. 2-4

Communications Connector........................................................................................................ 2-5

Recommended Products............................................................................................................. 2-6

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 Example................................................................................................... 2-9

2-3 CJ1W-NCx82 Master Setting................................................................................................. 2-11

2-3-1

2-3-2

Mounting the CJ1W-NCx82 ...................................................................................................... 2-11

CJ1W-NCx82 Setting ................................................................................................................ 2-11

2-4 NJ501-1x00 Master Setting ................................................................................................... 2-12

2-4-1 Mounting the NJ501-1x00 ......................................................................................................... 2-12

2-4-2 NJ501-1x00 Setting................................................................................................................... 2-12

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

CONTENTS

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

2-5-3

2-5-4

Wiring the EtherCAT Communication Unit................................................................................ 2-15

Wiring Conforming to EMC Directives ...................................................................................... 2-17

Node Address Settings for the EtherCAT Communication Unit ................................................ 2-18

2-6 SYSDRIVE MX2 Series Settings ........................................................................................... 2-19

2-6-1

2-6-2

RUN Command Setting ............................................................................................................ 2-19

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

2-7-2

Starting the System .................................................................................................................. 2-20

Network Setup .......................................................................................................................... 2-20

2-7-3

2-7-4

2-7-5

Checking the Master Unit ......................................................................................................... 2-20

Checking the Inverter and EtherCAT Communication Unit ....................................................... 2-21

Checking the Operation ............................................................................................................ 2-21

2-8 Communication Starting and Operation Checking with NJ501-1x00 Master................... 2-22

2-8-1

2-8-2

Starting the System .................................................................................................................. 2-22

Network Setup .......................................................................................................................... 2-22

2-8-3

2-8-4

2-8-5

Checking the NJ501-1x00 Master ............................................................................................ 2-26

Checking the Inverter and EtherCAT Communication Unit ....................................................... 2-26

Checking the Operation ............................................................................................................ 2-26

Section 3 Common Slave Specifications

3-1 Structure of CANopen over EtherCAT ................................................................................... 3-2

3-2 Communications Status Transitions ..................................................................................... 3-3

3-3 Process Data Objects (PDO)................................................................................................... 3-4

3-3-1 Outline ........................................................................................................................................ 3-4

3-3-2

3-3-3

3-3-4

PDO Mapping Settings ............................................................................................................... 3-4

Sync Manager PDO Assignment Settings .................................................................................. 3-5

Fixed PDO Mapping ................................................................................................................... 3-5

3-4 Service Data Objects (SDO).................................................................................................... 3-6

3-4-1

3-4-2

Outline ........................................................................................................................................ 3-6

Abort Codes................................................................................................................................ 3-6

3-5 Emergency Messages ............................................................................................................. 3-7

3-5-1 Outline ........................................................................................................................................ 3-7

3-5-2 Error Code List............................................................................................................................ 3-7

3-6 Sysmac Device Functions ...................................................................................................... 3-8

Section 4 Inverter Control

4-1 Outline ...................................................................................................................................... 4-2

4-1-1

4-1-2

Function Selection ...................................................................................................................... 4-2

Object Mapping........................................................................................................................... 4-2

4-2 Control with the Position Control Unit................................................................................... 4-4

4-2-1 Inverter Setting ........................................................................................................................... 4-4

4-2-2

4-2-3

4-2-4

Object Mapping........................................................................................................................... 4-4

Control Method ........................................................................................................................... 4-5

Sample Program......................................................................................................................... 4-7

4-3 Control with the Independent Profile................................................................................... 4-10

4-3-1

4-3-2

Inverter Setting ......................................................................................................................... 4-10

Profile Allocation ....................................................................................................................... 4-10

4-3-3 Control Method ......................................................................................................................... 4-10

4-4 Control with the CiA402 Profile ............................................................................................ 4-12

4-4-1 Inverter Setting ......................................................................................................................... 4-12

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

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CONTENTS

4-4-2

4-4-3

Profile Allocation ....................................................................................................................... 4-12

Control Method.......................................................................................................................... 4-12

4-5 Control with the PDO Free Format....................................................................................... 4-14

4-5-1

4-5-2

Inverter Setting.......................................................................................................................... 4-14

Object Mapping ......................................................................................................................... 4-14

4-5-3

4-5-4

Objects Allocation in Sysmac Studio......................................................................................... 4-15

Restrictions ............................................................................................................................... 4-16

4-6 Trial operation via EtherCAT Communication Unit............................................................. 4-17

Section 5 CiA402 Drive Profile

5-1 Inverter State Control .............................................................................................................. 5-2

5-1-1 State Machine ............................................................................................................................. 5-2

5-1-2

5-1-3

5-1-4

State Descriptions ....................................................................................................................... 5-3

Command Coding ....................................................................................................................... 5-3

State Coding ............................................................................................................................... 5-3

5-2 Modes of Operation ................................................................................................................. 5-4

5-3 Velocity Mode........................................................................................................................... 5-5

5-4 Object Dictionary ..................................................................................................................... 5-6

5-4-1

5-4-2

Object Dictionary Area ................................................................................................................ 5-6

Data Types .................................................................................................................................. 5-6

5-4-3 Object Description Format .......................................................................................................... 5-6

5-5 CoE Communications Area .................................................................................................... 5-8

5-5-1

5-5-2

Communication Objects .............................................................................................................. 5-8

PDO Mapping Objects .............................................................................................................. 5-11

5-5-3 Sync Manager Communication Objects.................................................................................... 5-13

5-6 Manufacturer Specific Area .................................................................................................. 5-16

5-6-1

5-6-2

Manufacturer Specific Objects .................................................................................................. 5-16

Inverter Parameter Objects ....................................................................................................... 5-17

5-6-3 Independent Profile Objects...................................................................................................... 5-19

5-7 Device Profile area................................................................................................................. 5-22

5-7-1 Drive Profile Objects ................................................................................................................. 5-22

Section 6 Handling of Errors and Maintenance

6-1 Communication Line Errors ................................................................................................... 6-2

6-1-1 Status IndicatorExplanations and Error Handling ....................................................................... 6-2

6-1-2 Troubleshooting........................................................................................................................... 6-4

6-2 Message Errors ........................................................................................................................ 6-5

6-3 Application Errors ................................................................................................................... 6-6

6-3-1 Error Statuses ............................................................................................................................. 6-6

6-3-2

6-3-3

6-3-4

Error Code List ............................................................................................................................ 6-6

List of Cause Codes for PDO Mapping Errors ............................................................................ 6-7

AL Status Code List .................................................................................................................... 6-9

6-4 Inverter Errors ........................................................................................................................ 6-10

Appendices

A-1 Specifications ..........................................................................................................................A-2

A-1-1 Appearance and Dimensions ......................................................................................................A-2

A-1-2

A-1-3

Common Specifications ..............................................................................................................A-2

EtherCAT Communications Specifications..................................................................................A-3

A-2 Communications Response Time ..........................................................................................A-4

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

CONTENTS

Index

A-3 Object List ................................................................................................................................A-5

A-3-1 Object List................................................................................................................................... A-5

A-4 Inverter Parameter List............................................................................................................A-9

A-5 Sysmac Error Status Codes .................................................................................................A-36

A-5-1

A-5-2

Error Table ................................................................................................................................ A-36

Error Descriptions ..................................................................................................................... A-37

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

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CONTENTS

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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 . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Features of the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 Overview of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-2-1 Features of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-2-2 EtherCAT System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-2-3 EtherCAT Communication Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3 EtherCAT System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-2 Overview of Component Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

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1 - 1

1 EtherCAT Network

1-1 Overview of the EtherCAT

Communication Unit

The EtherCAT Communication Unit is an interface unit. When installed to a SYSDRIVE MX2-series multi-function compact inverter, it provides support for 100-Mbps EtherCAT.

Support for EtherCAT enables operating and stopping with high-speed communication, monitoring the operation status, and changing the various set values, and provides support for a wide range of applications.

1-1-1 Features of the EtherCAT Communication Unit

The EtherCAT Communication Unit has the features shown below.

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.

Using together with slaves

EtherCAT supports connection with Servo Drives and digital I/O slaves,as well as Inverters,allowing flexible network building.

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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.

1

1-2-1 Features of EtherCAT

EtherCAT has the features shown below.

 Ultra high-speed communication of 100 Mbps

The I/O response time from the generation of the input signal to the transmission of the output signal is greatly reduced. The optimized Ethernet frame band is fully utilized and transfer is performed with the high-speed repeat method, which enables the highly efficient transmission of various types of data.

 Use of standard Ethernet technology

EtherCAT is a global open network that uses standard Ethernet technology in its physical layer. This means that universally available parts can be used, such as commercially available Ethernet cables, connectors and tools.

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

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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

Data

OUT IN

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 header

Ethernet data (Max. of 1,498 bytes)

CRC

1 - 4

EtherCAT header

1st EtherCAT telegram

2nd EtherCAT telegram

1…n EtherCAT telegram

. . . . .

Datagram header

Data

Ethernet frame n th EtherCAT telegram

WKC

WKC: Working counter

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

1 EtherCAT Network

1-2-3 EtherCAT Communication Types

EtherCAT provides the following two types of communication functions.

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

1

Ethernet frame

Ethernet header

EtherCAT header

1st EtherCAT telegram

2nd EtherCAT telegram

3rd EtherCAT telegram

Logic process data

• • •

CRC

Data a

Data b

Data c

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.

• Read and write process data

• Slave settings

• Monitor slave state

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1 EtherCAT Network

1-3 EtherCAT System Configuration

1-3-1 System Configuration

A typical system configuration is shown below.

CX-One FA Integrated

Tool Package

Programmable

Controller

SYSMAC CJ2 or

Position Control

Unit

CJ1W-NCx82 or

Sysmac Studio

Machine Automation Controller

NJ501-1x00 series

Communications cable

SYSDRIVE

3G3MX2 series

EtherCAT

Communication Unit

3G3AX-MX2-ECT

Other slaves

Servo Drive

Digital I/O

Analog I/O

Pulse input, etc

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

1 EtherCAT Network

1-3-2 Overview of Component Equipment

The overview of each structural device is as follows.

 EtherCAT master

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 Units

When this 3G3AX-MX2-ECT EtherCAT Communication Unit is installed on an inverter, it can be operated as a motion network slave inverter.

 Configuration tool

Computer software for setting the EtherCAT network and each slave.

 Communications cable

The communications cable that connects the Master Unit with the Slave Units, and the Slave Units to each other.

In an EtherCAT network, use an 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.

1

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1 EtherCAT Network

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

Starting a Sample System

This chapter explains information such as the mounting, wiring and setting methods for the EtherCAT Communication Unit.

2

2-1 Part Names and Settings for the EtherCAT Communication Unit . . . . . . . 2-2

2-1-1 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-2 Status Indicator Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2-1-3 Rotary Switches for Node Address Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-1-4 Communications Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-1-5 Recommended Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-1-6 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 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3 CJ1W-NCx82 Master Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2-3-1 Mounting the CJ1W-NCx82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2-3-2 CJ1W-NCx82 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2-4 NJ501-1x00 Master Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-1 Mounting the NJ501-1x00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-2 NJ501-1x00 Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-5 Mounting and Wiring for the EtherCAT Communication Unit . . . . . . . . . 2-13

2-5-1 Mounting the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2-5-2 Wiring the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

2-5-3 Wiring Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

2-5-4 Node Address Settings for the EtherCAT Communication Unit . . . . . . . . . . . 2-18

2-6 SYSDRIVE MX2 Series Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-6-1 RUN Command Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-6-2 Frequency Reference Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

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 Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26

2-8-4 Checking the Inverter and EtherCAT Communication Unit . . . . . . . . . . . . . . . 2-26

2-8-5 Checking the Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26

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

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2 Starting a Sample System

2-1 Part Names and Settings for the

EtherCAT Communication Unit

2-1-1 Part Names

Status indicator

(L/A IN, L/A OUT,

RUN, ERR)

Rotary switches for node address setting (× 10, × 1)

Communications connector

(IN, OUT)

FG cable

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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.

L/A IN

Name

L/A OUT

RUN

ERR

Color

Green

Green

Green

Red

State

OFF

ON

Flickering

OFF

ON

Flickering

OFF

Blinking

Single flash

ON

OFF

Blinking

Single flash

Double flash

Flickering

ON

Meaning

Link not established in physical layer

Link established in physical layer

In operation after establishing link

Link not established in physical layer

Link established in physical layer

In operation after establishing link

Init state

Pre-operational state

Safe-operational state

Operational state

No error

Communications setting error

Synchronization error or communications data error

Application WDT timeout

Boot error

PDI WDT timeout

Additional Information

The timing of each flashing state of indicator is as follows.

on

50 ms

Flickering off

Blinking on off

200 ms

200 ms

Single flash on off

200 ms

1000 ms

200 ms

Double flash on off

200 ms

200 ms

200 ms

1000 ms

2

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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.

Node address setting

(× 1)

Node address setting

(× 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 rotary switch

00

01 to 99

Set value for node address

OMRON Host Controller

Host Controller from another manufacturer

The Host Controller set value is used as the node address.

The rotary switch set value is used as the node address.

The Host Controller set value is used regardless of the rotary switch set value.

Precautions for Correct Use

• The set node address is read only once when the inverter power supply is turned ON.

If the setting is changed after the power supply is turned ON, the new setting will not be used until the next time that the power is turned ON.

• Do not change the setting on the rotary switches after the power supply has been turned ON.

• If node addresses overlap, an error occurs and the operation stops.

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

2-1-4 Communications Connector

An Ethernet twisted-pair cable is connected to this connector.

Communications connector (IN)

Communications connector (OUT)

2 Starting a Sample System

2

8

1

The EtherCAT connector specifications are shown below.

• Electrical characteristics : Conform to IEEE 802.3.

• Connector structure

• Terminal arrangement :

: RJ45 8-pin modular connector (conforms to ISO 8877)

Pin No.

1

2

3

6

7

4

5

8

Hood

Signal

Send data +

Send data



Receive data +

Not used

Not used

Receive data



Not used

Not used

Frame ground

Abbreviation

TD +

TD







RD+





RD



FG

Function

Send data +

Send data









Receive data +





Receive data



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

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2 Starting a Sample System

2-1-5 Recommended Products

Connection cables and RJ45 connectors

For the communications cable, use a category 5 or higher straight type cable that is double-shielded with aluminum tape and braided shielding. Use a shielded connector of category 5 or higher.

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.

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.

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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.

Pin No.

1

2

3

Wire color

White-Green

Green

4

White-Orange

Blue

5 White-Blue

6

Orange

7

White-Brown

8

Brown

Connector hood

Shielded cable*

* Connect both ends of cable shielded wires to the connector hoods.

Wire color

White-Green

Green

White-Orange

Blue

White-Blue

Orange

White-Brown

Brown

Shielded cable*

Pin No.

1

2

3

4

5

6

7

8

Connector hood

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.

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

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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.

1 Master Unit setting

Master Unit setting

ESI file setting

CJ1W-NCx82

Master

Ref section 2-3-1.

NJ501-1x00

Master

Ref section 2-4-1.

Ref section 2-3-2.

Ref section 2-4-2.

2

Mounting and wiring of EtherCAT Communications Unit

Mounting of EtherCAT Communications Unit

Ref section 2-5-1.

Wiring of EtherCAT Communications Unit

Ref section 2-5-2.

Setting the node address of the EtherCAT

Communications Unit

Ref section 2-5-3.

3

Setting SYSDRIVE MX2 series

Setting RUN command

Setting frequency reference

Setting reset selection

Ref section 2-6-1.

Ref section 2-6-2.

Ref section 2-6-3.

4 Checking communication start/operation

Starting system

Checking operation

Ref section 2-7-1.

Ref section 2-8-1.

Network setup

Checking Master Unit

Ref section 2-7-2.

Ref section 2-8-2.

Checking Inverter and EtherCAT Communications Unit

Ref section 2-7-3.

Ref section 2-8-3.

Ref section 2-7-4.

Ref section 2-8-4.

Ref section 2-7-5.

Ref section 2-8-5.

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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 (

 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT ( 2 sets)

(Notes) This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series.

Used for data setting and monitoring

• Monitoring status

• File management, etc

PC

CX-Programmer

Power

Supply Unit

CJ2 series

CPU Unit

Master Unit Position Control Unit

(CJ1W-NCx82)

2

RS-232C port connection

Peripheral (USB) port connection

Slave Unit

First unit inverter

Node address 17

Slave Unit

2nd unit inverter

Node address 22

Communications cable 1

Length: 5 m

Communications cable 2

Length: 1 m

Refer to 2-3 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)

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2 Starting a Sample System

NJ501-1x00 Master

Master Unit : Machine Automation Controller NJ501-1x00 series

Slave Unit (

 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT ( 2 sets)

(Notes) This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series.

Used for data setting and monitoring

• Monitoring status

• File management, etc

PC

Sysmac Studio

Power

Supply Unit

Master Unit

Machine Automation Controller

NJ501-1x00 series

Peripheral (USB) port connection

Built-in EtherCAT port

Slave Unit

First unit inverter

Node address 1

Slave Unit

2nd unit inverter

Node address 2

Communications cable 1

Length: 5 m

Communications cable 2

Length: 1 m

Refer to 2-4 NJ501-1x00 Master Setting on page 2-12 for details on Unit installation and setting

method.

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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.

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.

2

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

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2 Starting a Sample System

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 NJ501-1x00 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).

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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.)

2

2-5-1 Mounting the EtherCAT Communication Unit

Removing the optional board cover from the inverter front panel

1

Loosen the mounting screw (

 1) from the optional board cover of the inverter front

panel.

2

Remove the optional board cover.

3G3M

X2

RUN

IVE

STOP

RESET

RUN

Hz

ALM

A

PWR

PRG

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

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2 Starting a Sample System

Mounting the EtherCAT Communication Unit onto the inverter

1

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.

3G3MX2

RUN

ER

STOP

RESET

RUN

PWR

Hz

A

ALM

PRG

(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 N•cm, 4.7 kgf•cm).

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

2 Starting a Sample System

Connecting the ground cable of the EtherCAT Communication Unit

1

Ground the FG cable of the EtherCAT Communication Unit.

Cut the ground wire of the unit's FG cable to an appropriate length and ground it to the closest possible ground location. Also refer to the inverter manual.

3G3MX2

RUN

IVE

STOP

RESE

T

RUN

PWR

Hz

A

ALM

PRG

2

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.

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

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2 Starting a Sample System

Wiring the communications cables

FG cable

2 - 16

Master Unit side

Slave Unit side

Securely connect the EtherCAT communication cable connector to the EtherCAT Communication Unit by inserting the connector all the way until it clicks.

Connect the communication cable from the EtherCAT master side to the communication connector IN of the Communication Unit.

Connect the communication connector OUT to the communication connector IN of the next EtherCAT slave.

Do not connect the communication connector OUT of the last EtherCAT slave.

Data will not be communicated correctly if the input/output are connected in reverse.

In the system configuration example used in this chapter, the connectors below are connected with the communications cables.

Communications cable 1

Communications cable 2

Connecting from

Master Unit

1st inverter OUT

(Notes) Do not connect anything to 2nd inverter OUT.

1st inverter IN

2nd inverter IN

Connecting to

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 cable is locked.

• Install and wire the communications cables separately from high-voltage electrical power lines.

• Do not install the cables near devices generating noise.

• Do not install the cables in high-temperature and high-humidity environments.

• Use the cables in locations without powder dust or oil mist.

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

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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.

2

Wiring the communications cables

Install the 3 clamp cores shown below near the communications connectors of the communications cables that are connected to the communications connector (IN) and the communications connector

(OUT). (If the communications cable on the OUT side is not connected, install them for the IN side only.)

Symbol

FC1, FC2, FC3 Clamp core

Name Manufacturer

NEC TOKIN

Model

ESD-SR-160

Wiring the FG cable

Install the FG cable with the shortest possible wiring.

200V

3PHASE

RUN

STOP

RESET

RUN PWR

Hz

A

ALM

PRG

FC1

FC3

FC2

FC1

FC2

FC3

FG cable

Communications cable

(IN)

Communications cable

(OUT)

(Notes) The overall mounting appearance varies depending on the inverter capacity. Do not squeeze the FG cable into the EtherCAT Communication Unit.

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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 are as follows.

1st unit

2nd unit

Inverter

Node address

Rotary switch x 10

Rotary switch x 1

Node address

Rotary switch x 10

Rotary switch x 1

CJ1W-NCx82 Master

17

Set to the 1 position.

Set to the 7 position.

22

Set to the 2 position.

Set to the 2 position.

NJ501-1x00 Master

1

Set to the 0 position.

Set to the 1 position.

2

Set to the 0 position.

Set to the 2 position.

Notes on setting are provided below for each Master Unit.

<CJ1W-NCx82 Master>

1 The EtherCAT Communication Unit uses input and output areas for 5 node addresses.

For this reason, when using the inverter with a fixed allocation, set 5 or larger number to the node address of the next unit.

2 Node addresses can be set in a range of 17 to 80. Make sure the node addresses set for the Unit do not overlap with other slave.

3 For the restrictions related to CJ1W-NCx82 Master, refer to Position Control Units

CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL (Cat No.W487).

<NJ501-1x00 Master>

1 Node addresses can be set in a range of 1 to 99. Make sure the node addresses set for the Unit do not overlap with other slave.

2 Unlike with the CJ1W-NCx82 master, the node address of the next unit can be set without intervals.

3 For the restrictions related to your NJ501-1x00, refer to NJ-series CPU Unit Software User’s Manual

(Cat No.W501).

(Notes) If a slave other than this product is also connected to the same network, set the unit by referring to its User Manual. In such cases, check that the node addresses do not overlap with other units.

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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 No.I570) for the SYSDRIVE MX2-series inverter for details on operating the inverter parameter settings and for the meaning of the parameter values.

2

2-6-1 RUN Command Setting

Change the control method for the RUN command.

Parameter No.

A002

Function name

RUN Command Selection 1

Data

04 (Optional boad)

Default value

02 (Digital Operator)

2-6-2 Frequency Reference Setting

Change the control method for the frequency reference.

Parameter No.

A001

Function name Data

Frequency Reference Selection 1 04 (Optional boad)

Default value

02 (Digital Operator)

2-6-3 Reset Selection Setting

Set the operation of the reset signal.

Parameter No.

C102

Function name

Reset Selection

Data

03 (Trip reset only)

* If parameter C102 is not displayed, first set parameter b037 to 01.

Default value

00 (Trip reset at power-ON)

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2 Starting a Sample System

2-7 Communication Starting and Operation

Checking with CJ1W-NCx82 Master

After completing the settings and wiring, turn ON the power and check that the communication starts.

The inverter power supply must be turned ON to set the inverter. When the power supply is turned ON, the inverter may operate in unintended way. Check the condition of the wiring and system carefully before starting the operation.

2-7-1 Starting the System

Check the condition of the wiring and system carefully, and then turn ON the power supply for all the inverters and PLC. It does not matter whether the inverter or PLC power supply is turned ON first.

However, an error occurs unless the power supply for all the 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-NCx82 in the I/O table to start the support tool. When the support tool starts, the Network Auto Setup dialog box is displayed. Perform the network setup in accordance with the dialog box instructions. If the Network Auto Setup dialog box is not displayed automatically, start the dialog box by selecting Network Auto Setup from Network in the support tool menu.

For details on network setting, refer to Position Control Units

CJ1W-NC281/NC481/NC881/NCF81/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.

Initial processing

Normal operation

7-segment display

Flashing

“00”

RUN

ON

ON

ERC

OFF

OFF

ERH

OFF

OFF

ECAT

RUN

OFF

ON

ECAT

ERR

OFF

OFF

L/A

ON

Flashing

For details, refer to Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882

OPERATION MANUAL (Cat No.W487).

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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

Initial processing

Normal operation

L/A IN

ON

Flashing

L/A OUT

ON

Flashing

RUN

OFF

ON

ERR

OFF

OFF

2

2nd unit

Initial processing

Normal operation

L/A IN

ON

Flashing

L/A OUT

OFF

OFF

RUN

OFF

ON

ERR

OFF

OFF

* If three or more units are connected, the status LEDs behave in the same way as the LEDs on the first unit, except for the last unit.

L/A OUT on the last unit is always unlit.

2-7-5 Checking the Operation

Execute the PLC control program and check that the operation is normal.

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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

Check the condition of the wiring and system carefully, and then turn ON the power supply for all the inverters and NJ501-1x00 Master. It does not matter whether the inverter or NJ501-1x00 Master power supply is turned ON first. However, an error occurs unless the power supply for all the inverters is turned ON within a certain time (Wait time for slave startup parameter of NJ501-1x00, default value is

30 seconds) after turning ON the NJ501-1x00 power supply.

2-8-2 Network Setup

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

<Project Window>

Click the New Project Button, enter MX2-ECT sample under the Project name, and then click the Create Button.

2 - 22

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

2 Starting a Sample System

2

Registering an EtherCAT slave

<Controller Configurations and Setup Pane>

Right-click EtherCAT under the Configurations and Setup menu on the left side of the pane, and open the Edit Pane.

When a group of items that can be registered as an EtherCAT slave appears on the right side of the pane, select Frequency Inverter.

From the slave list on the right side of the pane, drag and drop 3G3AX-MX2-ECT onto Master at the center of the pane, and the Unit will be registered as an EtherCAT slave.

2

drug & drop

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2 Starting a Sample System

<Pane when 2 inverters are registered>

The pane after 2 inverters are registered is shown below.

3

Registering an IO map

Right-click I/O Map under the Configurations and Setup menu on the left side of the pane, and open the Edit Pane.

With the NJ501-1x00 Master, data used in the control algorithms is treated as a set of variables.

If you want to assign a variable to each object that controls the inverter and use the assigned variables in the control algorithms, define the variables on this pane.

<I/O Map Pane>

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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.

<Synchronization Pane>

2

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2 Starting a Sample System

2-8-3 Checking the NJ501-1x00 Master

Check that the NJ501-1x00 Master is operating normally in the RUN Mode.

Front LED indicators

Status of NJ501-1x00 Master

PWR (Green)

RUN (Green)

ERROR (Red)

Operating normally

User program is running User program is stopped

ON

ON

OFF

ON

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

Initial processing

Normal operation

L/A IN

ON

Flashing

L/A OUT

ON

Flashing

RUN

OFF

ON

ERR

OFF

OFF

2nd unit

Initial processing

Normal operation

L/A IN

ON

Flashing

L/A OUT

OFF

OFF

RUN

OFF

ON

ERR

OFF

OFF

* If three or more units are connected, the status LEDs behave in the same way as the LEDs on the first unit, except for the last unit.

L/A OUT on the last unit is always unlit.

2-8-5 Checking the Operation

Execute the NJ501-1x00 Master control program and check that the operation is normal.

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

Common Slave Specifications

This chapter explains the common slave specifications during EtherCAT communication, and about the PDOs and SDOs.

3-1 Structure of CANopen over EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-2 Communications Status Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-3 Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3-3-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3-3-2 PDO Mapping Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3-3-3 Sync Manager PDO Assignment Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3-3-4 Fixed PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3-4 Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-4-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-4-2 Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-5 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-5-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-5-2 Error Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-6 Sysmac Device Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3

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

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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

Communications status transitions

Inverter application

SDO

(Mailbox)

Object dictionary

PDO mapping

PDO (Cyclic)

Register Mailbox

SyncManager

EtherCAT data link layer

EtherCAT physical layer

Process data

FMMU

Normally, multiple protocols can be transmitted using EtherCAT. In the EtherCAT Communication Unit for MX2 inverters, the CANopen communication profile (CiA 301) that is popular in Europe, and the drive profile (CiA 402) are used.

The object dictionary in the application layer contains parameters and application data as well as information on the PDO mapping between the process data and inverter application.

The process data object (PDO) consists of objects in the object dictionary that can be mapped to the

PDO. The contents of the process data are defined by the PDO mapping.

Process data communications cyclically reads and writes the PDO. Mailbox communications (SDO) uses asynchronous message communications where all objects in the object dictionary can be read and written.

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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

Safe-operational

Operational

State

SDO communications

Initialization (Init) Not supported

Pre-Operational

(Pre-Op)

Safe-Operational

(Safe-Op)

Operational (Op)

Supported

Supported

Supported

PDO reception

PDO transmission

Details

Not supported Not supported Communications are being initialized.

Communications are not possible.

Not supported Not supported Only mailbox communications are possible in this state. This state is entered after initialization has been completed. It is used to initialize network settings.

Not supported Supported In this state, PDO transmissions are possible in addition to mailbox communications. Cyclic communications can be used to send information such as status from the inverter.

Supported Supported This is a normal operating state. Cyclic communications can be used to control the motor.

3

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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

Host

Controller

Inverter

TxPDO

Operation status, present value, etc

The EtherCAT application layer can hold multiple objects to enable the transferring of inverter process data. The contents of the process data are described in the PDO mapping object and the Sync

Manager PDO assignment object.

3-3-2 PDO Mapping Settings

The PDO mapping indicates the mapping for application objects (realtime process data) between the object dictionary and PDO.

The number of mapped objects is described in sub-index 00 hex of the mapping table. In this mapping table, 1600 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs.

The following table is an example of PDO mapping.

Object dictionary

Index Sub

1ZZZ hex

1ZZZ hex

1ZZZ hex

01 hex

02 hex

03 hex

Object contents

6TTT hex TT hex

6UUU hex UU hex

YYYY hex YY hex

8

8

16

PDO length: 32 bits

PDO_1

Object A Object B Object D

6TTT hex

6UUU hex

6VVV hex

6YYY hex

6ZZZ hex

TT hex

UU hex

VV hex

YY hex

ZZ hex

Object A

Object B

Object C

Object D

Object E

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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

Index

1C1Z hex

Sub

1 hex

1C1Z hex

1C1Z hex

2 hex

3 hex

Object contents

1A00 hex

1A01 hex

1A03 hex

Sync Manager entity Z

PDO A PDO B PDO D

3

1A00 hex

1A01 hex

1A02 hex

1A03 hex

1A04 hex

1A05 hex

1A06 hex

PDO A

PDO B

PDO C

PDO D

PDO E

PDO F

PDO G

3-3-4 Fixed PDO Mapping

This section describes the contents of fixed PDO mapping for MX2 inverters. The contents of fixed

PDOs cannot be changed.

PDO mapping for speed control (independent profile)

RxPDO

(1701 hex)

TxPDO

(1B01 hex)

5000 hex Command

5010 hex Frequency reference

5100 hex Status

5110 hex Output frequency monitor

PDO mapping for speed control (CiA402 profile)

RxPDO

(1700 hex)

TxPDO

(1B00 hex)

6040 hex Controlword

6042 hex vl target velocity

6041 hex Statusword

6043 hex vl velocity demand

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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

05040000 hex

05040001 hex

05040005 hex

06010000 hex

06010001 hex

06010002 hex

06020000 hex

06040041 hex

06040042 hex

06040043 hex

06040047 hex

06060000 hex

06070010 hex

06070012 hex

06070013 hex

06090011 hex

06090030 hex

06090031 hex

06090032 hex

06090036 hex

08000000 hex

08000020 hex

08000021 hex

08000022 hex

08000023 hex

Meaning

Toggle bit not changed

SDO protocol timeout

Client/Server command specifier not valid or unknown

Out of memory

Unsupported access to an object

Attempt to read a write only object

Attempt to write to a read only object

The object does not exist in the object directory

The object can not be mapped into the PDO.

The number and length of the objects to be mapped would exceed the

PDO length.

General parameter incompatibility reason

General internal incompatibility in the device

Access failed due to a hardware error

Data type does not match, length of service parameter does not match

Data type does not match, length of service parameter too high

Data type does not match, length of service parameter too low

Subindex does not exist

Value range of parameter exceeded (only for write access)

Value of parameter written too high

Value of parameter written too low

Maximum value is less than minimum value

General error

Data cannot be transferred or stored to the application

Data cannot be transferred or stored to the application because of local control

Data cannot be transferred or stored to the application because of the present device state

Object dictionary dynamic generation fails or no object dictionary is present

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3 Common Slave Specifications

3-5 Emergency Messages

3-5-1 Outline

When an error or warning occurs in an MX2 inverter, an emergency message is sent to the master using mailbox communications. An emergency message is not sent for a communications error.

You can select whether to send emergency messages by setting Diagnosis history (10F3 hex).

The default setting is to send emergency messages. (10F3 hex, sub-index: 05 hex (Flags) = 1)

Set the sub-index 05 hex (Flags) in object 10F3 hex to 0 every time the power is turned ON to disable the sending of emergency messages.

Emergency messages consist of 8 bytes of data.

Byte

Meaning

0

Error code

1 2

Error register

(Object 1001 hex)

3 4 5 6 7

Manufacturer specific error field

(reserved)

3

3-5-2 Error Code List

Error code

5300 hex

Meaning

Error in the option and inverter connection

6341 hex

6331 hex

FF00 hex

FF01 hex

PDO setting error

EEPROM data error

A warning occurred for the inverter

A trip occurred for the inverter

Possible correction

• Check that the Communication Unit is mounted correctly onto the inverter.

• The Communication Unit is faulty. Replace the

Communication Unit.

• If a trip reset was performed with the inverter, set the inverter C102 to 3: Trip reset only, and turn the power supply OFF and ON again.

• If an initialization mode change was performed with the inverter, turn the inverter power supply OFF and ON again.

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.

• An error was detected in data inside EEPROM when the power supply was turned ON. Replace the Communication

Unit.

• The Diagnosis history cannot be saved because the

EEPROM has reached the end of its service life. There is no effect on operations, but if you want to use the Diagnosis history, replace the unit.

Eliminate the cause and turn on the bit 7: Fault reset of 5000 hex (Command) or 6040 hex (Controlword).

Eliminate the cause and turn on the bit 7: Fault reset of 5000 hex (Command) or 6040 hex (Controlword).

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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 Error status must be mapped to the PDO. By default, Sysmac Studio automatically maps 2002 hex-01 hex: Sysmac Error status to the PDO by allocation of 1BFF hex : 512th transmit PDO Mapping.

Additional Information

• For the Sysmac error status, refer to 5-6-1 Manufacturer Specific Objects on page 5-16.

• For the 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.

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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

(4)

(5)

EtherCAT

Slave Controller

(2)

Nonvolatile memory

SII

Register: 0010 hex

Register: 0012 hex

(3)

(1)

Node address switch

EtherCAT Slave

(EtherCAT Communication Unit)

(1) While the power is off, set the node address

switches to 00.

(2) Write the set value of node address to SII on

the slave, from the master side.

(3) When the slave power is turned on, the set

value of node address is reflected in the register

address 0012 hex by the software.

(4) The EtherCAT master reads the set value at

the register address 0012 hex.

(5) The EtherCAT master writes the value at the

address 0012 hex to the address 0010 hex as

the node address.

Node address switch setting

The value set by the node address switches on the slave becomes the node address.

EtherCAT Master

3

(3) (4)

EtherCAT

Slave Controller

Nonvolatile memory

SII

Register: 0010 hex

Register: 0012 hex

(2)

(1)

Node address switch

EtherCAT Slave

(EtherCAT Communication Unit)

(1) While the power is off, set the node address

switches.

(2) When the slave power is turned on, the value

set by the node address switches is reflected

in the register address 0012 hex.

(3) The EtherCAT master reads the set value at

the register address 0012 hex.

(4) The EtherCAT master writes the value at the

address 0012 hex to the address 0010 hex as

the node address.

 Displaying the serial number

The serial number saved in the nonvolatile memory on the Servo Drive side is displayed under 1018 hex-04 hex: Serial number. With controllers conforming to the Sysmac device functions, the network configuration can be checked using this serial number.

To check the network configuration, set Setting = Actual device under Serial Number Check Method on the EtherCAT Edit Screen of Sysmac Studio.

If the specified criteria cannot be met, a Network Configuration Verification Error will occur.

Additional Information

Since replacement of slave device can be detected, all slave parameters will be set without fail.

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

3 - 9

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 SII verification error will occur. If the error still occurs after turning the power OFF and then ON again, contact your OMRON sales representative.

Precautions for Correct Use

Do not modify the SII information using a setting tool by other manufacturer.

3 - 10

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

Inverter Control

This chapter describes the profiles that are used to control inverters.

4-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-1 Function Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-2 Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-2 Control with the Position Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-2-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-2-2 Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-2-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-2-4 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-3 Control with the Independent Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-3-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-3-2 Profile Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-3-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-4 Control with the CiA402 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4-4-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4-4-2 Profile Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4-4-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4-5 Control with the PDO Free Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4-5-1 Inverter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4-5-2 Object Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4-5-3 Objects Allocation in Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4-5-4 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4-6 Trial operation via EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . 4-17

4

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

Allocation when using CJ1W-NCx82

Independent profile

CiA402 drive profile

PDO free format

Details

The fixed allocation when connected with OMRON's CJ1W-NCx82.

OMRON's independently-developed function object.

Enables easy control of the inverter.

A function object that conforms to the CiA402 drive profile.

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 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.

4 - 2

PDO Mapping

This unit uses the PDOs below to allocate the objects.

 RxPDO (master to slave)

PDO

1600 hex to 1604 hex

(1st receive PDO Mapping to

5th receive PDO Mapping)

1700 hex

(257th receive PDO Mapping)

1701 hex

(258th receive PDO Mapping)

Details

Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be allocated to each PDO.

The fixed allocation that conforms to the CiA402 drive profile.

The fixed allocation of the independent profile.

 TxPDO (slave to master)

PDO

1A00 to 1A04 hex

(1st transmit PDO Mapping to

5th transmit PDO Mapping)

1B00 hex

(257th transmit PDO Mapping)

1B01 hex

(258th transmit PDO Mapping)

1BFF hex

(512th transmit PDO Mapping)

Details

Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be allocated to each PDO.

The fixed allocation that conforms to the CiA402 drive profile.

The fixed allocation of the independent profile.

By default, Sysmac Studio assigns 2002 hex: Sysmac error status.

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

Sync ManagerAssignment

In this unit, specify the PDOs that you want to use as follows.

 Sync Manager

Sync Manager PDO assignment

1C12 hex

1C13 hex

Allocate RxPDO (master to slave).

Up to 5 RxPDOs can be allocated.

Allocate TxPDO (slave to master).

Up to 5 TxPDOs can be allocated.

Details

4 Inverter Control

4

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

A001 Frequency Reference Selection 1

A002 RUN Command Selection 1

C102 Reset Selection

P012 Simple Position Control Selection

Description

04: Optional board

04: Optional board

03: Trip reset only

00: Simple position control disabled

02: Simple position control enabled

* Select speed control or Simple position control by setting inverter parameter P012: Simple Position Control

Selection.

To use the Simple position control function, set the required parameters in accordance with the inverter manual.

* If parameter C102 is not displayed, set b037 to 01.

* Do not use motor 2 control of the inverter. 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

1701 hex

1600 hex

1601 hex

1B01 hex

1A00 hex

1A01 hex

PDO Description

5000 (Command)

5010 (Frequency reference)

4016.6B (P060 Multi-step position command 0)

301F.40 (Multi-function input (Modbus communication register 1F01 hex coil data 0))

5100 (Status)

5110 (Output frequency monitor)

4010.59 (d030 Current position monitor)

3010.29 (d006 Multi-function output monitor)

 Sync Manager assignment

Sync Manager PDO assignment

1C12 hex

1C13 hex

Description

1701 (Fixed allocation of the independent profile)

1600 (Setting as above)

1601 (Setting as above)

1B00 (Fixed allocation of the independent profile)

1A00 (Setting as above)

1A01 (Setting as above)

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) n n + 1 n + 2 n + 3 n + 4

Word

Control command

Frequency reference

Multi-step position command 0 (LSW)

Multi-step position command 0 (MSW)

Multi-function input

Meaning

(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 m + 1 m + 2 m + 3 m + 4

Status

Output frequency monitor

Current position monitor (LSW)

Current position monitor (MSW)

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.

       

7

    

1 0

Bit

0

1

Name

Forward/stop *1

Reverse/stop *1

0: Stop

1: Forward command

0: Stop

1: Reverse command

Meaning

7

-

Fault reset

(Reserved)

: Resets an error or trip for the unit or inverter.

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)

4

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

4 - 5

4 Inverter Control

4 - 6

 Multi-function input

The bit data for the multi-function input information is shown below.

 

13 12 11 10 9 8 7

  

10

11

12

13



Bit

7

8

9

Name

Multi-function input 1

Multi-function input 2

Multi-function input 3

Multi-function input 4

Multi-function input 5

Multi-function input 6

Multi-function input 7

(Reserved)

0: OFF

1: ON

The reserved area. Set 0.

Meaning

* 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

0

1

3

7

9

12

15

Forward operation in progress

Reverse operation in progress

Fault

Warning

Remote

Name

Frequency matching

Connection error between the

Optional Unit and inverter

(Reserved)

Meaning

0: Stopped/during reverse operation

1: During forward operation

0: Stopped/during forward operation

1: During reverse operation

0: No error or trip occurred for the unit or inverter

1: Error or trip occurred for the unit or inverter

0: No warning occurred for the unit or inverter

1: Warning occurred for the unit or inverter

0: Local (Operations from EtherCAT are disabled)

1: Remote (Operations from EtherCAT are enabled)

0: During acceleration/deceleration

1: Frequency matched

0: Normal

1: Error (Cannot update data for the inverter. To restore, turn the power OFF and then ON again.)

The reserved area. Set 0.



 Output frequency monitor

Name

Output frequency monitor

Meaning

Displays the output frequency in increments of 0.01 Hz.

 Current position monitor

Name

Current position monitor

Meaning

Displays the value of inverter parameter d030: Current position monitor.

 Multi-function output monitor

The bit data for the multi-function output monitor information is shown below.

        

6

   

1

Bit

0

1

6



Name

Multi-function output P1/EDM 0: OFF

Multi-function output P2

1: ON

Multi-function relay output

(Reserved) The reserved area. Set 0.

Meaning

* Use by assigning a function to the multi-function output with the inverter parameters.

0

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

4 Inverter Control

4-2-4 Sample Program

Configuration

This section explains a configuration that uses CJ1W-NCx82 as the master, and one MX2 inverter on which an EtherCAT Communication Unit (node address: 17) is mounted as the slave.

Parameter settings

The shared parameter settings of CJ1W-NCx82 are as follows.

Parameter name

Remote I/O Output Memory Area Selection

First word of remote I/O Output memory area

Remote I/O Input Memory Area Selection

First word of remote I/O Input memory area

CIO area

3800

CIO area

3900

Set value

The control information and status information of the EtherCAT Communication Unit is allocated to the addresses below.

• Control information (master to slave) n n + 1

Word Address

CIO 3800

CIO 3801

Meaning

Command

Bit 0: Forward/stop

Bit 1: Reverse/stop

Bit 7: Fault reset

Frequency reference (increments of 0.01 Hz)

• Status information (slave to master) m

Word Address

CIO 3900 m + 1 CIO 3901

Meaning

Command

Bit 0: During forward operation

Bit 1: During reverse operation

Bit 3: Fault

Output frequency monitor (increments of 0.01 Hz)

4

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

4 - 7

4 Inverter Control

Ladder program example

0.00

Frequency setting

3900.03

Fault

0.03

Fault reset

30.00

Fault occurred

0.01

0.02

Forward

0.02

Reverse

Reverse

3900.01

30.00

During reverse operation

Fault occurred

3900.00

30.00

0.01

Forward

During forward operation

Fault occurred

0.03

Fault reset

3900.03

Fault

3900.15

Option - Inverter connection fault

3900.15

Option - Inverter connection fault

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)

Frequency reference (word n + 1)

Fault occurred (30.00)

Fault reset (0.03)

The frequency reference data in D00000 is forwarded to word n + 1.

(1) (2) (3) (4) (5) (6) (7)

MOV

(021)

D0000

3801

30.00

Frequency reference

Fault occurred

3800.00

Forward/stop

(word n bit 0)

3800.01

Reverse/stop

(word n bit 1)

3800.07

Fault reset

(word n bit 7)

END

(001)

4 - 8

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

4 Inverter Control

Explanation of operations

(1) When the "Frequency setting" contact is turned ON, the frequency reference data that is set in

D00000 is forwarded to the remote I/O output relay area (word n + 1).

(2) When the "Forward" contact is turned ON, "Forward/stop (word n bit 0)" of the remote I/O output relay area turns ON and forward operation starts. During forward operation, "During forward operation (word m bit 0)" of the remote I/O input relay area turns ON.

(3) When the "Forward" contact is turned OFF and after decelerating and stopping, "During forward operation (word m bit 1)" of the remote I/O input relay area turns OFF.

(4) When the "Reverse" contact is turned ON, "Reverse/stop (word n bit 1)" of the remote I/O output relay area turns ON and reverse operation starts. During reverse operation, "During reverse operation (word m bit 1)" of the remote I/O input relay area turns ON.

(5) When the "Reverse" contact is turned OFF and after decelerating and stopping, "During reverse operation (word m bit 1)" of the remote I/O input relay area turns OFF.

(6) When "Fault (word m bit 3)" of the remote I/O input relay area turns ON, "Fault occurred" turns ON.

(7) When the "Fault reset" contact is turned ON, "Fault reset (word n bit 7)" of the remote I/O output relay area turns ON and the fault is cancelled.

4

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

4 - 9

4 Inverter Control

4-3 Control with the Independent Profile

This section describes how to use the OMRON profile to control the inverter.

4-3-1 Inverter Setting

The inverter parameters must be set to match the profile.

With the independent profile, set as follows.

Parameter

A001 Frequency Reference Selection 1

A002 RUN Command Selection 1

C102 Reset Selection

04: Optional boad

04: Optional boad

03: Trip reset only

* If parameter C102 is not displayed, set b037 to 01.

Description

4-3-2 Profile Allocation

Assign the PDOs of the independent profile to Sync Manager.

Sync Manager PDO assignment

1C12 hex

1C13 hex

Description

1701 hex (Fixed allocation of the independent profile)

1B01 hex (Fixed allocation of the independent profile)

The values below are the fixed mapping for the PDOs.

PDO

1701 hex

1B01 hex

5000 hex (Command)

5010 hex (Frequency reference)

5100 hex (Status)

5110 hex (Output frequency monitor)

Description

4-3-3 Control Method

Control the inverter by operating the PDOs that allocate the profile.

IO format

 Control information (master to slave)

Word

n n + 1

Command

Frequency reference

 Status information (slave to master)

Word

m m + 1

Status

Output frequency monitor

Meaning

Meaning

4 - 10

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

4 Inverter Control

Bit and data information

 Command

     

Bit

0 Forward/stop

Name

1 Reverse/stop

7

-

Fault reset

Reserved

 Frequency reference

 

7

   

Meaning

0: Stop

1: Forward command

0: Stop

1: Reverse command

: Resets an error or trip for the unit or inverter.

Set 0.



1 0

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

0

1

3

7

9

12

15

Name

During forward operation

During reverse operation

Fault

Warning

Remote

Frequency matching

Connection error between the

Optional Unit and inverter



Reserved

 Output frequency monitor

Meaning

0: Stopped/during reverse operation

1: During forward operation

0: Stopped/during forward operation

1: During reverse operation

0: No error or trip occurred for the unit or inverter

1: No error or trip occurred for the unit or inverter

0: No warning occurred for the unit or inverter

1: Warning occurred for the unit or inverter

0: Local (Operations from EtherCAT are disabled)

1: Remote (Operations from EtherCAT are enabled)

0: During acceleration/deceleration or stopped

1: Frequency matched

0: Normal

1: Error (Cannot update data for the inverter. To restore, turn the power supply OFF and then ON again.)

Set 0.

Name

Output frequency monitor

Meaning

Displays the output frequency in increments of 0.01 Hz.

4

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

4 - 11

4 Inverter Control

4-4 Control with the CiA402 Profile

This section describes how to use the Velocity mode of the CiA402 drive profile to control the inverter.

4-4-1 Inverter Setting

The inverter parameters must be set to match the profile.

With the CiA402 profile, set as follows.

Parameter

A001 Frequency Reference Selection 1

A002 RUN Command Selection 1

H004 Motor Pole Number 1

C102 Reset Selection

Description

04: Optional boad

04: Optional boad

2/4/6/8/10(Set to match the system.)

03 (Trip reset only)

* After changing H004, turn the inverter power supply OFF and ON again.

* If parameter C102 is not displayed, set b037 to 01.

* Do not use motor 2 control of the inverter. The motor 1 control only can be used.

4-4-2 Profile Allocation

Assign the PDOs of the CiA402 profile to Sync Manager.

Sync Manager PDO assignment

1C12 hex

1C13 hex

Description

1700 hex (Fixed allocation conforming to the CiA402 drive profile)

1B00 hex (Fixed allocation conforming to the CiA402 drive profile)

The values below are the fixed mapping for the PDOs.

PDO

1700 hex

1B00 hex

6040 hex (Controlword)

6042 hex (vl target velocity)

6041 hex (Statusword)

6043 hex (vl velocity demand)

Description

4-4-3 Control Method

Control the inverter by operating the PDOs that allocate the profile.

IO format

 Control information (master to slave)

Word

n n + 1

Controlword vl target velocity

 Status information (slave to master)

Word

m m + 1

Statusword vl velocity demand

Meaning

Meaning

4 - 12

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

4 Inverter Control

Bit and data information

 Controlword

The 16-bit data is as shown below.

       

7

  

3 2 1

Bit

0

1

2

3

7



Name

Switch on

Enable voltage

Quick stop

Enable operation

Fault reset

Reserved

Meaning

The state is controlled by these bits.

For details, refer to 5-1-3 Command Coding on page 5-3.

Faults and warnings are cleared when this bit turns ON.

Set 0.

* When Quick stop is set to 0 during operation, deceleration stop is made. After completely stopping, the next operation is accepted.

0

 vl target velocity vl target velocity

Name

 Statusword

The 16-bit data is as shown below.

     

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 the maximum frequency, operation is performed at the maximum frequency.

9



7 6 5 4 3 2 1 0

5

6

3

4

7

Bit

0

1

2

Name

Ready to switch on

Switched on

Operation enabled

Fault

Voltage enabled

Quick stop

Switch on disabled

Warning

Meaning

These bits indicate the state.

For details, refer to 5-1-4 State Coding on page 5-3.

9 Remote



Reserved

 vl velocity demand

0: No warning occurred for the unit or inverter.

1: Warning occurred for the unit or inverter.

0: Control from Controlword is disabled.

1: Control from Controlword is enabled.

Not used.

Name

vl velocity demand

Meaning

Displays the operation speed in rpm.

The operation direction is expressed with a symbol (

/+).

4

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 A001, A002 and C102.

When using the CiA402 drive profile, set A001, A002, H004 and C102.

For details, refer to the previous sections.

4-5-2 Object Mapping

Allocate the objects that you want to use to PDOs.

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

1600 hex

(1st receive PDO Mapping)

1601 hex

(2nd receive PDO Mapping)

1A00 hex

(1st transmit PDO Mapping)

Description

4011.26 (F002 Acceleration time setting 1)

4011.28 (F003 Deceleration time setting 1)

3010.24 (d002 Output current monitor)

 Sync Manager assignment

Sync Manager PDO assignment

1C12 hex

1C13 hex

Description

1701 hex (Fixed allocation of the independent profile)

1600 hex (Setting as above)

1601 hex (Setting as above)

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

n n + 1 n + 2 n + 3 n + 4 n + 5

Command

Frequency reference

Acceleration time setting 1 (LSW)

Acceleration time setting 1 (MSW)

Deceleration time setting 1 (LSW)

Deceleration time setting 1 (MSW)

Meaning

4 - 14

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

 Status information (slave to master)

Word

m m + 1 m + 2

Status

Output frequency monitor

Output current monitor

Meaning

4-5-3 Objects Allocation in Sysmac Studio

In Sysmac Studio, you can edit the PDO map settings for each slave.

4 Inverter Control

Click Edit PDO Map Settings in the Configurations and Setup of the EtherCAT slave to open the Edit

PDO Map Settings pane.

4

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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 1st receive PDO Mapping to 5th

receive PDO Mapping (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.

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 and 4000 to 4999) that can be allocated to RxPDO

(master to slave) are limited to those that can be changed during operation.

• It is not possible to allocate only the LSW or only the MSW to RxPDO or TxPDO.

• The greater the number of RxPDOs or TxPDOs is, the longer the data updating cycle becomes.

Normally the data is updated every 4 ms, but it can increase to every 6 ms depending on the number.

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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.

 How to perform trial operation using a parameter setting tool

1

Start your parameter setting tool and make online connection via EtherCAT.

2

Select the Test Operation function.

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.

4

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4 Inverter Control

4 - 18

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

CiA402 Drive Profile

This chapter explains about the CiA402 drive profile.

5-1 Inverter State Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-1-1 State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-1-2 State Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-1-3 Command Coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-1-4 State Coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5-3 Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-4 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-4-1 Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-4-2 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-4-3 Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-5 CoE Communications Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5-5-1 Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5-5-2 PDO Mapping Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5-5-3 Sync Manager Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5-6 Manufacturer Specific Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5-6-1 Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5-6-2 Inverter Parameter Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5-6-3 Independent Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19

5-7 Device Profile area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

5-7-1 Drive Profile Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

5

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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

Start

0: After the main power supply is turned on

Not ready to switch on

1: After initialization is completed

15: Fault reset

Switch on disabled

Fault

Shutdown: 2 7: Disable Voltage

Ready to switch on

Switch on: 3

6: Shutdown

Disable Voltage: 10

Switched on

Enable operation: 4

14: Error

response

operation

completed

Fault reaction active

5: Disable

operation

Operation enabled

8: Shut down

13: Error occurs

9: Disable Voltage

(Notes) The Quick stop active state is not supported. If Quick stop is enabled in the Operation enable state, transition 9 is executed.

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5 CiA402 Drive Profile

5-1-2 State Descriptions

Not ready to switch on

State

Switch on disabled

Ready to switch on

Switched on

Operation enabled

Fault reaction active

Fault

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.

There is an error in the inverter.

Parameters can be set.

5-1-3 Command Coding

The state is controlled by combining the bits in Controlword (6040 hex), as shown in the following table.

Command

Shutdown

Switch on

Switch on + enable operation

Disable voltage

Quick stop

Disable operation

Enable operation

Fault reset

Bit 7 fr

-

-

-

-

-

-

-

0



1

*2*3

Bit 3 eo

-

0

1

0

1

-

-

-

Controlword bit

Bit 2 qs

1

1

1

1

1

-

0

-

Bit 1 ev

1

1

1

1

1

0

1

-

Bit 0 so

0

1

1

1

1

-

-

-

2, 6, 8

3

3 + 4

*1

5

4

7, 9, 10

7, 9, 10

15

Transition

(Notes) fr = Fault reset, eo = Enable operation, qs = Quick stop, ev = Enable voltage, so = Switch on

*1 The state automatically transitions to the Enable operation state after the Switch on state.

*2 Operation when bit 7: Fault reset turns ON.

Fault state : Fault are cleared and the state transitions to Switch on disabled.

: If there are any warnings (6401 hex: Statusword bit 7), they are reset.

State other than Fault : If there are any warnings (6041 hex: Statusword bit 7), they are reset.

: The state will change according to command bits 0 to 3.

*3 When Fault reset is executed with bit 7, set the bit back to 0 before giving the next command.

5

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

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enabled

Fault reaction active

Fault

0

0

0

0

0

Bit 6 sod

0

1

1

1

1

1

1

Bit 5 qs

0

1

1

-

-

1

-

Bit 4 ve

-

-

0

1

0

0

1

Bit 3 f

0

0

1

1

0

0

0

Bit 2 oe

0

0

1

1

0

1

0

Bit 1 so

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

1

1

1

1

0

Bit 0 rtso

0

0

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5 CiA402 Drive Profile

5-2 Modes of Operation

The operation mode indicated below is supported.

* vl: Velocity mode

The operation mode is set in Modes of operation (6060 hex). In addition, the operation mode is given in

Modes of operation display (6061 hex).

The operation modes supported by the inverter can be checked in Supported drive modes (6502 hex).

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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) vl velocity min/max amount (6046 hex) vl velocity acceleration (6048 hex) vl velocity deceleration (6049 hex)

Velocity limit function

Ramp function vl velocity demand (6043 hex)

Velocity control function vl velocity actual value (6044 hex)

• Related objects

Index

6040 hex

6042 hex

6046 hex

Name

Controlword vl target velocity vl velocity min max amount

6048 hex

6049 hex

6041 hex

6043 hex

6044 hex vl velocity acceleration vl velocity deceleration

Statusword vl velocity demand vl velocity actual value

Details

Gives commands to the inverter.

Gives speed commands to the inverter.

Sets the maximum speed and minimum speed that can be output.

Sets the acceleration time.

Sets the deceleration time.

Sets the status of the inverter.

Gives the command speed.

Gives the output speed.

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5 CiA402 Drive Profile

5-4 Object Dictionary

5-4-1 Object Dictionary Area

CANopen over EtherCAT (CoE) protocol uses the CANopen object dictionary as its base. All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.

Index

0000 to 0FFF hex

1000 to 1FFF hex

2000 to 2FFF hex

3000 to 5FFF hex

6000 to 9FFF hex

A000 to FFFF hex

Area

Data Type area

CoE Communications area

Manufacturer Specific area 1

Manufacturer Specific area 2

Device Profile area

Reserved area

Meaning

Definitions of data types.

Definitions of variables that can be used by all servers for designated communications.

Variables with common definitions for all OMRON products.

Variables with definitions for this unit. (Inverter parameters, independent profile)

Variables defined in the inverter's CiA402 drive profile.

Area reserved for future use.

5-4-2 Data Types

The data types shown in the following table are used in this profile.

Data type

Boolean

Unsigned8

Unsigned16

Unsigned32

Integer8

Integer16

Integer32

Visible string

BOOL

U8

U16

U32

INT8

INT16

INT32

VS

Code

1 bit

1 byte

2 bytes

4 bytes

1 byte

2 bytes

4 bytes



Size Range

0 to 1

0 to 255

0 to 65,535

0 to 4,294,967,295

128 to 127

32,768 to 327,671

2,147,483,648 to 2,147,483,647



5-4-3 Object Description Format

In this manual, objects are described in the following format.

• Object description format

<Index> <Object name>

Setting range: <Setting range>

Size: <Size>

Operating Mode

Unit: <Unit>

Access: <Access>

Default setting: <Default setting>

PDO map: <Possible/Not possible>

• Object description format when there is a sub-index

<Index> <Object name>

Sub-index 0

Setting range: <Setting range>

Size: <Size>

•

•

•

Sub-index N

Setting range: <Setting range>

Size: <Size>

Operating Mode

Unit: <Unit>

Access: <Access>

Default setting: <Default setting>

PDO map: <Possible/Not possible>

Unit: <Unit>

Access: <Access>

Default setting: <Default setting>

PDO map: <Possible/Not possible>

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5 CiA402 Drive Profile

• Index

• Object name

: Object index given by a four-digit hexadecimal number.

: The object name.

• Operating mode : Related operating modes.

• Setting range : The possible range of settings.

• Unit : Physical units.

• Default setting : The default value set before shipment.

• Size

• Access

: The object size is given in bytes.

: Indicates whether the object is read only, or read and write.

• PDO map

RO: Read only.

WO: Write only.

RW: Read and write.

: Indicates the PDO mapping attribute.

5

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5 CiA402 Drive Profile

5-5 CoE Communications Area

5-5-1 Communication Objects

1000 hex Device type

Setting range:



Size: 4 bytes (U32)

Unit:



Access: RO

• Gives the CoE device profile number.

• Explanation of set values

0 to 15

16 to 23

25 to 31

Bit Name

Device profile number

Type

Mode

All

Default setting: 00010192 hex

PDO map: Not possible

Meaning

402 (192 hex): Drive profile

01: Inverter

0: Manufacturer specific

1001 hex

Setting range:



Size: 1 byte (U8)

Error register

Unit:



Access: RO

• Gives the error type that occurred.

• Explanation of set values

Bit

0

1

2

3

Generic error

(Reserved)

(Reserved)

(Reserved)

Details

Default setting: 0

Bit

4

5

6

7

All

PDO map: Not possible

Details

Communication error

Device profile specific error

(Reserved)

Manufacturer specific error

1008 hex

Setting range:



Size: 20 bytes (VS)

Manufacturer device name

Unit:



Access: RO

• Gives the model.

All

Default setting: 3G3AX-MX2-ECT

PDO map: Not possible

1009 hex

Setting range:



Manufacturer hardware version

Unit:



Default setting:

*1

All

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

Setting range:



Manufacturer software version

Unit:



Default setting:

*1

All

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.

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5 CiA402 Drive Profile

1010 hex Store parameters

All

Sub-index 0: Number of entries

Setting range:



Size: 1 byte (U8)

Sub-index 1: Save all parameters

Setting range:



Size: 4 bytes (U32)

Unit:



Access: RO

Unit:



Access: RW

Default setting: 01 hex

PDO map: Not possible

Default setting: 00000001 hex

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:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: Restore all default parameters

Setting range:



Unit:



Size: 4 bytes (U32) Access: RW

Default setting: 01 hex

PDO map: Not possible

Default setting: 00000001 hex

PDO map: Not possible

• Inverter parameters are reset to their default settings.

• A restoration operation is executed only when a specific value is written to sub-index 1. This prevents parameter values from being accidentally overwritten.

• The specific value means “load.”

All

MSB d a

64 hex 61 hex o

6f hex

LSB l

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.

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5 CiA402 Drive Profile

1018 hex Identity object

All

Sub-index 0: Number of entries

Setting range:



Size: 1 byte (U8)

Sub-index 1: Vendor ID

Setting range:



Size: 4 bytes (U32)

Sub-index 2: Product code

Setting range:



Size: 4 bytes (U32)

Sub-index 3: Revision number

Setting range:



Size: 4 bytes (U32)

Sub-index 4: Serial number

Setting range:



Size: 4 bytes (U32)

Unit:



Unit:



Unit:



Unit:



Unit:



Access: RO

Access: RO

Access: RO

Access: RO

Access: RO

Default setting: 04 hex

PDO map: Not possible

Default setting: 00000083 hex

PDO map: Not possible

Default setting: 00000053 hex

PDO map: Not possible

Default setting: Refer to the table.

PDO map: Not possible

Default setting: 00000000 hex

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

0 to 15

16 to 31

Device's minor revision number

Device's major revision number

Details

• 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:



Size: 1 byte (U8)

Sub-index 1: Maximum messages

Unit:



Access: RO

Setting range: 00 to 08 hex

Size: 1 byte (U8)

Sub-index 2: Newest message

Setting range: 06 to 0D hex

Unit:



Access: RO

Unit:



Size: 1 byte (U8)

Sub-index 5: Flags

Access: RO

Setting range: 0000 to 0001 hex

Size: 2 bytes (U16)

Unit:



Sub-indexes 6 to 13: Diagnosis messages 1 to 8

Setting range:



Unit:



Size: 23 bytes (VS)

Access: RW

Access: RO

Default setting: 0D hex

Default setting: 00 hex

Default setting: 06 hex

Default setting: 0001 hex

Default setting:



PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

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.

• 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.

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5 CiA402 Drive Profile

Diagnosis history details

Meaning

Error code

Size

4 bytes (U32)

Error flag

(Reserved)

2 bytes (U16)

17 bytes

Details

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.

Gives the error type.

Bit 1: Warning

Bit 2: Error

Other bits: Reserved

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

MSB

Index

16 15

Sub-index

8 7 0

Bit length

LSB

Bit 0 to 7 : Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)

Bit 8 to 5 : Sub-index of the mapped object.

Bit 16 to 31 : Index of the mapped object.

1600 to 1604 hex 1st to 5th receive PDO mapping All

Sub-index 0: Number of objects

Setting range: -

Setting range: -

Size: 4 bytes (U32)

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Output Object to be mapped

Unit: -

Access: RW

Access: RW

Sub-index 2: 2nd Output Object to be mapped

Setting range: Unit: -

Size: 4 bytes (U32) Access: RW

Default setting: 0

PDO map: Not possible

Default setting: 00000000 hex

PDO map: Not possible

Default setting: 00000000 hex

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.

5

1700 hex 257th fixed receive PDO mapping All

Sub-index 0: Number of objects

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: 1st Output Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Sub-index 2: 2nd Output Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Default setting: 2

PDO map: Not possible

Default setting: 60400010 hex

PDO map: Not possible

Default setting: 60420010 hex

PDO map: Not possible

• The PDO mapping when Velocity mode is used.

• The following objects are mapped.

• Controlword (6040 hex), vl target velocity (6042 hex)

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5 CiA402 Drive Profile

1701 hex 258th fixed receive PDO mapping

All

Sub-index 0: Number of objects

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: 1st Output Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Sub-index 2: 2nd Output Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Default setting: 2

PDO map: Not possible

Default setting: 50000010 hex

PDO map: Not possible

Default setting: 50100010 hex

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

All

Sub-index 0: Number of objects

Setting range:



Size: 1 byte (U8)

Unit:



Access: RW

Sub-index 1: 1st Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RW

Sub-index 2: 2nd Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RW

Default setting: 2

PDO map: Not possible

Default setting: 00000000 hex

PDO map: Not possible

Default setting: 00000000 hex

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.

1B00 hex 257th fixed transmit PDO mapping All

Sub-index 0: Number of objects

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: 1st Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Sub-index 2: 2nd Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Default setting: 2

PDO map: Not possible

Default setting: 60410010 hex

PDO map: Not possible

Default setting: 60430010 hex

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)

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1B01 hex 258th fixed transmit PDO mapping

All

Sub-index 0: Number of objects

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: 1st Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Sub-index 2: 2nd Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Default setting: 2

PDO map: Not possible

Default setting: 51000010 hex

PDO map: Not possible

Default setting: 51100010 hex

PDO map: Not possible

• The PDO allocation when a fixed profile is used.

• The following objects are mapped.

• Status information (5100 hex), Output frequency monitor (5110 hex)

1BFF hex 512th transmit PDO mapping All

Sub-index 0: Number of objects in this PDO

Setting range:



Unit:



Size: 1 byte (U8) Access: RO

Sub-index 1: 1st Input Object to be mapped

Setting range:



Unit:



Size: 4 bytes (U32) Access: RO

Default setting: 01 hex

PDO map: Not possible

Default setting: 20020108 hex

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 1C00 to 1C33 hex set how to use the EtherCAT communications memory.

1C00 hex Sync Manager communication type

Sub-index 0: Number of used SM channels

Setting range:



Unit:



Size: 1 byte (U8) Access: RO

Sub-index 1: Communication Type SM0

Setting range:



Size: 4 bytes (U8)

Unit:



Access: RO

Sub-index 2: Communication type SM1

Setting range:



Size: 4 bytes (U8)

Sub-index 3: Communication type SM2

Setting range:



Size: 4 bytes (U8)

Sub-index 4: Communication type SM3

Setting range:



Size: 4 bytes (U8)

Unit:

Unit:

Unit:







Access: RO

Access: RO

Access: RO

Default setting: 04 hex

Default setting: 01 hex

Default setting: 02 hex

Default setting: 03 hex

Default setting: 04 hex

• The Sync Manager has the following settings.

• SM0 : Mailbox reception (master to slave)

• SM1 : Mailbox send (slave to master)

• SM2 : Process data output (master to slave)

• SM3 : Process data input (slave to master)

All

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

5

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1C10 hex Sync Manager 0 PDO assignment

All

Sub-index 0: Number of assigned RxPDOs

Setting range:



Unit:



Size: 1 byte (U8) Access: RO

Default setting: 00 hex

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:



Size: 1 byte (U8)

Unit:



Access: RO

Default setting: 00 hex

PDO map: Not possible

• The PDO mapping used by this Sync Manager is given. Mailbox send Sync Manager does not have

PDOs.

1C12 hex Sync Manager 2 PDO assignment All

Sub-index 0: Number of assigned RxPDOs

Setting range:



Unit:



Size: 1 byte (U8) Access: RW

Sub-index 1: 1st PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 2: 2nd PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 3: 3rd PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 4: 4th PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 5: 5th PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Default setting: 00 hex

Default setting: 1701 hex

Default setting: 0000 hex

Default setting: 0000 hex

Default setting: 0000 hex

Default setting: 0000 hex

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

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.

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1C13 hex Sync Manager 3 PDO assignment

Sub-index 0: Number of assigned TxPDOs

Setting range:



Unit:



Size: 1 byte (U8) Access: RW

Sub-index 1: 1st PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 2: 2nd PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 3: 3rd PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 4: 4th PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Sub-index 5: 5th PDO Mapping object index of assigned PDO

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Default setting: 00 hex

Default setting: 1B01 hex

Default setting: 0000 hex

Default setting: 0000 hex

Default setting: 0000 hex

Default setting: 0000 hex

• The transmit PDOs used by this Sync Manager are given.

• Up to 5 PDOs can be assigned.

All

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

1C32 hex SM 2 synchronization

All

Sub-index 0: Number of synchronization parameters

Setting range:



Unit:



Size: 1 byte (U8) Access: RO

Sub-index 1: Synchronization type

Setting range:



Size: 2 bytes (U16)

Unit:



Access: RW

Sub-index 4: Synchronization types supported

Setting range:



Unit:



Size: 2 bytes (U16) Access: RO

Default setting: 20 hex

Default setting: 0000 hex

Default setting: 0001 hex

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

• Synchronization type (1C32 to 01 hex) indicates the Synchronization mode of Sync Manager 2.

• 0000 hex: Free Run mode

• Synchronization types supported (1C32 to 04 hex) indicates the types of synchronization supported.

• 0001 hex: Free Run mode

1C33 hex SM 3 synchronization

All

Sub-index 0: Number of synchronization parameters

Setting range:



Unit:



Size: 1 byte (U8) Access: RO

Sub-index 1: Synchronization type

Setting range:



Size: 2 bytes (U16)

Unit:



Access: RW

Sub-index 4: Synchronization types supported

Setting range:



Unit:



Size: 2 bytes (U16) Access: RO

Default setting: 20 hex

Default setting: 0000 hex

Default setting: 0001 hex

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

• Synchronization type (1C33 to 01 hex) indicates the Synchronization mode of Sync Manager 2.

• 0000 hex: Free Run mode

• Synchronization types supported (1C33 to 04 hex) indicates the types of synchronization supported.

• 0001 hex: Free Run mode

5

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5-6 Manufacturer Specific Area

5-6-1 Manufacturer Specific Objects

2002 hex Sysmac Error

All

Sub-index 0: Number of entries

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Default setting: 02 hex

PDO map: Not possible

Sub-index 1: Sysmac Error Status

Setting range:



Size: 1 byte (U8)

Sub-index 2: Sysmac Error Status Clear

Setting range:



Size: 1 byte (U8)

Unit:



Unit:



Access: RO

Access: RW

• Notify and clear the Sysmac Error Status.

• Sub-index 1: Sysmac Error Status

Default setting: 00 hex

Default setting: 00 hex

PDO map: Possible

PDO map: Not possible

• This object is used to notify that the EtherCAT Communication Unit has detected an error.

• When the Machine Automation Controller NJ501-1x00 series, etc., is connected, this object is mapped to the PDO.

• Sub-index 2: Sysmac Error Status Clear

• This object is used to allow the Sysmac product controller to reset the error present in the

EtherCAT Communication Unit.

Additional Information

By default, Sysmac Studio automatically maps sub-index 01 hex: Sysmac Error status to the

PDO by allocation of 1BFF hex: 512th transmit PDO Mapping.

2100 hex Error history clear All

Setting range: 6C636C65 hex

Size: 4 bytes (U32)

Unit:



Access: RW

Default setting: 00000000 hex

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.

• In the following cases, an abort code is returned.

• Writing with CompleteAccess

• Writing a value other than 6C636C65 hex

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5-6-2 Inverter Parameter Objects

Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex.

3000 to 3102 hex 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

3000 hex Inverter parameter object 1 (16-bit access)

All

Sub-index 0: Number of assigned

Setting range:



Size: 1 byte (U8)

Sub-index 1: Inverter register 0000 hex

Setting range:



Size: 2 bytes (U16)

Unit:



Unit:



Access: RO

Default setting: FE hex

Default setting:



PDO map: Not possible

Access: RW

PDO map:

*

Sub-index 2: Inverter register 0001 hex

Setting range:



Size: 2 bytes (U16)

Unit:



Default setting:



Access: RW

PDO map:

*

•

•

•

Sub-index 253 hex: Inverter register 00FC hex

Setting range:



Unit:



Size: 2 bytes (U16) Access: RW

Default setting:



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.

5

3001 to 3101 hex Inverter parameter objects 2 to 258 (16-bit access)

Same format as 3000 hex, inverter registers 00FD to FFFB hex

All

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5 CiA402 Drive Profile

3102 hex Inverter parameter object 259 (16-bit access)

All

Sub-index 0: Number of assigned

Setting range:



Size: 1 byte (U8)

Sub-index 1: Inverter register FFFC hex

Setting range:



Size: 2 bytes (U16)

Unit:



Unit:



Access: RO

Default setting: 04 hex

Default setting:



PDO map: Not possible

Access: RW

PDO map:

*

Sub-index 2: Inverter register FFFD hex

Setting range:



Size: 2 bytes (U16)

Unit:



Default setting:



Access: RW

PDO map:

*

Sub-index 3: Inverter register FFFE hex

Setting range:



Size: 2 bytes (U16)

Unit:



Access: RW

Default setting:



PDO map:

*

Sub-index 4: Inverter register FFFF hex

Setting range:



Size: 2 bytes (U16)

Unit:



Access: RW

Default setting:



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.

4000 hex Inverter parameter object 1 (32-bit access) All

Sub-index 0: Number of assigned

Setting range:



Size: 1 byte (U8)

Sub-index 1: Inverter register 0000 hex

Setting range:



Size: 2 bytes (U32)

Unit:



Access: RO

Unit:



Access: RW

Sub-index 2: Inverter register 0001 hex

Setting range:



Size: 2 bytes (U32)

Unit:



Access: RW

• • •

Sub-index 253 hex: Inverter register 00FC hex

Setting range:



Unit:



Size: 2 bytes (U32) Access: RW

Default setting: FE hex

Default setting:



Default setting:



Default setting:



PDO map: Not possible

PDO map:

*

PDO map:

*

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)

Same format as 3000 hex, inverter registers 00FD to FFFB hex

All

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5 CiA402 Drive Profile

4102 hex Inverter parameter object 259 (32-bit access)

All

Sub-index 0: Number of assigned

Setting range:



Size: 1 byte (U8)

Sub-index 1: Inverter register FFFC hex

Setting range:



Size: 2 bytes (U32)

Unit:



Unit:



Access: RO

Default setting: 04 hex

Default setting:



PDO map: Not possible

Access: RW

PDO map:

*

Sub-index 2: Inverter register FFFD hex

Setting range:



Size: 2 bytes (U32)

Unit:



Default setting:



Access: RW

PDO map:

*

Sub-index 3: Inverter register FFFE hex

Setting range:



Size: 2 bytes (U32)

Unit:



Access: RW

Default setting:



PDO map:

*

Sub-index 4: Inverter register FFFF hex

Setting range:



Size: 2 bytes (U32)

Unit:



Access: RW

Default setting:



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.

5-6-3 Independent Profile Objects

This section explains about OMRON's independent profile objects.

5000 hex Command

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit:



Access: RW

Default setting: 0000 hex

• This object gives an operation command to the inverter.

• Bit descriptions

PDO map: Possible

All

Bit

0

1

2 to 6

7

8 to 15

Meaning

Forward/stop

Reverse/stop

Reserved

Fault reset

Reserved

Details

0: Stop 1: Forward

0: Stop 1: Reverse

Not used. Always keep at 0.

Faults and warnings are cleared when this bit turns ON.

Not used. Always keep at 0.

5

5010 hex Frequency reference All

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit: 0.01 Hz (0.1 Hz)

Access: RW

Default setting: 0000 hex

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.

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5100 hex Status

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit:



Access: RO

Default setting: 0000 hex

• This object gives the present state of the unit.

• Bit descriptions

PDO map: Possible

All

Bit

0

1

2

3

4 to 6

7

9

10 to 11

12

13 to 14

15

During forward operation

During reverse operation

Reserved

Fault

Reserved

Warning

Remote

Meaning

Reserved

Frequency matching

Reserved

Connection error between the

Optional Unit and inverter

Details

0: Stop/reverse 1: During Forward operation

0: Stop/forward 1: During Reverse operation

Not used.

1: A fault (inverter trip) occurred.

Not used.

1: A warning occurred.

0: Commands other than those from the EtherCAT Communication Unit are enabled.

1: Commands from the EtherCAT Communication Unit are enabled.

Not used.

0: During Acceleration/deceleration or stopped 1: Frequency matching

Not used.

1: Error (Cannot update data for the inverter. To reset the error, turn the power supply OFF and then ON again.)

5110 hex Output frequency monitor All

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit: 0.01 Hz (0.1 Hz)

Access: RO

Default setting: 0000 hex

PDO map: Possible

• 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

All

Sub-index 0: Number of entries

Setting range:



Size: 1 byte (U8)

Unit:



Access: RO

Sub-index 1: Newest PDO mapping error cause

Setting range:



Unit:



Size: 2 bytes (U16) Access: RO

Sub-index 4: Number of error message

Setting range:



Size: 2 bytes (U16)

Unit:



Access: RO

Sub-indexes 5 to A: PDO mapping error message 1 to 6

Unit:



Unit:



Size: 2 bytes (U16) Access: RO

Default setting: 0A hex

Default setting: 0000 hex

Default setting: 00 hex

Default setting: 0000 hex

PDO map: Not possible

PDO map: Not possible

PDO map: Not possible

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.

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Cause code list

0047 hex

0048 hex

004F hex

0050 hex

0060 hex

0061 hex

0070 hex

00E0 hex

00E1 hex

00E2 hex

00E3 hex

00E4 hex

00E5 hex

00E6 hex

00E7 hex

00E8 hex

8000 hex

8001 hex

8002 hex

0001 hex

Cause code

0002 hex

0003 hex

0020 hex

0021 hex

0022 hex

0023 hex

0024 hex

0040 hex

0041 hex

0042 hex

0043 hex

0044 hex

0045 hex

0046 hex

Meaning

Busy

Device busy

Unexpectedly received data

Sync Manager assignment exceeded

PDO map number is invalid (outside the range, does not exist)

RxPDO map overlap

Object specified for RxPDO mapping is invalid

Total number of assignment exceeded

RxPDO object overlap

Number of PDO mapping exceeded

PDO map size exceeded (more than 32 bits)

Incorrect object specification (sub-index 0 is mapped)

Object not supported

5000 to 5999 and 6000 to 6999 objects mixed

Object specified for PDO map is invalid

Incorrect data size for specified object

PDO mapping exists but size is 0

Specified access method not supported

Specified object mapping is invalid

RxPDO object overlap (MX2 registers are overlapping)

Unsupported data type is specified

Unsupported mode (mode other than FreeRun is specified)

Start address of the Refresh area is 1000 hex or lower, or an odd number

Specified size of the Refresh area exceeds the range

Start address of the Refresh area is different from the value in pre-operational (Pre-Op)

Sync Manager buffer overlap

Map size and Sync Manager size are different

Sync Manager operation invalid

Sync Manager size is 0

Incorrect direction setting

Buffer mode is incorrect

Resource depletion

Internal inconsistency

Other error

FFFF hex No error

For details, refer to Chapter 6 Handling of Errors and Maintenance.

5

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5 CiA402 Drive Profile

5-7 Device Profile area

5-7-1 Drive Profile Objects

This chapter explains about the supported CiA402 drive profile.

603F hex Error code

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit:



Access: RO

Default setting: 0000 hex

PDO map: Possible

• This object gives the latest error code or warning code that occurred in the unit.

All

Index

603F hex

Name

Error code U16

Data type Specifications

0000 hex: No error

5300 hex: No response from the inverter

6331 hex: EEPROM data error

6341 hex: PDO setting error

FF00 hex: Warning occurred for the inverter

FF01 hex: Trip occurred for the inverter

6040 hex Controlword

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit:



Access: RW

Default setting: 0000 hex

• This object controls the state transitions of the unit.

• Bit descriptions

PDO map: Possible

All

Bit

0

1

2

3

4 to 6

7

8 to 15

Name

Switch on

Enable voltage

Quick stop

Enable operation

Reserved

Fault reset

Reserved

Details

The state is controlled by these bits.

Quick stop is not supported. Even when the bit 2 is set to 0, it is ignored.

For details, refer to 5-1-3 Command Coding on page 5-3.

Not used. Always keep at 0.

Faults and warnings are cleared when this bit turns ON.

Not used. Always keep at 0.

6041 hex Statusword

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit:



Access: RO

Default setting: 0000 hex

• This object gives the present state of the unit.

• Bit descriptions

PDO map: Possible

All

5

6

3

4

7

Bit

0

1

2

Name

Ready to switch on

Switched on

Operation enabled

Fault

Voltage enabled

Quick stop

Switch on disabled

Warning

Details

These bits give the state.

For details, refer to 5-1-4 State Coding on page 5-3.

8

9

10 to 15

Reserved

Remote

Reserved

0: No warning occurred for the unit or inverter.

1: Warning occurred for the unit or inverter.

Not used.

0: Control from Controlword is disabled.

1: Indicates that control is being performed by Controlword.

Not used.

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6042 hex vl target velocity vl

Setting range: 8000 to 7FFF hex

Size: 2 bytes (INT16)

Unit: rpm

Access: RW

Default setting: 0000 hex

PDO map: Possible

• This object gives a command speed and rotation direction command to the inverter.

6043 hex vl velocity demand

Setting range: 8000 to 7FFF hex

Size: 2 bytes (INT16)

Unit: rpm

Access: RO

Default setting: 0000 hex

• This object gives the operating speed that is sent to the inverter.

PDO map: Possible vl

6044 hex vl velocity actual value

Setting range: 8000 to 7FFF hex

Size: 2 bytes (INT16)

Unit: rpm

Access: RO

Default setting: 0000 hex

• This object gives the output speed of the inverter.

PDO map: Possible vl

6046 hex vl velocity min max amount vl

Sub-index 0: Number of entries

Setting range:



Unit: Command unit

Access: RO

Default setting: 02 hex

Size: 1 byte (U8)

Sub-index 1: vl velocity min amount

Setting range: 00000000 to FFFFFFFF hex

Size: 4 bytes (U32)

Sub-index 2: vl velocity max amount

Setting range: 00000000 to FFFFFFFF hex

Size: 4 bytes (U32)

Unit: rpm

Access: RW

Unit: rpm

Access: RW

PDO map: Not possible

Default setting: 0000000F hex

PDO map: Not possible

Default setting: 00000708 hex

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.

5

6048 hex vl velocity acceleration vl

Sub-index 0: Number of entries

Setting range:



Unit: Command unit

Access: RO Size: 1 byte (U8)

Sub-index 1: Delta speed

Setting range: 00000000 to FFFFFFFF hex

Size: 4 bytes (U32)

Sub-index 2: Delta time

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Unit: rpm

Access: RO

Unit: s

Access: RW

• This object sets the acceleration time.

Default setting: 02 hex

Default setting: 00000708 hex

PDO map: Not possible

Default setting: 000A hex

PDO map: Not possible

PDO map: Not possible

• To read the Speed (6048 to 01 hex), read the inverter parameter A004: Maximum Frequency.

• To read and write the Time (6048 to 02 hex), read and write the inverter parameter F002:

Acceleration Time Setting.

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

5 - 23

5 CiA402 Drive Profile

6049 hex vl velocity deceleration vl

Sub-index 0: Number of entries

Setting range:



Unit: Command unit

Access: RO

Default setting: 02 hex

Size: 1 byte (U8)

Sub-index 1: Delta speed

Setting range: 00000000 to FFFFFFFF hex Unit: rpm

PDO map: Not possible

Default setting: 00000708 hex

Size: 4 bytes (U32)

Sub-index 2: Delta time

Setting range: 0000 to FFFF hex

Size: 2 bytes (U16)

Access: RO

Unit: s

Access: RW

Default setting: 000A hex

PDO map: Not possible

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

Setting range: 1 Unit:



Default setting: 1

Size: 2 bytes (Int16) Access: RW PDO map: Not possible

• This object sets the behavior during Shutdown (Operation enable

 Ready to switch on) .

• Explanation of set values

All

Set value

1 Deceleration stop

Stop method

605C hex Disable operation option code

All

Setting range: 1 Unit:



Size: 2 bytes (Int16) Access: RW PDO map: Not possible

• This object sets the behavior during Disable operation (Operation enable

 Switched on).

• Explanation of set values

Default setting: 1

Set value

1 Deceleration stop

Stop method

605E hex

Setting range 1:

Size: 2 bytes (Int16)

Fault reaction option code

Unit:



Access: RW

Default setting: 1

• This object sets the behavior when an error occurs.

• Explanation of set values

Set value

1 Deceleration stop

All

PDO map: Not possible

Stop method

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

5 CiA402 Drive Profile

6060 hex Modes of operation

Setting range: 2

Size: 1 byte (Int8)

Unit:



Access: RW

• This object sets the operation mode.

• Explanation of set values

Value

1 Velocity mode

Default setting: 02 hex

PDO map: Possible

All

Details

6061 hex

Setting range: 0 to 10

Modes of operation display

Unit:



Size: 1 byte (Int8) Access: RO

Default setting: 02 hex

PDO map: Possible

• This object gives the present operation mode.

• The value definitions are the same as for Modes of operation (6060 hex).

All

6502 hex Supported drive modes

All

Setting range:



Size: 4 bytes (U32)

Unit:



Access: RO

Default setting: 00000002 hex

PDO map: Not possible

• This object indicates the supported operation modes.

• Bit descriptions

5

6

3

4

Bit

0

1

2

7

8

9

10 to 31

Supported mode

pp (Profile Position mode) vl (Velocity mode) pv (Profile Velocity mode) t q (Profile Torque mode)

Reserved hm (Homing mode) ip (Interpolated Position mode) csp (Cyclic Sync Position mode) csv (Cyclic Sync Velocity mode) cst (Cyclic Sync Torque mode)

Reserved

Definition

0: Not supported

1: Supported

0: Not supported

0: Not supported

0

0: Not supported

0: Not supported

0: Not supported

0: Not supported

0: Not supported

0

5

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5 CiA402 Drive Profile

5 - 26

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

Handling of Errors and

Maintenance

This chapter explains how to handle errors that occur in the EtherCAT Communication

Unit.

6-1 Communication Line Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-1-1 Status IndicatorExplanations and Error Handling . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-1-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6-2 Message Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

6-3 Application Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6-3-1 Error Statuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6-3-2 Error Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6-3-3 List of Cause Codes for PDO Mapping Errors . . . . . . . . . . . . . . . . . . . . . . . . . 6-7

6-3-4 AL Status Code List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6-4 Inverter Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6

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6 Handling of Errors and Maintenance

6-1 Communication Line Errors

6-1-1 Status IndicatorExplanations and Error Handling

The 7 types of indicator lighting status are shown below.

B

SF

D



Abbreviation

ON

OFF

F

Name and status

ON

OFF

Flickering ON (50 ms) and OFF (50 ms)

Blinking ON (200 ms) and OFF (200 ms)

Single flash ON (200 ms) and OFF (1,000 ms)

Double flash ON (200 ms), OFF (200 ms), ON (200 ms) and OFF (1,000 ms)

Undefined

RUN

ON

ERR

OFF





OFF

OFF





OFF

ON

F

B

L/A IN

L/A OUT

ON

F

OFF

OFF



Meaning Remarks

During

EtherCAT communications

Link established in physical layer

Link not established in physical layer

Power supply error

Hardware error

EtherCAT communications are being executed.

The operation waiting status after the link is established in the physical layer.

The link is not established in the physical layer (cannot participate in the network).

Power is not supplied correctly to the

Communication Unit.

A hardware error has occurred.

The status is normal if either process data communications, message communications, or both are being executed.

• There was a status transition instruction from the host system during operation, and a transition was made to a status other than Operational. Check that the Master

Unit is operating correctly.Refer to the manual for the Master Unit.

• Check that the communications cable is connected correctly to the connector.

• Check that the communications cable is wired correctly.

• Check that the Master Unit is operating correctly. If using an OMRON Master Unit, check the Master Unit mode and the node address-setting rotary switches of the

Communication Unit.

• If using a Master Unit from another manufacturer, refer to the user's manual for that master.

• If there are devices that generate noise, take necessary measures against the noise to protect the Master Unit,

Communication Unit and communications cables.

• 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.

• Check that the Communication Unit is mounted correctly onto the inverter.

• Replace the Communication Unit.

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

6 Handling of Errors and Maintenance



RUN

B

ERR



SF

B

OFF

D









L/A IN

L/A OUT









Invalid node address setting

EEPROM data error

Sync Manager setting error

Process data communications timeout

Safe-operational state

Pre-operational state

Init state

Meaning Remarks

The setting of the node address-setting rotary switches is invalid.

This is an EEPROM data error.

The Sync Manager setting is invalid.

An error occurred in communications.

• Check the setting of the node address-setting rotary switches, turn OFF the power supply of the inverter, and then restart it.

Use the tool to restore the default data, and restart.

Change to a correct setting.

Check the items below, turn OFF the power supply of the inverter, and then restart it.

• Is the cable length OK?

(Max. 100 m)

• Is the cable disconnected or loosen?

• Is there too much noise?

If it was generated during system operation, check the status of the host master.

An instruction to transition to safe-operational state was generated by the master.

An instruction to transition to pre-operational state was generated by the master.

An instruction to transition to init state was generated by the master.

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6 Handling of Errors and Maintenance

6-1-2 Troubleshooting

Errors related to the EtherCAT Communication Unit

Problem

Both the RUN and ERR indicators are

OFF

ERR indicator is lit red

ERR indicator is flashing red

RUN indicator remains flashing green and status does not change

Cause and possible corrections

Power is not supplied correctly 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.

• Check that the Communication Unit is mounted correctly onto the inverter.

• The Communication Unit is faulty. Replace the Communication Unit.

• The setting of the rotary switches for node address setting is invalid. Check the setting of the rotary switches for node address setting, turn OFF the power supply of the inverter, and then restart it.

• There is an error in the Slave Unit's EEPROM memory data. Use the tool to initialize the settings.

• The Sync Manager setting is invalid. Change to a correct setting.

• An error occurred in communications. Check the connection of the communications cables and the length of the cables.

If the ERR indicator remains flashing even after checking the above items, replace the slave.

There was a status transition instruction from the host system during operation, and a transition was made to a status other than Operational. Refer to the Master Unit's manual, and check that the host Master Unit is operating correctly.

Errors related to the network

Problem

L/A IN and L/A OUT indicators remain

OFF

L/A IN and L/A OUT indicators remain flashing green

Cause and possible corrections

Slaves are not connected to the network.

• Check that the Master Unit is operating correctly. If using an OMRON Master Unit, check the Master Unit mode and the slave node addresses.

• If using a Master Unit from another manufacturer, refer to the user's manual for that master.

• Check that the communications cable is wired correctly.

• Check that the Communication Unit is mounted correctly onto the inverter, and that the power supply is wired correctly. Eliminate the cause of the power supply interruption, turn the inverter power supply OFF, and then restart it.

• Check the connector wiring to make sure that the communications cables are not disconnected.

• If the L/A IN and L/A OUT indicators of a certain slave remain OFF, replace the corresponding slave.

• If there are devices that generate noise, take necessary measures against the noise to protect the Master Unit, Communication Unit and communications cables.

• The slave status has not transitioned to Operational. Refer to the Master Unit's manual, and check that the Master Unit is operating correctly.

• If the L/A IN and L/A OUT indicators of a certain slave remain flashing, replace the corresponding slave.

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6 Handling of Errors and Maintenance

6-2 Message Errors

The abort codes for when an SDO communications error occurs are shown below.

Value

05030000 hex Toggle bit not changed

Meaning

05040000 hex SDO protocol timeout

05040001 hex Client/Server command specifier not valid or unknown

05040005 hex Out of memory

06010000 hex Unsupported access to an object

06010001 hex Attempt to read a write only object

06010002 hex Attempt to write to a read only object

06020000 hex The object does not exist in the object directory

06040041 hex The object can not be mapped into the PDO.

06040042 hex The number and length of the objects to be mapped would exceed the PDO length.

06040043 hex General parameter incompatibility reason

06040047 hex General internal incompatibility in the device

06060000 hex Access failed due to a hardware error

06070010 hex Data type does not match, length of service parameter does not match

06070012 hex Data type does not match, length of service parameter too high

06070013 hex Data type does not match, length of service parameter too low

06090011 hex Subindex does not exist

06090030 hex Value range of parameter exceeded (only for write access)

06090031 hex Value of parameter written too high

06090032 hex Value of parameter written too low

06090036 hex Maximum value is less than minimum value

08000000 hex General error

08000020 hex Data cannot be transferred or stored to the application

08000021 hex Data cannot be transferred or stored to the application because of local control

08000022 hex Data cannot be transferred or stored to the application because of the present device state

08000023 hex Object dictionary dynamic generation fails or no object dictionary is present

6

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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.

Status display

Function

Error code display

Diagnosis history

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.

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.

Errors that were detected in the unit and inverter are stored in the Diagnosis history object (10F3 hex) (up to 8 errors).

If a trip occurred for the inverter, check the trip history of the inverter.

6-3-2 Error Code List

Error code

5300 hex

6341 hex

6331 hex

FF00 hex

FF01 hex

Meaning

Error in the communication unit and inverter connection

PDO setting error

EEPROM data error

A warning occurred for the inverter

A trip occurred for the inverter

Possible correction

• Check that the Communication Unit is mounted correctly onto the inverter.

• The Communication Unit is faulty. Replace the

Communication Unit.

• A connection error occurred because a trip reset was performed with the inverter. Set the inverter C102 to 3: Trip reset only, and turn the power supply OFF and ON again.

• A connection error occurred because an initialization or mode change was performed with the inverter. Turn the inverter power supply OFF and ON again.

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.

• An error was detected in data inside EEPROM when the power supply was turned ON. Replace the Communication

Unit.

• The Diagnosis history cannot be saved because the

EEPROM has reached the end of its service life. There is no effect on operations, but if you want to use the Diagnosis history, replace the unit.

Eliminate the cause and set bit 7: Fault reset of Command

(5000 hex) or bit 7: Fault reset of Controlword (6040 hex) to

ON.

Eliminate the cause and set bit 7: Fault reset of Command

(5000 hex) or bit 7: Fault reset of Controlword (6040 hex) to

ON.

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6 Handling of Errors and Maintenance

6-3-3 List of Cause Codes for PDO Mapping Errors

Cause code

0000 hex

0001 hex

0002 hex

0003 hex

0020 hex

0021 hex

0022 hex

0023 hex

0024 hex

0040 hex

0041 hex

0042 hex

0043 hex

0044 hex

0045 hex

0046 hex

0047 hex

0048 hex

004F hex

0050 hex

0060 hex

Busy exceeded exist) exceeded

Meaning

No registered error

Device busy

Unexpectedly received data

Sync Manager assignment

PDO map number is invalid

(outside the range, does not

RxPDO map overlap

Object specified for RxPDO mapping is invalid

Total number of assignment

RxPDO object overlap

Number of PDO mapping exceeded

PDO map size exceeded

(more than 32 bits)

Incorrect object specification

(sub-index 0 is mapped)

Object not supported

5000 to 5999 and 6000 to

6999 objects mixed

Cause and possible corrections



Cannot accept the PDO allocation because the internal status is busy.

Transition again to safe-operational.

Cannot accept the PDO allocation because the internal status is busy.

Transition again to safe-operational.

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.

Allocated more than 5 PDOs to Sync Manager. Allocate 5 PDOs or less to Sync Manager.

An object was assigned that cannot be assigned to Sync Manager.

Assign within the ranges below.

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

The same PDO is assigned more than once to Sync Manager 2PDO assignment (1C12 hex). Correct the assignment.

An object was allocated that cannot be allocated to RxPDO. Correct the RxPDO mapping.

The total size of the objects specified with the Sync Manager PDO mapping exceeds 20 bytes. Correct the PDO mapping.

The same object is mapped more than once to RxPDO. Change the

RxPDO mapping.

3 or more objects are allocated to a single PDO. Allocate a maximum of 2 objects to a PDO.

The total size of the objects mapped to a single PDO exceeds 4 bytes.

Keep the total object size that is mapped to a PDO to within 4 bytes.

An object of sub-index 0 (number of entries, etc.) that cannot be allocated to a PDO was mapped. Remove the corresponding object from the mapping.

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.

An object from 5000 to 5999 was allocated to RxPDO mapping at the 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 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.

An object that cannot be allocated to a PDO was mapped. Correct the

PDO mapping.

The specified object data size is incorrect. Change to a correct size.

Object specified for PDO map is invalid

Incorrect data size for specified object

PDO mapping exists but size is 0

Specified access method not supported

Specified object mapping is invalid

RxPDO object overlap (MX2 registers are overlapping)

Cannot assign to Sync Manager because the PDO mapping is invalid.

Correct the PDO mapping.

PDO mapping writing was performed with complete access which is not supported. Write with single access.

There was an error in the values written with complete access. Correct the values and perform the writing.

An object that does not exist was allocated to a PDO. Correct the PDO mapping.

An object that cannot be mapped was mapped to a PDO. Correct the

PDO mapping.

The objects allocated to RxPDO are different, but the same function, such as a start command or speed reference, is allocated more than once. Change the PDO mapping.

6

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6 Handling of Errors and Maintenance

Cause code

0061 hex

0070 hex

00E0 hex

00E1 hex

00E2 hex

00E3 hex

00E4 hex

00E5 hex

00E6 hex

00E7 hex

00E8 hex

8000 to 8002 hex

FFFF hex

Meaning

Unsupported data type is specified

Unsupported mode (mode other than FreeRun is specified)

Start address of the Refresh area is 1000 hex or lower, or an odd number

Cause and possible corrections

The data type of the allocated object is invalid. Change to a correct data type.

An operation mode other than FreeRun is set. Set FreeRun mode.

Specified size of the Refresh area exceeds the range

Start address of the Refresh area is different from the value in pre-operational

(Pre-Op)

Incorrect direction setting

Buffer mode is incorrect

Other error

No error

The start address of Sync Manager is set to a value lower than 1000 hex. Change the start address to 1000 hex or higher.

The start address of Sync Manager is set to an odd number. Change the start address to an even number.

The used area of Sync Manager exceeds 2FFF hex. Change the start address.

The start address of Sync Manager is different from the value set during pre-operational. Transition again from pre-operational to safe-operational.

Sync Manager buffer overlap Sync Manager areas are overlapping. Correct the start address.

Map size and Sync Manager size are different

The assignment size and Sync Manager area size do not match.

Match the sizes.

The mapping size is set to 0.Correct the mapping.

Sync Manager operation invalid

Sync Manager size is 0

Cannot operate Sync Manager because the PDO mapping is invalid.

Correct the PDO mapping.

The size assigned to Sync Manager was set to 0 because the PDO mapping is invalid. Correct the PDO mapping.

The access direction (read/write) setting of Sync Manager is incorrect.

Change the setting.

The Butter mode setting of Sync Manager is incorrect. Change the setting.

An error other than those above occurred. Turn the power supply OFF and ON again. If the problem persists, replace the unit.



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6 Handling of Errors and Maintenance

6-3-4 AL Status Code List

Code

0011 hex

0012 hex

0014 hex

0016 hex

001B hex

001D hex

001E hex

001F hex

0024 hex

0025 hex

0028 hex

Meaning

Invalid status transition request received

Error status transition received

SII verification error

Mailbox setting error

Process data WDT error

RxPDO setting error

Cause and possible corrections

An impossible status transition request was received. Perform the status transition again.

A transition request to an unknown status was received. Perform the status transition again.

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.

A mailbox setting is invalid. Set to the correct value.

In the operational state, the data set with RxPDO was not received for a certain time. Check that the network is connected correctly. Check that RxPDO is being refreshed on the master.

An RxPDO (Sync Manager) setting error was detected. Correct the

RxPDO mapping setting. For the detailed cause, check the contents of object 5200 hex.

TxPDO setting error

PDO WDT setting error

TxPDO mapping 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.

The WDT setting of a PDO is invalid. Set a correct value.

An invalid TxPDO is set. Correct the TxPDO mapping setting. For the detailed cause, check the contents of object 5200 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.

SM event mode setting error Set to an unsupported SM event mode. Set a correct value.

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6 Handling of Errors and Maintenance

6-4 Inverter Errors

The trips that occur for inverters when using an optional board are as follows.

Name

Option error

Option timeout

Meaning

When an unrecoverable error is detected in the optional board, a trip is generated for the inverter.

Error code

E60.

@

A trip occurs when a timeout is generated in communication between the inverter and optional PCB.

E69.

@

Check point and remedy

The inverter unit version is old.

 Check that the unit version of the inverters is 1.1 or higher

(1.0 or lower do not operate).Replace the inverter.

Generated when a trip reset was performed with the inverter.

 Set C102 to 3: Trip reset only, and turn the power supply

OFF and ON again.

Generated when an initialization or mode change was performed with the inverter.

 Turn the power supply OFF and ON again.

The optional board is disconnected.

 Check that the optional board case and inverter are fitted together correctly, and check for looseness in the fastening screw.

The inverter or optional board is faulty.

 If they are fitted together correctly, the inverter or optional

PCB may be faulty. Replace the inverter or optional board.

The optional board is disconnected.

 Check that the optional board case and inverter are fitted together correctly, and check for looseness in the fastening screw.

The optional board is faulty.

 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)

pp

Appendices

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-1 Appearance and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-2 Common Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-3 EtherCAT Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A-2 Communications Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

A-3 Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

A-3-1 Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

A-4 Inverter Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9

A-5 Sysmac Error Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-36

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

A-1

Appendices

A-1 Specifications

A-1-1 Appearance and Dimensions

Status Indicator

67.6

Rotary switches for node address setting

44.9

28.6

FG cable

Communications connector (IN)

10.3 10.3

Communications connector (OUT)

26.4mm*1

53.1

D*1

FG cable

*1 After the EtherCAT Communication Unit is installed, dimension D of the inverter increases by 26.4 mm.

(Dimension D of the inverter varies depending on the capacity. Refer to the manual for the inverter.)

A-1-2 Common Specifications

Item

Model

Power supply

Protective structure

Temperature

Storage temperature

Humidity

Vibration

Application environment

Weight

Specifications

3G3AX-MX2-ECT

Supplied from the inverter

Open type (IP20)

10 to 50C

20 to 65C

20% to 90% RH (with no condensation)

5.9 m/s

2

(0.6 G), 10 to 55 Hz

At a maximum altitude of 1,000 m; indoors (without corrosive gases or dust)

100 g max.

A-2

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

Appendices

A-1-3 EtherCAT Communications Specifications

Item

Communications standard

Physical layer

Connector

Communications media

Communications distance

Process data

Mailbox (CoE)

Distributed clock

LED display

CiA402 drive profile

Specifications

IEC 61158 Type12, IEC 61800-7 CiA 402 drive profile

100BASE-TX (IEEE802.3)

RJ45

 2 (shielded type)

ECAT IN: EtherCAT input

ECAT OUT: EtherCAT output

Category 5 or higher (cable with double, aluminum tape and braided shielding) is recommended.

Distance between nodes: 100 m max.

Fixed PDO mapping

PDO mapping

Emergency messages, SDO requests, SDO responses, and SDO information

FreeRun mode (asynchronous)

L/A IN (Link/Activity IN)

 1

L/A OUT (Link/Activity OUT)

 1

RUN

 1

ERR

 1

Velocity mode

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

A-3

Appendices

A-2 Communications Response Time

The table below lists the communications response time.

 CJ1W-NCx82 Master

Starting time

Data transmitting time

Meaning

Write

Read

Performance

Approx. 10 to 14 ms

Approx. 27 ms/pc

Approx. 24 ms/pc

Conditions

Time after the inverter is started from the PLC until the motor produces output *

CJ1W-NCx82 When the communication cycle is 250

s

Time needed to write/read inverter parameters from the PLC

CJ1W-NCx82 When the communication cycle is 250

s

Varies depending on the number of allocated PDOs IO data updating cycle 4 ms or 6 ms

* 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

Starting time

Data transmitting time

Meaning

Write

Read

Performance

Approx. 6 to 10 ms

Approx. 7 ms/pc

Approx. 6 ms/pc

Conditions

Time after the inverter is started from the PLC until the motor produces output *

NJ501-1x00 When the communication cycle is 500

s

Time needed to write/read inverter parameters from the PLC

NJ501-1x00 When the communication cycle is 500

s

Varies depending on the number of allocated PDOs IO data updating cycle 4 ms or 6 ms

* Due to the characteristics of EtherCAT, the result will become the same with any node as long as the communication cycle is the same.

A-4

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

Appendices

A-3 Object List

A-3-1 Object List

Index

Subindex

1000 hex 0

Object name

Device type

1001 hex 0 Error register

1008 hex 0

1009 hex 0

100A hex 0

1010 hex

1011 hex

1018 hex

10F3 hex

2

3

0

1

4

0

1

Manufacturer device name

Manufacturer hardware version

Manufacturer software version

Store parameters

Number of entries

Save all parameters

Restore default parameters

Number of entries

Restore all default parameters

Identity object

Number of entries

Vendor ID

Product code

Revision number

Serial number

Diagnosis history

Number of entries

Maximum messages

2

5

Newest message

Flags

1600 to

1604 hex

0

6 to 13 Diagnosis message 1 to 8

1st to 5th receive PDO mapping

Number of objects

06 to 0D hex





0000 to

0001 hex



1 1st object

(1st Output Object to be mapped)

2 2nd object

(2nd Output Object to be mapped)

*1 "V*.**" which shows the hardware version is saved.



































Setting range





00 to 08 hex



















































Unit





Default setting Size

00010192 hex 4 bytes (U32)

0 1 byte (U8)

00000000 hex



00 hex

00 hex

06 hex

0001 hex





0

00000000 hex

00000000 hex

3G3AX-MX2-ECT 20 bytes (VS)

*1 20 bytes (VS)

*1



01 hex

00000001 hex



01 hex

20 bytes (VS)



1 byte (U8)

4 bytes (U32)



1 byte (U8)

00000001 hex



04 hex

00000083 hex

00000053 hex

XXXXXXXX hex

4 bytes (U32)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

1 byte (U8)

1 byte (U8)

2 bytes (U16)

23 bytes (VS)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)

RO



RO

RW



RO

RO



RO

RO



RW

RW



RO

Access

RO

RO

RO

RO

RO

RO

RO

RO

RO

RW

RW

RW

PDO map

Not possible



Not possible

Not possible

Not possible

Not possible

Not possible



Not possible

Not possible

Not possible

Not possible

Not possible



Not possible

Not possible



Not possible

Not possible

Not possible

Not possible

Not possible

Not possible



Not possible

Not possible

Not possible

A-5

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

Appendices

Index

1700 hex

Subindex

0

Object name

257th fixed receive PDO mapping



Number of objects



Setting range

1701 hex

1A00 to

1A04 hex

0

1B00 hex

1B01 hex

1BFF hex

1C00 hex

1C10 hex

1C11 hex

1

2

0

1

2

1

2

0

1

2

0

1

2

0

1

0

1

2

3

4

0

0

1st object

(1st Output Object to be mapped)



2nd object

(2nd Output Object to be mapped)



258th fixed receive PDO mapping



Number of objects



1st object

(1st Output Object to be mapped)

2nd object

(2nd Output Object to be mapped)

1st to 5th transmit PDO mapping

Number of objects









1st object

(1st Input Object to be mapped)



2nd object

(2nd Input Object to be mapped)



257th fixed transmit PDO mapping



Number of objects



1st object

(1st Input Object to be mapped)



2nd object

(2nd Input Object to be mapped)



258th fixed transmit PDO mapping



Number of objects



1st object

(1st Input Object to be mapped)

2nd object

(2nd Input Object to be mapped)

512th transmit PDO Mapping

Number of objects in this PDO

1st Input Object to be mapped

Communication type SM0



Sync manager communication type



Number of used SM channels





Communication type SM1

Communication type SM2













Communication type SM3



Sync Manager 0 PDO assignment



Number of assigned PDOs



Sync Manager 1 PDO assignment



Number of assigned PDOs



Default setting Size



2



1 byte (U8)

02 hex

03 hex

04 hex



00 hex



00 hex

51000010 hex

51100010 hex



01 hex

20020108 hex



04 hex

01 hex

60400010 hex

60420010 hex



2

50000010 hex

50100010 hex



2

00000000 hex

00000000 hex



2

60410010 hex

60430010 hex



2

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

4 bytes (U8)



1 byte (U8)

4 bytes (U8)

4 bytes (U8)

4 bytes (U8)

4 bytes (U8)



1 byte (U8)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)































































Unit





RO



RO

RO



RO



RO

RO



RO

RO



RW

RW



RO

RO



RO

RO



RO

Access



RO

RO

RO

RW

RO

RO

RO

RO

RO

PDO map



Not possible

Not possible

Not possible



Not possible

Not possible



Not possible

Not possible

Not possible

Not possible

Not possible



Not possible



Not possible

Not possible

Not possible



Not possible

Not possible

Not possible



Not possible

Not possible

Not possible



Not possible

Not possible

Not possible



Not possible

A-6

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

Appendices

Index

1C12 hex

Subindex

0

Object name

Sync manager 2 PDO assignment



Number of assigned RxPDOs



Setting range

1C13 hex

1C32 hex

1C33 hex

2002 hex

1

2

3

4

5

0

1

2

3

4

5

0

1

4

0

1

4

0

1

2

2100 hex 0

5000 hex 0

5010 hex 0

5100 hex 0

Unit





Default setting Size



01 hex



1 byte (U8)

Assigned PDO 1

(1st PDO Mapping object index of assigned PDO)



Assigned PDO 2

(2nd PDO Mapping object index of assigned PDO)



Assigned PDO 3

(3rd PDO Mapping object index of assigned PDO)



Assigned PDO 4

(4th PDO Mapping object index of assigned PDO)

Number of assigned TxPDOs



Assigned PDO 5

(5th PDO Mapping object index of assigned PDO)



Sync Manager 3 PDO assignment





Assigned PDO 1

(1st PDO Mapping object index of assigned PDO)

Assigned PDO 2

(2nd PDO Mapping object index of assigned PDO)

Assigned PDO 3

(3rd PDO Mapping object index of assigned PDO)

Assigned PDO 4

(4th PDO Mapping object index of assigned PDO)

Assigned PDO 5

(5th PDO Mapping object index of assigned PDO)

SM2 synchronization

Number of synchronization parameter

Synchronization type

















Synchronization types supported



SM3 synchronization

Number of synchronization parameter

Synchronization type

Synchronization types supported

Sysmac Error

Number of entries













Sysmac Error Status

Sysmac Error Status Clear

Error history clear

Command

Frequency reference

Status













































1701 hex

0000 hex

0000 hex

0000 hex

0000 hex



01 hex

1B01 hex

0000 hex

0000 hex

0000 hex

0000 hex



20 hex

0000 hex

0001 hex



20 hex

0000 hex

0001 hex



02 hex









00 hex

00 hex

6C636C65 hex





0000 to

FFFF hex

0000 to

FFFF hex

0000 to

FFFF hex

00000000 hex

0000 hex

0.01 Hz

(0.1 Hz)



0000 hex

0000 hex

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)



1 byte (U8)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)



1 byte (U8)

2 bytes (U16)

2 bytes (U16)



1 byte (U8)

2 bytes (U16)

2 bytes (U16)



1 byte (U8)

1 byte (U8)

1 byte (U8)

4 bytes (U32)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)



RW

RW

Access



RW

RW

PDO map



Not possible

Not possible

RW Not possible

RW

RW

RW

RW

RW

RW

RW

Not possible

Not possible

Not possible

Not possible

Not possible

Not possible



Not possible

Possible

(TxPDO)

Not possible

Not possible

Possible



Not possible

Not possible

Not possible



Not possible

Possible

Possible

(TxPDO)

Not possible

Not possible

Not possible



Not possible

Not possible

RO

RW

RW

RW

RW

RO



RO

RW

RO



RO

RW

RO



RO

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

A-7

Appendices

Index

Subindex

5110 hex 0

5200 hex

0

1

Object name

Output frequency monitor

PDO mapping error history

Number of entries





Newest PDO mapping error code



Setting range

0000 to

FFFF hex

Unit Default setting Size

2 bytes (U16) Unit:

0.01 Hz

(0.1 Hz)





0000 hex



0A hex



FFFF hex



1 byte (U8)

2 bytes (U16)

603F hex

6040 hex

6041 hex

6042 hex

6043 hex

6044 hex

6046 hex

6048 hex

6049 hex

605B hex

605C hex

4

5 to A

0

0

0

0

0

0

0

1

2

0

1

2

0

1

2

0

0

Number of error messages

PDO mapping error message 1 to

6

Error code



Controlword

Statusword vl target velocity vl velocity demand vl velocity actual value vl velocity min max amount

Number of entries

0000 to

FFFF hex

0000 to

FFFF hex

0000 to

FFFF hex

8000 to

7FFF hex

8000 to

7FFF hex





8000 to

7FFF hex vl velocity min amount vl velocity max amount vl velocity acceleration

Number of entries

Delta speed

Delta time vl velocity deceleration

Number of entries

Delta speed

0000 hex

0000 hex

0000 hex

0000 hex

0000 hex

0000 hex

0000 hex

00000000 to

FFFFFFFF hex





00000000 to

FFFFFFFF hex rpm



Command unit



02 hex rpm 0000000F hex

00000708 hex



Command unit



02 hex rpm 00000708 hex 00000000 to

FFFFFFFF hex





0000 to

FFFF hex







 rpm rpm rpm s



Command unit rpm

000A hex



02 hex

00000708 hex

Delta time

Shutdown option code

00000000 to

FFFFFFFF hex

0000 to

FFFF hex

1 s



000A hex

1

Disable operation option code



1





00 hex

1

605E hex

6060 hex

6061 hex

6502 hex

0

0

0

0

Fault reaction option code

Modes of operation

Modes of operation display

Supported drive modes

1

2

0 to 10











1

02 hex

02 hex

00000002 hex

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (U16)

2 bytes (INT16)

2 bytes (INT16)

2 bytes (INT16)



1 byte (U8)

4 bytes (U32)

4 bytes (U32)



1 byte (U8)

4 bytes (U32)

2 bytes (U16)



1 byte (U8)

4 bytes (U32)

2 bytes (U16)

2 bytes (INT16)

2 bytes (INT16)

2 bytes (INT16)

1 byte (INT8)

1 byte (INT8)

4 bytes (U32)

Access

RO



RO

RO

RO

RO

RO

RW

PDO map

Possible

(TxPDO)



Not possible

Not possible

Not possible

Not possible

Possible

(TxPDO)

Possible

Possible

(TxPDO)

Possible

Not possible

Not possible



Not possible

Not possible

Not possible

Not possible

Not possible

Possible

(TxPDO)

Possible

(TxPDO)



Not possible

Not possible

Not possible



Not possible

Not possible

Possible

Possible

(TxPDO)

Not possible

RO

RW



RO

RW

RW



RO

RO

RW

RO

RO



RO

RO

RW

RW

RW

RW

RW

RO

RO

A-8

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

Appendices

A-4 Inverter Parameter List

Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex.

3000 to 3102 hex are 16-bit parameters and 4000 to 4102 hex are 32-bit parameters.

 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

 Holding register number list (frequency reference and fault monitor)

Index

4000 hex

3000 hex

3000 hex

3000 hex

3000 hex

3000 hex

3000 hex

4000 hex

3000 hex

3000 hex

4000 hex

4000 hex

07 hex

12 hex

13 hex

15 hex

17 hex

18 hex

19 hex

1B hex

Subindex

02 hex

05 hex

06 hex

14 hex

Register

No.

0004 hex

0005 hex

0006 hex

0011 hex

0012 hex

0013 hex

Function name

0001 hex Output Frequency

Setting

Inverter Status B

Inverter Status C

PID Feedback

Fault Counter

Fault Monitor 1

Cause

Fault Monitor 1

Inverter Status

0014 hex Fault Monitor 1

Frequency

0016 hex Fault Monitor 1

Current

0017 hex Fault Monitor 1 Voltage

0018 hex Fault Monitor 1

001A hex

RUN Time

Fault Monitor 1

ON Time

Parameter

No.

F001

R/W

RW





 d080 d081

RO

RO

RO

RO

RO

Monitor and setting items

0 to maximum frequency (enabled when A001 = 03)

0: Stopped

1: During operation

2: During trip

0:



1: Stop

2: Deceleration

3: Constant speed

4: Acceleration

5: Forward

6: Reverse

7: Forward to reverse

8: Reverse to forward

9: Forward run start

10: Reverse run start

0 to 10000

Data resolution

0.01 [Hz]





0.01 [%]

PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0 to 65530 1 [time]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Refer to Inverter Fault Factor List in the operation manual for the MX2 inverter.

Refer to Inverter Fault Factor List in the operation manual for the MX2 inverter.

0 to 100000





0.01 [Hz]

Possible

(TxPDO)

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

0.01 [A]

0.1 [V]

1 [h]

1 [h]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

A-9

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

Appendices

Index

4000 hex

4000 hex

3000 hex

3000 hex

3000 hex

4000 hex

3000 hex

3000 hex

4000 hex

3000 hex

3000 hex

4000 hex

4000 hex

3000 hex

4000 hex

4000 hex

3000 hex

3000 hex

3000 hex

4000 hex

3000 hex

3000 hex

3000 hex

4000 hex

4000 hex

3000 hex

3000 hex

4000 hex

40 hex

41 hex

43 hex

3B hex

3C hex

3D hex

3F hex

35 hex

36 hex

37 hex

39 hex

2F hex

31 hex

32 hex

33 hex

29 hex

2B hex

2C hex

2D hex

23 hex

25 hex

27 hex

28 hex

Subindex

1D hex

1E hex

1F hex

21 hex

22 hex

Register

No.

001C hex

Function name

Fault Monitor 2

Cause

001D hex

001E hex

Fault Monitor 2

Inverter Status

Fault Monitor 2

Frequency

0020 hex Fault Monitor 2

Current

0021 hex Fault Monitor 2 Voltage

Parameter

No.

d082

0022 hex Fault Monitor 2

RUN Time

0024 hex Fault Monitor 2

ON Time

0026 hex Fault Monitor 3

Cause

0027 hex Fault Monitor 3

Inverter Status

0028 hex Fault Monitor 3

Frequency

002A hex

Fault Monitor 3

Current

Fault Monitor 3 Voltage 002B hex

002C hex

Fault Monitor 3

RUN Time d083

002E hex

Fault Monitor 3

ON Time

0030 hex Fault Monitor 4

Cause

0031 hex Fault Monitor 4

Inverter Status

0032 hex Fault Monitor 4

Frequency

0034 hex Fault Monitor 4

Current

0035 hex Fault Monitor 4 Voltage d084

0036 hex Fault Monitor 4

RUN Time

0038 hex Fault Monitor 4

ON Time

003A hex

003B hex

Fault Monitor 5

Cause

Fault Monitor 5

Inverter Status

003C hex

003E hex

Fault Monitor 5

Frequency

Fault Monitor 5

Current

003F hex Fault Monitor 5 Voltage d085

0040 hex Fault Monitor 5

RUN Time

0042 hex Fault Monitor 5

ON Time

R/W

RO

RO

RO

RO

Monitor and setting items

Refer to Inverter fault factor list on page A-12.

Refer to Inverter fault factor list on page A-12.

0 to 100000

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

Refer to Inverter fault factor list on page A-12.

Refer to Inverter fault factor list on page A-12.

0 to 100000

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

Refer to Inverter fault factor list on page A-12.

Refer to Inverter fault factor list on page A-12.

0 to 100000

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

Refer to Inverter fault factor list on page A-12.

Refer to Inverter fault factor list on page A-12.

0 to 100000

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

Data resolution



PDO map

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [A]

0.1 [V]

Possible

(TxPDO)

Possible

(TxPDO)

1 [h]

1 [h]





Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [A] Possible

(TxPDO)

0.1 [V]

1 [h]

Possible

(TxPDO)

Possible

(TxPDO)

1 [h]



Possible

(TxPDO)

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [A]

0.1 [V]

Possible

(TxPDO)

Possible

(TxPDO)

1 [h]

1 [h]





Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [A] Possible

(TxPDO)

0.1 [V]

1 [h]

Possible

(TxPDO)

Possible

(TxPDO)

1 [h] Possible

(TxPDO)

A-10

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

Appendices

Index

3000 hex

3000 hex

4000 hex

4000 hex

3000 hex

3000 hex

4000 hex

3000 hex

3009 hex

3009 hex

Subindex

45 hex

46 hex

47 hex

49 hex

4A hex

4B hex

4D hex

4F hex

13 hex

Register

No.

Function name

0044 hex Fault Monitor 6

Cause

0045 hex Fault Monitor 6

Inverter Status

0046 hex Fault Monitor 6

Frequency

0048 hex Fault Monitor 6

Current

0049 hex Fault Monitor 6 Voltage

004A hex

004C hex

Fault Monitor 6

RUN Time

Fault Monitor 6

ON Time

004E hex

Warning Monitor

0900 hex EEPROM Write

Parameter

No.

d086 d090



R/W

RO

RO

WO

15 hex

0902 hex EEPROM Write Mode

Selection



WO

Monitor and setting items

Refer to Inverter fault factor list on page A-12.

Refer to Inverter fault factor list on page A-12.

0 to 100000

Output current value at the time of tripping

DC input voltage at the time of tripping

Total RUN time at the time of tripping

Power ON time at the time of tripping

Warning code

0: Motor parameter recalculation

1: Set value storage in EEPROM

Other: Motor parameter recalculation and EEPROM



0: Write disabled

1: Write enabled



Data resolution



PDO map

Possible

(TxPDO)



0.01 [Hz]

0.01 [A]

0.1 [V]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

1 [h]

1 [h]



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Not possible

Not possible

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

A-11

Appendices

Inverter fault factor list

Trip factor high-order (factor)

Name Code

No trip factor

Overcurrent protection during constant speed

Overcurrent protection during deceleration

2

3 Overcurrent protection during acceleration

Overcurrent protection during stop

Overload protection

0

1

Braking resistor overload protection

Overvoltage protection

EEPROM error

Undervoltage protection

6

7

4

5

Current detector error

CPU error

External trip

USP error

8

9

10

11

Grounding protection

Incoming overvoltage protection

Abnormal temperature

Main circuit error

12

13

14

15

Driver error

Thermistor error

Brake error

Emergency shutoff

21

25

30

35

36

37

Overload protection in a low speed range

Digital operator connection error

38

40

Modbus communication (Modbus-RTU) error

41

Internal data error 43 to 45

50 to 69

Encoder disconnection

Overspeed

Position control range trip

80

81

83

Trip factor low-order (Inverter status)

Name Code

During reset

During stop

0

1

During deceleration

At a constant speed

2

3

During acceleration

Operates at frequency = 0

During startup 6

DB active (DC injection braking active) 7

During overload limit

4

5

8

A-12

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

Appendices

 Holding register number list (monitor)

4010 hex

3010 hex

3010 hex

Index

4010 hex

3010 hex

3010 hex

4010 hex

3010 hex

3010 hex

3010 hex

4010 hex

4010 hex

3010 hex

3010 hex

4010 hex

4010 hex

3010 hex

3010 hex

4010 hex

4010 hex

3010 hex

3010 hex

3010 hex

3010 hex

31 hex

32 hex

33 hex

34 hex

2C hex

2E hex

2F hex

36 hex

38 hex

3A hex

3E hex

57 hex

59 hex

78 hex

47 hex

48 hex

49 hex

26 hex

28 hex

29 hex

Subindex

22 hex

24 hex

25 hex

Register

No.

1001 hex Output Frequency

1003 hex

Function name

Monitor

Output current monitor

1004 hex Rotation Direction

Monitor

Parameter

No

d001 d002 d003

R/W

RO

RO

RO

2A hex

1005 hex PID Feedback Value

Monitor

1007 hex Multi-function Input

Monitor

1008 hex Multi-function output monitor d004 d005 d006

RO

RO

RO

RO

Monitor and setting items

0 to 40000 (100000)

0 to 65530

0: Stop

1: Forward

2: Reverse

0 to 1000000

2

0

2

1

2

0

: Terminals S1

to 2

6

: Terminals S7/EB

: Terminals P1/EDM to 2

1

: Terminal P2

2

6

: Relay output terminal

0 to 4000000 (10000000) 1009 hex Output Frequency

Monitor (after conversion)

100B hex

Real Frequency

Monitor d007 d008

100D hex

100E hex

Torque Reference

Monitor

Torque Bias Monitor d009 d010

1010 hex Output Torque Monitor d012

RO

RO

RO

RO

1011 hex

1012 hex

Output Voltage

Monitor

Input Power Monitor

1013 hex Integrated Power

Monitor

1015 hex Total RUN Time

Monitor

1017 hex Power ON Time

Monitor

1019 hex Fin Temperature

Monitor

101D hex

1026 hex

Life Assessment

Monitor

DC Voltage Monitor

1027 hex Regenerative Braking

Load Rate Monitor

1028 hex Electronic Thermal

Load Rate Monitor

1036 hex Position Reference

Monitor

1038 hex Current position monitor d013 d014 d015 d016 d017 d018 d022 d102 d103 d104 d029 d030

1057 hex Inverter Mode Monitor d060

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

RO

Data resolution

0.01 [Hz]

0.01 [A]



0.1

Bit

Bit

0.01

PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

100000 to +100000

200 to +200

200 to +200

200 to +200

0 to 6000

0 to 9999

0 to 9999000

0 to 999000

0 to 999000

200 to 1500

2

0

: Capacitor on main circuit board

2

1

: Cooling fan

0 to 10000

Bit

0.1 [V]

0 to 1000

0 to 1000

268435455 to 268435455

268435455 to 268435455

0: I-C (IM heavy load)

1: I-V (IM light load)

2: H-I (IM power supply harmonics)



0.01 [Hz]

1 [%]

1 [%]

1 [%]

0.1 [V]

0.1 [kW]



1 [h]

1 [h]

0.1 [

1

1

C]

0.1 [%]

0.1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

A-13

Appendices

 Holding register number list (F group)

Index

4011 hex

4011 hex

3011 hex

Subindex

26 hex

28 hex

2A hex

Register

No.

Function name

1103 hex Acceleration Time

Setting 1

1105 hex Deceleration Time

Setting 1

1107 hex RUN Direction

Selection

Parameter

No.

F002

R/W

RW

Monitor and setting items

1 to 360000

F003

F004

RW 1 to 360000

RW 0: Forward

1: Reverse

 Holding register number list (A, b, C, H, P group)

Data resolution

PDO map

0.01 [s] Possible

Possible 0.01 [s]



Possible

(TxPDO)

Index

3012 hex

3012 hex

Subindex

26 hex

27 hex

Register

No.

1201 hex

1202 hex

Function name

Frequency Reference

Selection 1

RUN Command

Selection 1*

Parameter

No.

A001

A002

R/W

RW

RW

Monitor and setting items

00: Volume

01: Control circuit terminal block

02: Digital operator

03: Modbus communication

(Modbus-RTU)

04: Optional board

06: Pulse train frequency

07: Do not set.

10: Operation function output

01: Control circuit terminal block

02: Digital operator

03: Modbus communication

(Modbus-RTU)

04: Optional board

300 to Maximum Frequency 1

Data resolution





PDO map

Possible

(TxPDO)

Possible

(TxPDO)

3012 hex

3012 hex

3012 hex

28 hex

29 hex

2A hex

1203 hex

1204 hex

Base Frequency 1

Maximum Frequency 1

A003

A004

RW

RW 300 to 4000 (10000)

0.1 [Hz]

0.1 [Hz]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

3012 hex

3012 hex

3012 hex

4012 hex

4012 hex

3012 hex

3012 hex

36 hex

37 hex

3A hex

30 hex

32 hex

34 hex

35 hex

1205 hex FV/FI Selection

120B hex

120D hex

FV Start Frequency

FV End Frequency

120F hex FV Start Ratio

A005 RW 00: Switch between FV/FI

02: Switch between FV/volume

03: Switch between FI/volume

0 to 40000 (100000)



4012 hex

3B hex

1210 hex

1211 hex

1212 hex

1215 hex

1216 hex

FV End Ratio

FV Start Selection

FV, FI sampling

Multi-step Speed

Selection

Multi-step Speed 1

Reference 0

A011

A012

A013

A014

A015

A016

A019

A020

RW

RW

RW

RW

RW

RW

RW

RW

0 to 40000 (100000)

0 to 100

0 to 100

00: Start frequency

01: 0 Hz

1 to 30/31 (with 500 ms filter

 0.1

Hz hysteresis)

00: Binary 16-step selection with 4 terminals

01: Bit 8-step selection with 7 terminals

0

Starting Frequency to Maximum

Frequency 1

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

1 [%]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)



1

Possible

(TxPDO)

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [Hz] Possible

* 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

Index

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

4012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

Subindex

3D hex

Register

No.

Function name

1218 hex Multi-step Speed

Reference 1

3F hex

41 hex

43 hex

45 hex

47 hex

49 hex

4B hex

4D hex

4F hex

51 hex

53 hex

55 hex

57 hex

59 hex

5D hex

5E hex

60 hex

61 hex

62 hex

63 hex

64 hex

121A hex

121C hex

121E hex

1220 hex

1222 hex

1224 hex

1226 hex

1228 hex

122A hex

122C hex

122E hex

1230 hex

1232 hex

1234 hex

1238 hex

1239 hex

123B hex

123C hex

123D hex

123E hex

123F hex

Multi-step Speed

Reference 2

Multi-step Speed

Reference 3

Multi-step Speed

Reference 4

Multi-step Speed

Reference 5

Multi-step Speed

Reference 6

Multi-step Speed

Reference 7

Multi-step Speed

Reference 8

Multi-step Speed

Reference 9

Multi-step Speed

Reference 10

Multi-step Speed

Reference 11

Multi-step Speed

Reference 12

Multi-step Speed

Reference 13

Multi-step Speed

Reference 14

Multi-step Speed

Reference 15

Jogging Frequency

Jogging Stop

Selection

Torque Boost

Selection 1

Manual Torque Boost

Voltage 1

Manual Torque Boost

Frequency 1

Control Method 1

A041

A042

A043

A044

Output Voltage Gain 1

Parameter

No.

A021

R/W

RW

A022

A023

A024

A025

A026

A027

A028

A029

A030

A031

A032

A033

A034

A035

A038

A039

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

0

Starting Frequency to nth Maximum

Frequency

Starting Frequency to 999 (10000)

Data resolution

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

0.01 [Hz]

PDO map

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

00: Free run on jogging stop/Disabled in operation

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 jogging stop/Enabled in operation

00: Manual torque boost

01: Automatic torque boost

0 to 200





0.1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

A045

RW

RW

RW

0 to 500

00: Constant torque characteristics

01: Reduced torque characteristics

02: Free V/f setting

03: Sensorless vector control

20 to 100

0.1 [%]



1 [%]

Possible

Possible

(TxPDO)

Possible

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

A-15

Appendices

A-16

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

4012 hex

4012 hex

4012 hex

3012 hex

4012 hex

3012 hex

4012

Index

3012 hex

3012 hex

3012 hex

4012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

85 hex

86 hex

87 hex

88 hex

89 hex

7D hex

7E hex

80 hex

81 hex

78 hex

7A hex

7B hex

83 hex

84 hex

6E hex

6F hex

70 hex

71 hex

6B hex

6C hex

6D hex

72 hex

74 hex

Subindex

65 hex

66 hex

6A hex

Register

No.

Function name

1240 hex Automatic Torque

Boost Voltage

Compensation Gain 1

1241 hex Automatic Torque

Boost Slip

Compensation Gain 1

1245 hex Internal DC Injection

Braking Selection

Parameter

No.

A046

A047

A051

R/W

RW

RW

RW

RW

Monitor and setting items

0 to 255

0 to 255

00: Disabled

01: Enabled during stop

02: Output frequency (at A052)

0 to 6000 1246 hex Internal DC Injection

Braking Frequency

1247 hex DC Injection Braking

Delay Time

1248 hex DC Injection Braking

Power

1249 hex DC Injection Braking

Time

124A hex

DC Injection Braking

Edge/Level Selection

124B hex

124C hex

Startup DC Injection

Braking Power

Startup Internal DC

Injection Braking Time

124D hex

DC Injection Braking

Carrier Frequency

124F hex Frequency Upper

Limit 1

A052

A053

A054

A055

A056

A057

A058

A059

A061

RW

RW

RW

RW

RW

RW

RW

RW

0 to 50

0 to 100

0 to 600

00: Edge operation

01: Level operation

0 to 100

0 to 600

20 to 150

76 hex

1251 hex

1253 hex

Frequency Lower

Limit 1

Jump Frequency 1

A062

A063

RW

RW

0

Frequency Lower Limit 1 to

Maximum Frequency 1

0

Starting Frequency to Frequency

Upper Limit 1

0 to 40000 (100000)

1255 hex

1256 hex

1258 hex

1259 hex

125B hex

125C hex

125E hex

Jump Frequency

Width 3

Acceleration Stop

Frequency

Acceleration Stop

Time

125F hex PID Selection

1260 hex

Jump Frequency

Width 1

Jump Frequency 2

Jump Frequency

Width 2

Jump Frequency 3

PID P Gain

A064

A065

A066

A067

A068

A069

A070

A071

A072

RW

RW

RW

RW

RW

RW

RW

RW

RW

0 to 1000 (10000)

0 to 40000 (100000)

0 to 1000 (10000)

0 to 40000 (100000)

0 to 1000 (10000)

0 to 40000

0 to 600

00: Disabled

01: Enabled

02: Reverse output enabled

2 to 2500

1261 hex

1262 hex

1263 hex

1264 hex

PID I Gain

PID D Gain

PID Scale

PID Feedback

Selection

A073

A074

A075

A076

RW

RW

RW

0 to 36000

0 to 10000

1 to 9999

8A hex

8B hex

1265 hex PID Deviation Reverse

Output

1266 hex PID Variable Range

Limit

A077

A078

R/W

RW

RW

00: Current (FI)

01: Voltage (FV)

02: Modbus communication

(Modbus-RTU)

03: Pulse train frequency

10: Operation function output

00: Disabled

01: Enabled

0 to 1000

Data resolution

1 [%]

PDO map

Possible

1 [%]



0.1 [%]

Possible

Possible

(TxPDO)

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.1 [s]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

0.1 [s]



1 [%]

0.1 [s]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0.1 [kHz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.1 [s]



Possible

(TxPDO)

Possible

(TxPDO)

0.01

0.1 [s]

0.01 [s]

0.01



Possible

Possible

Possible

Possible

(TxPDO)

Possible

(TxPDO)

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

Appendices

Index

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

4012 hex

4012 hex

3012 hex

99 hex

9B hex

9D hex

4012 hex

4012 hex

3012 hex

9E hex

A0 hex

A2 hex

3012 hex

3012 hex

3012 hex

3012 hex

3012 hex

4012 hex

4012 hex

3012 hex

3012 hex

90 hex

91 hex

92 hex

93 hex

A3 hex

AC hex

CA hex

CB hex

D4 hex

A6 hex

A8 hex

AA hex

AB hex

Subindex

8C hex

8E hex

8F hex

Register

No.

Function name

1267 hex PID Feedforward

Selection

1269 hex

126A hex

AVR Selection 1

Motor Incoming

Voltage Selection 1

126B hex

126C hex

126D hex

AVR Filter Time

Parameter

AVR Deceleration

Voltage Gain

RUN Mode Selection

126E hex

Energy-saving

Response/Accuracy

Adjustment

1274 hex 1st Acceleration Time

2

1276 hex 1st Deceleration Time

2

1278 hex 2-step

Acceleration/Decelerat ion Selection 1

A083

A084

A085

A086

A092

A093

A094

1279 hex 2-step Acceleration

Frequency 1

127B hex

2-step Deceleration

Frequency 1

127D hex

Acceleration Pattern

Selection

Parameter

No.

A079

R/W

RW

A081

A082

RW

RW

RW

Monitor and setting items

00: Disabled

01: Voltage (FV)

02: Current (FI)

00: Always ON

01: Always OFF

02: OFF during deceleration

200-V class: 00 (200)

01 (215)

02 (220)

03 (230)

04 (240)

400-V class: 05 (380)

06 (400)

07 (415)

0 to 1000

A095

A096

A097

RW

RW

RW

RW

RW

RW

RW

RW

RW

50 to 200

00: Normal operation

01: Energy-saving operation

0 to 1000

1 to 360000

1 to 360000

00: Switched via word 2 terminal

01: Switched by setting

02: Switched only when switching forward/reverse

0 to 40000 (100000)

0 to 40000 (100000)

127E hex

1281 hex

1283 hex

1285 hex

1286 hex

1287 hex

12A5 hex

12A6 hex

12AF hex

Deceleration Pattern

Selection

FI Start Frequency

FI End Frequency

FI Start Ratio

FI End Ratio

FI Start Selection

Acceleration Curve

Parameter

Deceleration Curve

Parameter

Operation Frequency

Selection 1

A098

A101

A102

A103

A104

A105

A131

A132

A141

RW

RW

RW

RW

RW

RW

RW

RW

RW

00: Linear

01: S shape curve

02: U shape curve

03: Inverted U shape curve

04: EL-S shape curve

00: Linear

01: S shape curve

02: U shape curve

03: Inverted U shape curve

04: EL-S shape curve

0 to 40000 (100000)

0 to 40000 (100000)

0 to 100

0 to 100

00: Start frequency

01: 0 Hz

01 (small curve) to

10 (large curve)

01 (small curve) to

10 (large curve)

00: Digital Operator

01: Volume

02: Voltage (FV) input

03: Current (FI) input

04: Modbus communication

(Modbus-RTU)

05: Do not set.

07: Pulse train frequency

Data resolution



PDO map

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [s]

1 [%]



0.1 [%]

0.01 [s]

0.01 [s]





Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

Possible

Possible

(TxPDO)

0.01 [Hz]

0.01 [Hz]



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)









0.01 [Hz]

0.01 [Hz]

1 [%]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

A-17

Appendices

A-18

4012 hex

3012 hex

3012 hex

3012 hex

Index

3012 hex

3012 hex

3012 hex

3012 hex

4012 hex

4012 hex

3012 hex

3012 hex

4012 hex

3012 hex

4012 hex

3012 hex

3012 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

4013 hex

3013 hex

D8 hex

DA hex

DE hex

29 hex

2A hex

2B hex

EB hex

ED hex

EF hex

F0 hex

E2 hex

E4 hex

E5 hex

E7 hex

F1 hex

28 hex

Subindex

D5 hex

Register

No.

12B0 hex

Function name

Operation Frequency

Selection 2

Parameter

No.

A142

R/W

RW

D6 hex

12B1 hex

Operation Function

Operator Selection

A143

A145

RW

RW

Monitor and setting items

00: Digital Operator

01: Volume

02: Voltage (FV) input

03: Current (FI) input

04: Modbus communication

(Modbus-RTU)

05: Do not set.

07: Pulse train frequency

00: Addition (A141 + A142)

01: Subtraction (A141

 A142)

02: Multiplication (A141

 A142)

0 to 40000 (100000)

DF hex

E0 hex

E1 hex

12B3 hex

12B5 hex

12B9 hex

12BA hex

Frequency Addition

Amount Setting

Frequency Addition

Sign Selection

EL-S Shape

Acceleration

Curve Ratio 1

EL-S Shape

Acceleration

Curve Ratio 2

12BB hex

12BC hex

12C6 hex

12C8 hex

12CA hex

12CB hex

12BD hex

12BF hex

12C0 hex

12C2 hex

EL-S Shape

Deceleration

Curve Ratio 1

EL-S Shape

Deceleration

Curve Ratio 2

Deceleration Stop

Frequency

Deceleration Stop

Time

PID Sleep Function

Operation Level

PID Sleep Operation

Delay Time

VR Start Frequency

VR End Frequency

VR Start Ratio

VR End Ratio

12CC hex

VR Start Selection

1301 hex Retry Selection

A146

A150

A151

A152

A153

A154

A155

A156

A157

A161

A162

A163

A164

A165 b001

1302 hex Allowable Momentary

Power Interruption Time b002

1303 hex Restart Standby Time b003

RW

RW

RW

RW

RW

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

00: Frequency reference + A145

01: Frequency reference

0 to 50

0 to 50

0 to 50

0 to 50

0 to 40000 (100000)

0 to 600

0 to 40000 (100000)

0 to 255

0 to 40000 (100000)

0 to 40000 (100000)

0 to VR End Ratio

VR Start Ratio to 100

00: Start Frequency A161

01: 0 Hz

00: Trip

01: 0 Hz restart

02: Frequency matching restart

03: Trip after frequency matching deceleration stop

04: Frequency pull-in restart

3 to 250

3 to 1000

 A145

2C hex

2E hex

30 hex

1304 hex Momentary Power

Interruption/Undervolt age Trip During Stop

Selection

1305 hex Restart During

Momentary Power

Interruption Selection

1307 hex Frequency Matching

Lower Limit Frequency

Setting

1309 hex Overvoltage/Overcurrent

Restart Selection b004 b005 b007 b008

RW

RW

RW

00: Disabled

01: Enabled

02: Disabled during stop and deceleration stop

00: 16 times

01: No limit

0 to 40000 (100000)

00: Trip

01: 0 Hz restart

02: Frequency matching restart

03: Trip after frequency matching deceleration stop

04: Frequency pull-in restart

Data resolution



PDO map

Possible

(TxPDO)

0.1 [s]

0.1 [s]





Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)



Possible

(TxPDO)



Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)



Possible

(TxPDO)

1 [%] Possible

(TxPDO)

1 [%] Possible

(TxPDO)

1 [%]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.1 [s] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.1 [s] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

1 [%]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)





Possible

(TxPDO)

Possible

(TxPDO)

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

Appendices

Index

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3A hex

3B hex

3C hex

3D hex

3E hex

3F hex

40 hex

37 hex

38 hex

39 hex

Subindex

32 hex

33 hex

34 hex

35 hex

Register

No.

130B hex

130C hex

130D hex

130E hex

Function name

Parameter

No.

b010 Overvoltage/Overcurrent

Restart Count Selection

Overvoltage/Overcurrent

Restart Standby Time b011

Electronic Thermal

Level 1

Electronic Thermal

Characteristics

Selection 1 b012 b013

1310 hex Free-electronic

Thermal Frequency 1

1311 hex Free-electronic

Thermal Current 1

1312 hex Free-electronic

Thermal Frequency 2 b015 b016 b017

R/W

RW

RW

RW

RW

RW

RW

RW

41 hex

42 hex

43 hex

44 hex

45 hex

46 hex

47 hex

49 hex

1313 hex Free-electronic

1317 hex

1318 hex

1319 hex

131A hex

131B hex

131C hex

131D hex

131E hex

Frequency Pull-in

Restart Parameter

131F hex Starting Frequency at

Frequency Pull-in

Restart Selection

1320 hex Soft Lock Selection

1322 hex

Thermal Current 2

1314 hex Free-electronic

Thermal Frequency 3

1315 hex Free-electronic

Thermal Current 3

1316 hex Overload Limit 1

Selection

Overload Limit 1 Level

Overload Limit 1

Parameter

Overload Limit 1

Selection 2

Overload Limit 1

Level 2

Overload Limit 1

Parameter 2

Overcurrent

Suppression Selection

Frequency Pull-in

Restart Level

Motor Cable Length

Code Selection b018 b019 b020 b021 b022 b023 b024 b025 b026 b027 b028 b029 b030 b031 b033

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

1 to 3

3 to 1000

200 to 1000

00: Reduced torque characteristics

01: Constant torque characteristics

02: Free setting

0 to Free-electronic Thermal

Frequency 2

0.00 to rated current

1 [Hz]

0.01 [%]

Free-electronic Thermal Frequency

1 to Free Setting, Electric Thermal

Frequency 3

0.00 to rated current

Free-electronic Thermal Frequency

2 to 400 (1000)

0.00 to rated current

Data resolution

1 [time]

0.1 [s]

0.1 [%]



PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

1 [Hz]

0.01 [%]

1 [Hz]

0.01 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

00: Disabled

01: Enabled during acceleration/constant speed

02: Enabled during constant speed

03: Enabled during acceleration/constant speed

(accelerated during regeneration)

200 to 2000



0.01 [%]

1 to 30000 0.1 [s]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

00: Disabled

01: Enabled during acceleration/constant speed

02: Enabled during constant speed

03: Enabled during acceleration/constant speed

(accelerated during regeneration)

200 to 2000



0.01 [%]

1 to 30000

00: Disabled

01: Enabled

200 to 2000

1 to 30000

0.1 [s]



0.01 [%]

0.1 [s]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

00: Frequency at interruption

01: Max. frequency

02: Set frequency

00: Data other than b031 cannot be changed when terminal SFT is

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.

5 to 20







Possible

(TxPDO)

Possible

(TxPDO)

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

A-19

Appendices

A-20

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

Index

4013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

4013 hex

3013 hex

3013 hex

67 hex

68 hex

69 hex

6A hex

5D hex

5E hex

60 hex

66 hex

Subindex

4A hex

4C hex

Register

No.

Function name

1323 hex RUN Time/Power ON

Time Level

1325 hex Rotation Direction

Limit Selection

Parameter

No.

b034 b035

R/W

RW

RW

4D hex

4E hex

4F hex

50 hex

51 hex

52 hex

1326 hex

1327 hex

1328 hex

1329 hex

132A hex

Reduced Voltage

Startup Selection

Display Selection

Initial Screen Selection

User Parameter

Automatic Setting

Function b036 b037 b038 b039

Torque Limit Selection b040

RW

RW

RW

RW

RW

RW

Monitor and setting items

0 to 65535

00: No direction limit

01: Only Forward is enabled.

(Reverse is limited.)

02: Only Reverse is enabled.

(Forward is limited.)

0 (Reduced voltage startup time: small) to 255 (Reduced voltage startup time: large)

00: Complete display

01: Individual display of functions

02: User setting, this setting

03: Data comparison display

04: Basic display

05: Monitor display only

00: Screen on which the Entry was last pressed

001 to 060: (d001 to d060)

201: F001

00: Disabled

01: Enabled









Data resolution

10 [h]



PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

00: Four-quadrant separate setting

01: Terminal switching

02: Analog voltage input

03: Do not set.

0 to 200/255 (no)



1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

53 hex

54 hex

55 hex

56 hex

57 hex

5A hex

5B hex

5C hex

132B hex

132C hex

132D hex

Torque Limit 1 (fourquadrant mode forward power running)

Torque Limit 2 (fourquadrant mode reverse regeneration)

Torque Limit 3 (fourquadrant mode reverse power running)

132E hex

Torque Limit 4 (fourquadrant mode forward regeneration)

132F hex Torque LADSTOP

Selection

1330 hex Reverse Rotation

Prevention Selection

1333 hex Heavy Load/Light

Load Selection

1334 hex Controlled

Deceleration on Power

Loss b041 b042 b043 b044 b045 b046 b049 b050

RW

RW

RW

RW

RW

RW

RW

RW

0 to 200/255 (no)

0 to 200/255 (no)

0 to 200/255 (no)

00: Disabled

01: Enabled

00: Disabled

01: Enabled

00: Heavy load mode

01: Light load mode

00: Disabled

01: Deceleration stop

02: Constant voltage (without recovery)

03: Constant voltage (with recovery)

0 to 10000

1 [%]

1 [%]

1 [%]









0.1 [V]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

1335 hex DC Bus Voltage

Trigger Level of Ctrl.

Decel

1336 hex Deceleration Hold

Level of Ctrl. Decel

1337 hex Deceleration Time of

Ctrl. Decel

1339 hex Freq. Drop to start Ctrl.

Decel

133F hex Window Comparator

FV Upper Limit Level

1340 hex Window Comparator

FV Lower Limit Level

1341 hex Window Comparator

FV Hysteresis Width

1342 hex Window Comparator

FI Upper Limit Level

1343 hex Window Comparator

FI Lower Limit Level b051 b052 b053 b054 b060 b061 b062 b063 b064

RW

RW

RW

RW

RW

RW

RW

RW

0 to 10000

1 to 360000

0 to 1000

0. to 100.

(Lower limit: b061 + b062

0. to 100.

0. to 100.

(Upper limit: b063

 2)

(Upper limit: b060 - b062

 2)

0. to 10. (Upper limit:

(b060

 b061) / 2)

0. to 100.

(Lower limit: b064 + b065

 2)

 b065  2

0.1 [V]

0.01 [s]

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

1 [%] Possible

1 [%]

1 [%]

1 [%]

1 [%]

Possible

Possible

Possible

Possible

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

Appendices

Index

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

7F hex

80 hex

81 hex

7C hex

7D hex

7E hex

75 hex

78 hex

79 hex

Subindex

6B hex

70 hex

71 hex

Register

No.

Function name

1344 hex Window Comparator

FI Hysteresis Width

1349 hex Analog Operation Level at FV Disconnection

Parameter

No.

b065 b070

134A hex

Analog Operation

Level at FI

Disconnection

Ambient Temperature b071

134E hex b075

1351 hex Integrated Power Clear b078

1352 hex

1355 hex

1356 hex

1357 hex

Integrated Power

Display Scale

Starting Frequency

Carrier Frequency

Initialization Selection b079 b082 b083 b084

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

1358 hex Initialization Data

Selection

1359 hex Frequency Conversion

Coefficient

135A hex

STOP Key Selection b085 b086 b087

RW

RW

RW

Monitor and setting items

0. to 10.

(Upper limit: (b063

 b064) / 2)

0 to 100/255 (no)

0 to 100/255 (no)

10 to 50

Data resolution

1 [%]

1 [%]

1 [%]

00: Disabled

01: Clear (Return to 00 after clear)

1 to 1000 1

10 to 999 (10000)

20 to 150

00: Initialization disabled

01: Clear fault monitor

02: Initialize data

03: Clear fault monitor + initialize data

04: Do not set.

00: Do not change.

1 [

C]



0.01 [Hz]

0.1 [kHz]





PDO map

Possible

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

Possible

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

(TxPDO)

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

82 hex

83 hex

84 hex

85 hex

86 hex

87 hex

88 hex

89 hex

8A hex

8E hex

8F hex

90 hex

91 hex

135B hex

135C hex

135D hex

135E hex b088 b089 b090 b091

135F hex Cooling Fan Operation b092

1360 hex Cooling Fan Total

1361 hex Initialization Target

1362 hex

1363 hex Regenerative Braking

1367 hex

1368 hex

1369 hex

136A hex

Free-run Stop

Selection

Automatic Carrier

Reduction

Usage Rate of

Regenerative Braking

Stop Selection

Operating Time Clear

Selection

Regenerative Braking

Selection

ON Level

Free V/f Frequency 1

Free V/f Voltage 1

Free V/f Frequency 2

Free V/f Voltage 2 b093 b094 b095 b096 b100 b101 b102 b103

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

1 to 9999 0.01



00: Enabled

01: Disabled

02: Only reset is enabled

00: 0 Hz restart

01: Frequency matching restart

02: Frequency pull-in restart

00: Disabled

01: Enabled, depends on the current

02: Enabled, depends on the fin temperature

0 to 1000





0.1 [%]

00: Deceleration stop

01: Free-run stop

00: Always

01: Only during operation

(Including 5 minutes after the power is turned on and also after the inverter stops)

02: Depends on the fin temperature

00: Operating time count

01: Clear (Return to 00 after clear)

00: All data

01: Data other than terminal/communications

02: U*** registration function only

03: Other than U*** registration function

00: Disabled

01: Enabled (Disabled during stop)

02: Enabled (Enabled during stop)

330 to 380/660 to 760











1 [V]

0 to Free V/f Frequency 2

0 to 8000

0 to Free V/f Frequency 3

0 to 8000

1 [Hz]

0.1 [V]

1 [Hz]

0.1 [V]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

A-21

Appendices

A-22

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

Index

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

3013 hex

CB hex

CD hex

CE hex

BB hex

C0 hex

CA hex

A2 hex

A3 hex

A4 hex

A5 hex

98 hex

99 hex

9A hex

9B hex

A6 hex

A7 hex

A8 hex

A9 hex

AC hex

94 hex

95 hex

96 hex

97 hex

Subindex

92 hex

93 hex

Register

No.

136B hex

136C hex

Function name

Free V/f Frequency 3

Free V/f Voltage 3

136D hex

136E hex

Free V/f Frequency 4

Free V/f Voltage 4

136F hex Free V/f Frequency 5

1370 hex Free V/f Voltage 5

1371 hex Free V/f Frequency 6

1372 hex Free V/f Voltage 6

1373 hex Free V/f Frequency 7

1374 hex Free V/f Voltage 7

1382 hex Break ON Frequency

Parameter

No.

b104 b105 b106 b107 b108 b109 b110 b111 b112 b113

137B hex

137C hex

137D hex

137E hex

Brake Control

Function Selection

Brake Release Wait

Time

Acceleration Wait

Time

Stop Wait Time b120 b121 b122 b123

137F hex Brake Wait Time for

Confirmation

1380 hex Brake Release

Frequency b124 b125

1381 hex Brake Release Current b126 b127

AD hex

AE hex

AF hex

B0 hex

1385 hex Overvoltage

Suppression Function

Selection During

Deceleration

1386 hex Overvoltage

Suppression Level

During Deceleration

1387 hex Overvoltage

Suppression Parameter

1388 hex Overvoltage

Suppression

Proportional Gain

Setting b130 b131 b132 b133

1389 hex Overvoltage

Suppression Integral

Time Setting

1394 hex GS Input Operation

Selection b134 b145

1399 hex Main Panel Display

Selection

13A3 hex b150 d050 Monitor Target 1 b160 d050 Monitor Target 2 b161 13A4 hex

13A6 hex

13A7 hex d001/d007 Frequency

Setting Mode Selection

Initial Screen

Automatic Switching

Function b163 b164

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

0 to Free V/f Frequency 4

0 to 8000

0 to Free V/f Frequency 5

0 to 8000

0 to Free V/f Frequency 6

0 to 8000

0 to Free V/f Frequency 7

0 to 8000

0 to 400 (1000) (Hz)

0 to 8000

00: Disabled

01: Enabled

0 to 500

0 to 500

0 to 500

0 to 500

0 to 40000

0 to 20000

0 to 40000

00: Disabled

01: DC voltage kept constant

02: Acceleration enabled

200-V class: 330 to 390

400-V class: 660 to 780

10 to 3000

0 to 500

0 to 1500

00: No tripping

01: Tripping

0 to 60 hex (BCD) (d001 to d060)

0 to 30 hex (BCD) (d001 to d030)

0 to 30 hex (BCD) (d001 to d030)

00: Disabled

01: Enabled

00: Disabled

01: Enabled

1 [V]

0.1 [s]













Data resolution

1 [Hz]

0.1 [V]

1 [Hz]

0.1 [V]

1 [Hz]

0.1 [V]

1 [Hz]

0.1 [V]

1 [Hz]

0.1 [V]



0.01 [s]

0.01 [s]

0.01 [s]

0.01 [s] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [%] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [s]

0.01

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

Possible

(TxPDO)

Possible

Possible

Possible

Possible

Possible

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

Appendices

Index

3013 hex

3013 hex

3013 hex

Subindex

CF hex

Register

No.

13A8 hex

Function name

Selection of Operating

Level on Digital

Operator

Disconnection

Parameter

No.

b165

R/W

RW

D5 hex

DE hex

13AE hex

13B7 hex

Inverter Mode

Selection

Perform Initialization/

Mode Selection

Execution b171 b180

RW

RW

Monitor and setting items

00: Trip

01: Trip after deceleration stop

02: Ignore

03: Free-run stop

04: Deceleration stop

00: Selection disabled

01: Induction motor

02: High frequency induction motor

00: Function disabled

01: Initialization/Mode Selection

Execution

Data resolution



PDO map

Possible





Possible

(TxPDO)

Possible

(TxPDO)

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

A-23

Appendices

Index

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

Subindex

2A hex

Register

No.

Function name

1401 hex Multi-function Input 1

Selection

2B hex

2C hex

2D hex

2E hex

2F hex

30 hex

1402 hex

1403 hex

1404 hex

1405 hex

1406 hex

1407 hex

Multi-function Input 2

Selection

Multi-function Input 3

Selection

Multi-function Input 4

Selection

Multi-function Input 5

Selection

Multi-function Input 6

Selection

Multi-function Input 7

Selection

Parameter

No.

C001

R/W

RW

C002

C003

C004

C005

C006

C007

RW

RW

RW

RW

RW

RW

Monitor and setting items

00: FW (Forward)

01: RV (Reverse)

02: CF1 (Multi-step speed 1)

03: CF2 (Multi-step speed 2)

04: CF3 (Multi-step speed 3)

05: CF4 (Multi-step speed 4)

06: JG (Jogging)

07: DB (External DC injection braking)

08: SET (Motor 2 control)

09: 2CH (2-step acceleration/ deceleration)

11: FRS (Free-run stop)

12: EXT (External trip)

13: USP (USP function)

14: CS (Commercial switch)

15: SFT (Soft lock)

16: FV/FI (Analog input switch)

18: RS (Reset)

19: TH (PTC thermistor thermal protection)

20: STA (3-wire start)

21: STP (3-wire stop)

22: F/R (3-wire forward/reverse)

23: PID (PID disabled)

24: PIDC (PID integral reset)

27: UP (UP/DWN function accelerated)

28: DWN (UP/DWN function decelerated)

29: UDC (UP/DWN function data clear)

31: OPE (Forced operator)

32: SF1 (Multi-step speed bit 1)

33: SF2 (Multi-step speed bit 2)

34: SF3 (Multi-step speed bit 3)

35: SF4 (Multi-step speed bit 4)

36: SF5 (Multi-step speed bit 5)

37: SF6 (Multi-step speed bit 6)

38: SF7 (Multi-step speed bit 7)

39: OLR (Overload limit switching)

40: TL (Torque limit enabled/disabled)

41: TRQ1 (Torque limit switching 1)

42: TRQ2 (Torque limit switching 2)

44: BOK (Brake confirmation)

46: LAC (LAD cancel)

47: PCLR (Position deviation clear)

50: ADD (Frequency addition)

51: F-TM (Forced terminal block)

52: ATR (Torque reference input permission)

53: KHC (Integrated power clear)

56: Reserved.

57: Reserved.

58: Reserved.

59: Reserved.

60: Reserved.

61: Reserved.

62: Reserved.

65: AHD (Analog command held)

66: CP1 (Position command selection 1)

67: CP2 (Position command selection 2)

68: CP3 (Position command selection 3)

69: ORL (Zero return limit signal)

70: ORG (Zero return startup signal)

73: SPD (Speed/position switching)

77: GS1 (GS1 input (C003 only))

78: GS2 (GS2 input (C004 only))

81: 485 (Start co-inverter communication)

82: Reserved.

83: HLD (Retain output frequency)

84: ROK (Permission of RUN command)

85: EB (Rotation direction detection (C007 only))

86: DISP (Display fixed) no: NO (Not assigned)













Data resolution



PDO map

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

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

36 hex

37 hex

38 hex

39 hex

3A hex

Subindex

34 hex

35 hex

3E hex

Register

No.

140B hex

140C hex

140D hex

140E hex

Function name

Multi-function Input Terminal 1

Operation Selection

Multi-function Input Terminal 2

Operation Selection

Multi-function Input Terminal 3

Operation Selection

Multi-function Input Terminal 4

Operation Selection

140F hex Multi-function Input Terminal 5

Operation Selection

1410 hex Multi-function Input Terminal 6

Operation Selection

1411 hex Multi-function Input

Terminal 7 Operation

Selection

1415 hex Multi-function Output

Terminal P1/EDM

Selection

Parameter

No.

C011

C012

C013

C014

C015

C016

C017

C021

R/W

RW

RW

RW

RW

RW

RW

RW

RW

3F hex

1416 hex Multi-function Output

Terminal P2 Selection

C022 RW

Monitor and setting items

00: NO (NO contact)

01: NC (NC contact)

00: RUN (During RUN)

01: FA1 (Constant speed reached)

02: FA2 (Set frequency min. reached)

03: OL (Overload warning)

04: OD (PID excessive deviation)

05: AL (Alarm output)

06: FA3 (Meet designated frequency during accel./decel.)

07: OTQ (Overtorque/Undertorque)

09: UV (Signal during undervoltage)

10: TRQ (During torque limit)

11: RNT (RUN time over)

12: ONT (Power on time over)

13: THM (Thermal warning)

19: BRK (Brake release)

20: BER (Brake error)

21: ZS (0Hz)

22: DSE (Excessive speed deviation)

23: POK (Position ready)

24: FA4 (Set frequency exceeded 2)

25: FA5 (Meet designated frequency

2 during accel./decel.)

26: OL2 (Overload warning 2)

27: FVdc (Analog FV disconnection detection)

28: FIdc (Analog FI disconnection detection)

31: FBV (PID FB status output)

32: NDc (Communication disconnection detection)

33: LOG1 (Logic operation output 1)

34: LOG2 (Logic operation output 2)

35: LOG3 (Logic operation output 3)

39: WAC (Capacitor life warning)

40: WAF (Cooling fan life warning signal)

41: FR (Starting contact signal)

42: OHF (Fin overheat warning)

43: LOC (Low current signal)

44: Reserved.

45: Reserved.

46: Reserved.

50: IRDY (Operation ready)

51: FWR (During forward operation)

52: RVR (During reverse operation)

53: MJA (Fatal fault signal)

54: WCFV (Window comparator FV)

55: WCFI (Window comparator FI)

58: FREF (Frequency command source)

59: REF (RUN command source)

60: SETM (Motor 2 selection)

62: EDM (Safety device monitor)

63: Reserved.

no: NO (Not assigned)





Data resolution















PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

A-25

Appendices

A-26

Index

3014 hex

Subindex

43 hex

Register

No.

141A hex

Function name

Multi-function Relay

Output (MA, MB)

Function Selection

3014 hex

3014 hex

44 hex

45 hex

141B hex

141C hex

MP Selection

AM Selection

Parameter

No.

C026

R/W

RW

C027

C028

RW

RW

Monitor and setting items

00: RUN (During RUN)

01: FA1 (Constant speed reached)

02: FA2 (Set frequency min. reached)

03: OL (Overload warning)

04: OD (PID excessive deviation)

05: AL (Alarm output)

06: FA3 (Meet designated frequency during accel./decel.)

07: OTQ (Overtorque/Undertorque)

09: UV (Signal during undervoltage)

10: TRQ (During torque limit)

11: RNT (RUN time over)

12: ONT (Power on time over)

13: THM (Thermal warning)

19: BRK (Brake release)

20: BER (Brake error)

21: ZS (0Hz)

22: DSE (Excessive speed deviation)

23: POK (Position ready)

24: FA4 (Set frequency exceeded 2)

25: FA5 (Meet designated frequency

2 during accel./decel.)

26: OL2 (Overload warning 2)

27: FVdc (Analog FV disconnection detection)

28: FIdc (Analog FI disconnection detection)

31: FBV (PID FB status output)

32: NDc (Communication disconnection detection)

33: LOG1 (Logic operation output 1)

34: LOG2 (Logic operation output 2)

35: LOG3 (Logic operation output 3)

39: WAC (Capacitor life warning)

40: WAF (Cooling fan life warning signal)

41: FR (Starting contact signal)

42: OHF (Fin overheat warning)

43: LOC (Low current signal)

44: Reserved.

45: Reserved.

46: Reserved.

50: IRDY (Operation ready)

51: FWR (During forward operation)

52: RVR (During reverse operation)

53: MJA (Fatal fault signal)

54: WCFV (Window comparator FV)

55: WCFI (Window comparator FI)

58: FREF (Frequency command source)

59: REF (RUN command source)

60: SETM (Motor 2 selection)

62: EDM (Safety device monitor)

63: Reserved.

no: NO (Not assigned)

00: Output frequency

01: Output current

02: Output torque

03: Digital output frequency

04: Output voltage

05: Input power

06: Electronic thermal load rate

07: LAD frequency

08: Digital current monitor

10: Cooling fin temperature

12: Do not set.

15: Pulse train input monitor

16: Do not set.

00: Output frequency

01: Output current

02: Output torque

04: Output voltage

05: Input power

06: Electronic thermal load rate

07: LAD frequency

10: Cooling fin temperature

11: Output torque (signed)

13: Do not set.

16: Do not set.

Data resolution







PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

Appendices

3014 hex

3014 hex

3014 hex

3014 hex

57 hex

58 hex

5A hex

5C hex

52 hex

53 hex

55 hex

61 hex

62 hex

63 hex

64 hex

3014 hex

4014 hex

4014 hex

3014 hex

4014 hex

4014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

Index

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

Subindex

47 hex

48 hex

49 hex

4D hex

4F hex

Register

No.

Function name

141E hex

Digital Current Monitor

Reference Value

141F hex Multi-function Output

P1/EDM Contact

Selection

1420 hex Multi-function Output

P2 Contact Selection

1424 hex Multi-function Relay

Output (MA, MB)

Contact Selection

1426 hex Low Current Signal

Output Mode Selection

Parameter

No.

C030

C031

C032

C036

C038

R/W

RW

RW

RW

RW

RW

RW

Monitor and setting items

2000 to 20000

00: NO (NO contact)

01: NC (NC contact)

00: NO (NO contact)

01: NC (NC contact)

00: NO (NO contact)

01: NC (NC contact)

00: During acceleration/deceleration/ constant speed

01: Only during constant speed

0 to 20000 3014 hex

3014 hex

50 hex

51 hex

1427 hex Low Current Detection

Level

1428 hex Overload Warning

Signal Output Mode

Selection

C039

C040 RW

RW

00: During acceleration/deceleration/ constant speed

01: Only during constant speed

0 to 20000

3014 hex

3014 hex

3014 hex

3014 hex

65 hex

66 hex

67 hex

68 hex

1429 hex Overload Warning

Level 1

142A hex

142C hex

Arrival Frequency

During Acceleration

Arrival Frequency

During Deceleration

142E hex

PID Deviation

Excessive Level

142F hex Arrival Frequency

During Acceleration 2

1431 hex Arrival Frequency

During Deceleration 2

1433 hex Pulse Train Output

Coefficient

1438 hex Feedback Comparison

Signal Off Level

1439 hex Feedback Comparison

Signal On Level

143A hex

143B hex

Overtorque/Undertorq ue Selection

Overtorque Level

(Forward Power

Running)

143C hex

143D hex

Overtorque Level

(Reverse

Regeneration)

Overtorque Level

(Reverse Power

Running)

143E hex

Overtorque Level

(Forward

Regeneration)

143F hex Overtorque/Undertorq ue Signal Output

Mode Selection

C041

C042

C043

C044

C045

C046

C047

C052

C053

C054

C055

C056

C057

C058

C059

C061

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

0 to 40000 (100000)

0 to 40000 (100000)

0 to 1000

0 to 40000 (100000)

0 to 40000 (100000)

0001 to 9999

0 to 1000

0 to 1000

00: Overtorque

01: Undertorque

0 to 200

0 to 200

0 to 200

0 to 200

00: During acceleration/deceleration/ constant speed

01: Only during constant speed

0 to 100 6A hex

6C hex

6D hex

74 hex

1441 hex Electronic Thermal

Warning Level

1443 hex 0 Hz Detection Level

1444 hex Cooling Fin Overheat

144B hex

Warning Level

Communication Speed

Selection

C063

C064

C071

RW

RW

RW

0 to 10000

0 to 110

03 (2,400 bps)

04 (4,800 bps)

05 (9,600 bps)

06 (19.2 kbps)

07 (38.4 kbps)

08 (57.6 kbps)

09 (76.8 kbps)

10 (115.2 kbps)

1 [%]

0.01 [Hz]

1 [



C]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)





Data resolution

0.01 [%]

PDO map

Possible



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)



Possible

(TxPDO)

0.01 [%]



Possible

Possible

(TxPDO)

0.01 [%] Possible

0.01 [Hz]

0.01 [Hz]

0.1 [%]

0.01 [Hz]

0.01 [Hz]



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

0.1 [%]

0.1 [%]



1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

1 [%]

1 [%]

1 [%]



Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

A-27

Appendices

A-28

AF hex

B0 hex

B1 hex

B2 hex

96 hex

97 hex

9A hex

9C hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

Index

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

82 hex

88 hex

8D hex

7A hex

7B hex

7E hex

7F hex

Subindex

75 hex

77 hex

Register

No.

144C hex

144E hex

Function name

Communication

Station No. Selection

Communication Parity

Selection

Parameter

No.

C072

C074

R/W

RW

RW

78 hex

79 hex

8F hex

90 hex

91 hex

92 hex

93 hex

94 hex

95 hex

144F hex Communication Stop

1451 hex

1452 hex

1456 hex

1459 hex

145F hex

1464 hex

146B hex

146C hex

Bit Selection

1450 hex Operation Selection on

Communication Error

Communication Error

Timeout Period

Communication Wait

Time

1455 hex FV Adjustment

FI Adjustment

Thermistor Adjustment

Debug Mode Selection

Communication

Selection

1466 hex Co-inverter

Communication

Starting Station

Number

1467 hex Co-inverter

Communication

Ending Station

Number

1468 hex Co-inverter

Communication

Starting Selection

1469 hex UP/DWN Storage

Selection

146A hex

Reset selection

Reset Restart Selection

UP/DWN Clear

Terminal Mode

C075

C076

C077

C078

C081

C082

C085

C091

C096

C098

C099

C100

C101

C102

C103

C104

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

1 to 247

00: Disabled

01: Even

02: Odd

1: 1 bit

2: 2 bits

00: Trip

01: Trip after deceleration stop

02: Ignore

03: Free-run stop

04: Deceleration stop

0: Timeout disabled

1 to 9999

0 to 1000

0 to 2000

0 to 2000

0 to 2000

00: Do not store frequency data

01: Store frequency data

00: Trip reset at power-ON

01: Trip reset at power-OFF

02: Enabled only during trip (Reset when the power is ON.)

03: Trip reset only

00: 0 Hz restart

01: Frequency matching restart

02: Frequency pull-in restart

00: 0 Hz

01: EEPROM data at power ON









Data resolution









0.01 [s]

1 [ms]

0.1 [%]

0.1 [%]

0.1 [%]

For factory adjustment (Do not change.)



00: Modbus communication

(Modbus-RTU)

01: Communication between inverters

02: Communication between inverters (management)

1 to 8

1 to 8

00: 485 terminals start

01: Always started









PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

Possible

Possible

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

(TxPDO)

Possible

(TxPDO)

146D hex

146E hex

MP Gain Setting

AM Gain Setting

1471 hex AM Bias Setting

C105

C106

C109

1473 hex Overload 1 Warning

Signal Level 2

1486 hex Output P1/EDM ON

Delay Time

1487 hex Output P1/EDM OFF

Delay Time

1488 hex Output P2 ON Delay

Time

1489 hex Output P2 OFF Delay

Time

C111

C130

C131

C132

C133

RW

RW

RW

RW

RW

RW

RW

RW

50 to 200

50 to 200

0 to 100

0 to 20000

0 to 1000

0 to 1000

0 to 1000

0 to 1000

1 [%]

1 [%]

1 [%]

0.01 [%]

0.1 [s]

0.1 [s]

0.1 [s]

0.1 [s]

Possible

Possible

Possible

Possible

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

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

Appendices

Index

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3014 hex

3015 hex

3015 hex

3015 hex

3015 hex

3015 hex

BE hex

BF hex

C0 hex

C1 hex

C2 hex

C3 hex

D0 hex

D1 hex

D2 hex

D3 hex

D6 hex

CD hex

CE hex

CF hex

BB hex

BC hex

BD hex

Subindex

B9 hex

BA hex

Register

No.

Function name

1490 hex Output RY ON Delay

Time

1491 hex Output RY OFF Delay

Time

1492 hex Logic Output Signal 1

Selection 1

1493 hex Logic Output Signal 1

Selection 2

1494 hex Logic Output Signal 1

Operator Selection

Parameter

No.

C140

C141

C142

C143

C144

R/W

RW

RW

RW

RW

RW

2C hex

2D hex

2E hex

2F hex

31 hex

1495 hex Logic Output Signal 2

Selection 1

1496 hex Logic Output Signal 2

Selection 2

1497 hex Logic Output Signal 2

Operator Selection

1498 hex Logic Output Signal 3

Selection 1

1499 hex Logic Output Signal 3

Selection 2

149A hex

14A4 hex

14A5 hex

14A6 hex

14A7 hex

14A8 hex

14A9 hex

14AA hex

1502 hex

1503 hex

1504 hex

1506 hex

Logic Output Signal 3

Operator Selection

Input Terminal 1

Response Time

Input Terminal 2

Response Time

Input Terminal 3

Response Time

Input Terminal 4

Response Time

Input Terminal 5

Response Time

Input Terminal 6

Response Time

Input Terminal 7

Response Time

14AD hex

Multi-step

Speed/Position

Determination Time

1501 hex Auto-tuning Selection

Motor Parameter 1

Motor Capacity 1

Motor Pole Number 1

Speed Response

C145

C146

C147

C148

C149

C150

C160

C161

C162

C163

C164

C165

C166

C169

H001

H002

H003

H004

H005

RW

RW

RW

RW

RW

RW

RW

RW

RW

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

0 to 1000

0 to 1000

Same as C021 and C022 (excluding

LOG1 to LOG3)

Same as C021 and C022 (excluding

LOG1 to LOG3)

00: AND

01: OR

02: XOR

Same as C021 and C022 (excluding

LOG1 to LOG3)

Same as C021 and C022 (excluding

LOG1 to LOG3)

00: AND

01: OR

02: XOR

Same as C021 to C022 (excluding

LOG1 to LOG3)

Same as C021 to C022 (excluding

LOG1 to LOG3)

00: AND

01: OR

02: XOR

0 to 200



















1

Data resolution

0.1 [s]

0.1 [s]

PDO map

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

0 to 200

1

1

1

1

1

1

1

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

00: Disabled

01: Enabled (motor does not rotate)

02: Enabled (motor rotates)

00: Standard motor parameter

02: Auto-tuning data

00: 0.1

01: 0.2

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

12: 7.5

13: 11.0

14: 15.0

15: 18.5

00: 2P

01: 4P

02: 6P

03: 8P

04: 10P

0 to 1000









1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

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

A-29

Appendices

A-30

3016 hex

3016 hex

3016 hex

3016 hex

Index

3015 hex

3015 hex

3015 hex

3015 hex

4015 hex

3015 hex

3015 hex

3015 hex

3015 hex

3015 hex

4015 hex

3015 hex

3015 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

31 hex

38 hex

39 hex

3C hex

47 hex

48 hex

4C hex

50 hex

52 hex

54 hex

56 hex

57 hex

43 hex

45 hex

47 hex

48 hex

Subindex

32 hex

41 hex

68 hex

69 hex

30 hex

Register

No.

Function name

Parameter

No.

1507 hex Stabilization

Parameter 1

H006

1516 hex Motor 1 Parameter R1 H020

1518 hex Motor 1 Parameter R2 H021

151A hex

151C hex

151D hex

Motor 1 Parameter L

Motor 1 Parameter Io

Motor 1 Parameter J

1525 hex Motor 1 Parameter R1

(Auto-tuning Data)

1527 hex Motor 1 Parameter R2

(Auto-tuning Data)

1529 hex Motor 1 Parameter L

(Auto-tuning Data)

152B hex

152C hex

Motor 1 Parameter Io

(Auto-tuning Data)

Motor 1 Parameter J

(Auto-tuning Data)

H022

H023

H024

H030

H031

H032

H033

H034

153D hex

153E hex

V/f Control With Speed

Feedback Slip

Compensation

Proportional Gain

V/f Control With Speed

Feedback Slip

Compensation Integral

Gain

1603 hex Pulse Train Input

Terminal RP Selection

H050

H051

P003

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

0 to 255

1 to 65530

1 to 65530

1 to 65530

1 to 65530

1 to 9999000

1 to 65530

1 to 65530

1 to 65530

1 to 65530

1 to 9999000

0 to 1000

0 to 1000

4E hex

4F hex

51 hex

52 hex

53 hex

1604 hex

160B hex

160C hex

161A hex

161B hex

161F hex Acceleration/

Deceleration Time

1621 hex

1622 hex

1624 hex

1625 hex

1626 hex

Feedback Pulse Train

Input Type Selection

Number of Encoder

Pulses

Simple Position

Control Selection

160F hex Creep Speed Setting

Overspeed Error

Detection Level

Speed Deviation Error

Detection Level

Input Type

Torque Reference

Input Selection

Torque Reference

Setting

Torque Bias Mode

Torque Bias Value

Torque Bias Polarity

Selection

P004

P011

P012

P015

P026

P027

P031

P033

P034

P036

P037

P038

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

0.1 [%] Possible

00: Frequency setting (including

PID)

01: Feedback pulse

(Enabled only when motor 1 control is selected)

02: Do not set.

00: Single-phase pulse input

01: 2-phase pulse 1

02: 2-phase pulse 2

03: Single-phase pulse train + direction

32 to 1024





Possible

(TxPDO)

Possible

(TxPDO)

00: Simple position control disabled

02: Simple position control enabled

Starting frequency to 1000

0 to 1500

0 to 12000

00: Digital Operator

03: Do not set.

1



Possible

(TxPDO)

Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.1 [%] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)



Possible

(TxPDO)

00: Terminal FV

01: Terminal FI

03: Digital Operator

06: Do not set.

0 to 200



Possible

(TxPDO)

Possible

00: Disabled

01: Digital Operator

05: Do not set.

200 to +200

1 [%]



Possible

(TxPDO)

Possible

00: As per sign

01: Depends on the RUN direction

1 [%]



Possible

(TxPDO)

Data resolution

1

PDO map

Possible

0.001 [

]

Possible

(TxPDO)

0.001 [

]

Possible

(TxPDO)

0.01 [mH] Possible

(TxPDO)

0.01 [A] Possible

(TxPDO)

0.01

[kgm

2

]

Possible

(TxPDO)

0.001 [

]

Possible

(TxPDO)

0.001 [

]

Possible

(TxPDO)

0.01 [mH] Possible

(TxPDO)

0.01 [A]

0.01

[kgm

2

]

0.1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

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

Appendices

Index

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

4016 hex

4016 hex

4016 hex

4016 hex

4016 hex

4016 hex

4016 hex

4016 hex

3016 hex

3016 hex

3016 hex

3016 hex

4016 hex

4016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

6D hex

6F hex

71 hex

73 hex

75 hex

77 hex

79 hex

7E hex

7F hex

81 hex

7B hex

7C hex

7D hex

84 hex

86 hex

BB hex

Subindex

55 hex

67 hex

68 hex

69 hex

6B hex

57 hex

58 hex

66 hex

Register

No.

Function name

1628 hex Speed Limit Value in

Torque Control

(Forward)

162A hex

Speed Limit Value in

Torque Control (Reverse)

162B hex

Speed/Torque Control

Switching Time

1639 hex Pulse Train Frequency

Scale

163A hex

163B hex

Pulse Train Frequency

Filter Time Constant

Pulse Train Bias

Amount

163C hex

163E hex

Pulse Train Limit

Multi-step Position

Command 0

Parameter

No.

P039

P040

P041

P055

P056

P057

P058

P060

R/W

RW

RW

RW

RW

RW

RW

RW

RW

BC hex

BD hex

BE hex

1640 hex

1642 hex

1644 hex

1646 hex

1648 hex

164A hex

164C hex

164E hex

Multi-step Position

Command 1

Multi-step Position

Command 2

Multi-step Position

Command 3

Multi-step Position

Command 4

Multi-step Position

Command 5

Multi-step Position

Command 6

Multi-step Position

Command 7

Zero Return Mode

164F hex Zero Return Direction

Selection

1650 hex Zero Return Mode 1

Frequency

P061

P062

P063

P064

P065

P066

P067

P068

P069

P070

1651 hex Zero Return Mode 2

Frequency

1652 hex Position Range setting

(Forward side)

P071

P072

1654 hex Position Range setting

(Reverse side)

P073

1657 hex Positioning Mode Selection P075

1659 hex Encoder Disconnection

Detection Time

168E hex

Number of Send Data of

All Stations in Co-inverter

Communication

168F hex Recipient Station Number of All Stations in Co-inverter

Communication 1

1690 hex Recipient Register of All

Stations in Co-inverter

Communication 1

1691 hex Sender Register of All

Stations in Co-inverter

Communication 1

P077

P140

P141

P142

P143

RW

RW

RW

RW

RW

RW

RW

RW

RW

Monitor and setting items

0 to 12000

0 to 4000

0 to 268435455

268435455 to 0

00: Limit

01: Do not limit

0 to 100

1 to 5

1 to 247

0000 to FFFF hex

0000 to FFFF hex

Data resolution

0.01 [Hz]

R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

0 to 12000

0 to 1000

10 to 320 *Input frequency at maximum frequency

1 to 200

-100 to +100

0 to 100

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range v (forward) (Displays

MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

Position range setting (reverse) to position range setting (forward)

(Displays MSB 4 digits including "

")

00: Zero return mode 1

01: Zero return mode 2

00: Forward

01: Reverse

0 to 1000

1

1

1

1

1

1

1

1





0.01 [Hz]

0.01 [Hz]

1 [ms]

0.1 [kHz]

0.01 [s]

1 [%]

1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

0.01 [Hz] Possible

1

1



0.1 [s]









PDO map

Possible

(TxPDO)

Possible

Possible

Possible

(TxPDO)

Possible

Possible

Possible

Possible

Possible

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

A-31

Appendices

Index

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

3016 hex

301E hex

301E hex

301E hex

301E hex

301E hex

301F hex

Subindex

BF hex

C0 hex

C1 hex

C2 hex

C3 hex

C4 hex

C5 hex

C6 hex

C7 hex

C8 hex

C9 hex

CA hex

3E hex

3F hex

40 hex

41 hex

42 hex

40 hex

Register

No.

Function name

1692 hex Recipient Station Number of All Stations in Co-inverter

Communication 2

1693 hex Recipient Register of All

Stations in Co-inverter

Communication 2

1694 hex Sender Register of All

Stations in Co-inverter

Communication 2

1695 hex Recipient Station Number of All Stations in Co-inverter

Communication 3

1696 hex Recipient Register of All

Stations in Co-inverter

Communication 3

1697 hex Sender Register of All

Stations in Co-inverter

Communication 3

1698 hex Recipient Station Number of All Stations in Co-inverter

Communication 4

1699 hex Recipient Register of All

Stations in Co-inverter

Communication 4

169A hex

Sender Register of All

Stations in Co-inverter

Communication 4

169B hex

Recipient Station Number of All Stations in Co-inverter

Communication 5

169C hex

169D hex

1E01 hex

Recipient Register of All

Stations in Co-inverter

Communication 5

Sender Register of All

Stations in Co-inverter

Communication 5

Coil Data 1

*

Parameter

No.

P144

P145

P146

P147

P148

P149

P150

P151

P152

P153

P154

P155



1E02 hex

Coil Data 2

*



1E03 hex

Coil Data 3

*



1E04 hex

Coil Data 4

*



1E05 hex

1F01 hex

Coil Data 5

Coil Data 0

*

*





R/W

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RO

RO

RO

RO

RO

RW

Monitor and setting items

1 to 247

0000 to FFFF hex

0000 to FFFF hex

1 to 247

0000 to FFFF hex

0000 to FFFF hex

1 to 247

0000 to FFFF hex

0000 to FFFF hex

1 to 247

0000 to FFFF hex

0000 to FFFF hex

2

0

: Coil No. 0010 hex to

2

15

: Coil No. 001F hex

2

0

: Coil No. 0020 hex to

2

15

: Coil No. 002F hex

2

0

: Coil No. 0030 hex to

2

15

: Coil No. 003F hex

2

0

: Coil No. 0040 hex to

2

15

: Coil No. 004F hex

2

0

: Coil No. 0050 hex to

2

8

: Coil No. 0058 hex

2

1

: Coil No. 0001 hex to

2

15

: Coil No. 000F hex

Data resolution





































PDO map

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

* Each of the above holding registers (Coil Data 0 to 5) consists of 16 sets of coil data. Since coils are not supported in communication between inverters (only holding registers are supported), use the above holding registers if you want to access the coil.

A-32

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

Appendices

 Holding register number list (2nd setting F group)

Index

4021 hex

4021 hex

Subindex

46 hex

48 hex

Register

No.

Function name

2103 hex Acceleration Time 2

Setting

2105 hex Deceleration Time 2

Setting

Parameter

No.

F202

R/W

RW

Monitor and setting items

1 to 360000

F203 RW 1 to 360000

Data resolution

0.01 [s]

PDO map

Possible

0.01 [s] Possible

 Holding register number list (2nd setting, Group A, b, C, H, and P)

Index

3022 hex

3022 hex

Subindex

46 hex

47 hex

Register

No.

2201 hex

2202 hex

Function name

Frequency Reference

Selection 2

RUN Command

Selection 2*

Parameter

No.

A201

A202

Torque Boost

Selection 2

Manual Torque Boost

Voltage 2

Manual Torque Boost

Frequency 2

A241

A242

A243

R/W

RW

RW

Monitor and setting items

00: Volume

01: Control circuit terminal block

02: Digital Operator

03: Modbus communication

(Modbus-RTU)

04: Optional boad

06: Pulse train frequency

07: Do not set.

10: Operation function output

01: Control circuit terminal block

02: Digital operator

03: Modbus communication

(Modbus-RTU)

04: Optional boad

300 to Maximum Frequency 2 3022 hex

3022 hex

3022 hex

3022 hex

3022 hex

48 hex

49 hex

80 hex

81 hex

82 hex

2203 hex

2204 hex

223B hex

223C hex

223D hex

Base Frequency 2

Maximum Frequency 2

A203

A204

RW

RW

RW

RW

RW

300 to 4000 (10000)

00: Manual torque boost

01: Automatic torque boost

0 to 200

0 to 500

* If the RUN Command 2 Selection has been changed, wait for at least 40 ms before an actual RUN command is issued.

Data resolution



PDO map

Possible

(TxPDO)



0.1 [Hz]

0.1 [Hz]



0.1 [%]

0.1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible

Possible

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

A-33

Appendices

Index

3022 hex

3022 hex

3022 hex

3022 hex

4022 hex

4022 hex

3022 hex

3022 hex

4022 hex

4022 hex

3022 hex

4022 hex

4022 hex

3023 hex

3023 hex

3023 hex

3023 hex

3023 hex

3024 hex

3025 hex

B9 hex

BB hex

53 hex

54 hex

5D hex

5E hex

5F hex

72 hex

4D hex

B4 hex

B6 hex

B8 hex

Subindex

83 hex

Register

No.

223E hex

223F hex

Function name

Control Method 2

Output Voltage Gain 2

Parameter

No.

A244

R/W

RW

A245 RW

Monitor and setting items

00: Constant torque characteristics

01: Reduced torque characteristics

02: Free V/f setting

03: Sensorless vector control

20 to 100

Data resolution



1 [%]

PDO map

Possible

(TxPDO)

Possible 84 hex

85 hex

RW 0 to 255 1 [%] Possible

86 hex

94 hex

2240 hex Automatic Torque

Boost Voltage

Compensation Gain 2

2241 hex Automatic Torque

Boost Slip

Compensation Gain 2

224F hex Frequency Upper

Limit 2

A246

A247

A261

RW

RW

0 to 255 1 [%]

0.01 [Hz]

Possible

Possible

(TxPDO)

96 hex

AE hex

AF hex

2251 hex

2269 hex

226A hex

Frequency Lower

Limit 2

AVR Selection 2

Motor Incoming

Voltage Selection 2

A262

A281

A282

RW

RW

RW

RW

0

Frequency Lower Limit 2 to

Maximum Frequency 2

0

Starting Frequency to Frequency

Upper Limit 2

00: Always ON

01: Always OFF

02: OFF during deceleration

200-V class: 00 (200)

01 (215)

02 (220)

03 (230)

04 (240)

400-V class: 05 (380)

06 (400)

07 (415)

1 to 360000

0.01 [Hz]





0.01 [s]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

(TxPDO)

Possible 226F hex 2nd Acceleration Time

2

A292

2271 hex 2nd Deceleration Time

2

2273 hex 2-step

Acceleration/Decelerat ion Selection 2

A293

A294

RW

RW

1 to 360000 0.01 [s] Possible

2274 hex 2-step Acceleration

Frequency 2

2276 hex 2-step Deceleration

Frequency 2

230C hex

230D hex

2317 hex

2318 hex

2429 hex

Electronic Thermal

Level 2

Electronic Thermal

Characteristics

Selection 2

2316 hex Overload Limit 2

Selection

Overload Limit Level 2

Overload Limit 2

Parameter

Overload Warning

Level 2

2502 hex Motor Parameter 2

A295

A296 b212 b213 b221 b222 b223

C241

H202

RW

RW

RW

RW

RW

RW

RW

RW

RW

00: Switched by 2 word terminal

01: Switched by setting

02: Switched only when switching forward/reverse

0 to 40000 (100000)



Possible

(TxPDO)

0 to 40000 (100000)

2000 to 10000

00: Reduced torque characteristics

01: Constant torque characteristics

02: Free setting

00: Disabled

01: Enabled during acceleration/constant speed

02: Enabled during constant speed

03: Enabled during acceleration/constant speed

(accelerated during regeneration)

100 to 2000

0.01 [Hz] Possible

(TxPDO)

0.01 [Hz] Possible

(TxPDO)

0.01 [%]



Possible

(TxPDO)

Possible

(TxPDO)



0.1 [%]

Possible

(TxPDO)

1 to 30000

0 to 2000

0.1 [s]

0.1 [%]

Possible

(TxPDO)

Possible

(TxPDO)

Possible

00: Standard motor parameter

02: Auto-tuning data



Possible

(TxPDO)

A-34

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

Appendices

Index

3025 hex

3025 hex

3025 hex

3025 hex

3025 hex

4025 hex

3025 hex

3025 hex

3025 hex

3025 hex

3025 hex

3025 hex

3025 hex

4025 hex

63 hex

65 hex

67 hex

68 hex

51 hex

52 hex

61 hex

70 hex

72 hex

74 hex

76 hex

77 hex

Subindex

4E hex

4F hex

Register

No.

2503 hex

Function name

Motor Capacity 2

2504 hex Motor Pole Number 2

2506 hex Speed Response 2

Parameter

No.

H203

R/W

RW

H204

H205

RW

RW

Monitor and setting items

00: 0.1

01: 0.2

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

00: 2P

01: 4P

02: 6P

03: 8P

04: 10P

1 to 1000

2507 hex Stabilization

2516 hex Motor 2 Parameter R1 H220

2518 hex

251A hex

251C hex

251D hex

Parameter 2

Motor 2 Parameter R2

Motor 2 Parameter L

Motor 2 Parameter Io

Motor 2 Parameter J

H206

H221

H222

H223

H224

2525 hex Motor 2 Parameter R1

(Auto-tuning Data)

H230

2527 hex Motor 2 Parameter R2

(Auto-tuning Data)

H231

H232 2529 hex Motor 2 Parameter L

(Auto-tuning Data)

252B hex

Motor 2 Parameter Io

(Auto-tuning Data)

252C hex

Motor 2 Parameter J

(Auto-tuning Data)

H233

H234

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

0 to 255

1 to 65530

1 to 65530

1 to 65530

1 to 65530

1 to 9999000

1 to 65530

1 to 65530

1 to 65530

1 to 65530

1 to 9999000

-

Data resolution

PDO map

Possible

(TxPDO)



Possible

(TxPDO)

1 [%] Possible

1 Possible

0.001 [

]

Possible

(TxPDO)

0.001 [

]

Possible

(TxPDO)

0.01 [mH] Possible

(TxPDO)

0.01 [A]

0.01

Possible

(TxPDO)

Possible

(TxPDO)

0.001 [

]

0.001 [

]

Possible

(TxPDO)

Possible

(TxPDO)

0.01 [mH] Possible

(TxPDO)

0.01 [A] Possible

(TxPDO)

0.01

Possible

(TxPDO)

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

A-35

Appendices

A-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

Maj

Prt

Min

Obs

Info

Name

Major fault level

Partial fault level

Minor fault level

Observation

Information

Event code Event name Meaning Assumed cause

04A10000 hex Non-volatile

Memory

Hardware

Error

04BA0000 hex

04BB0000 hex

04BC0000 hex

Connection

Error between

Inverter and

Communications Unit

Inverter

Warning

Inverter Trip

34F00000 hex PDO Setting

Error

An error occurred in non-volatile memory.

• Non-volatile memory failure

An error occurred in the connection between the

Inverter and the

EtherCAT Communications Unit for the Inverter.

An Inverter warning was detected.

An Inverter trip was detected.

There is an illegal setting value in the

PDO mapping.

• Contact failure between the

Inverter and the EtherCAT

Communications Unit for the

Inverter.

• Inverter trip was reset.

• The Inverter was initialized or the mode was changed.

• The EtherCAT Communications

Unit for the Inverter failed.

• An Inverter warning was detected.

• An Inverter trip was detected.

• The PDO mapping or Sync-

Manager settings are incorrect.

Level

Maj Prt Min Obs Info











Reference

A-36

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

Appendices

A-5-2 Error Descriptions

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

Meaning

Source

Gives the name of the error.

Gives a short description of the error.

Gives the source of the error.

Event code

Gives the code of the error.

Error attributes

Effects

Indicators

System-defined variables

Cause and correction

Level

Tells the level of influence on control.

*1

Source details

Recovery

Gives details on the source of the error.

Gives the recovery method.

*2

Detection timing

Log category

Tells when the error is detected.

Tells which log the error is saved in.

*3

User program

Tells what will happen to execution of the user program.*4

Operation

Provides special information on the operation that results from the error.

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.

Variable Data type Name

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.

Assumed cause Correction

Lists the possible causes, corrections, and preventive measures for the error.

Prevention

Attached information

Precautions/

Remarks

This is the attached information that is displayed by the Sysmac Studio or an NS-series PT.

Provides precautions, restrictions, and supplemental information.

*1 One of the following:

Major fault: Major fault level

Partial fault: Partial fault level

Minor fault: Minor fault level

Observation

Information

*2 One of the following:

Automatic recovery: Normal status is restored automatically when the cause of the error is removed.

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.

*3 One of the following:

System: System event log

Access: Access event log

*4 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

Appendices

Error Descriptions

Event name

Meaning

Source

Error attributes

Effects

Indicators

Non-volatile Memory Hardware Error

An error occurred in non-volatile memory.

EtherCAT Master Function Module

Source details

Level

User program

Minor fault

Continues.

EtherCAT NET RUN

Event code

04A10000 hex

Slave

Detection timing

Recovery

Error reset (after cycling slave power)

Log category

Operation

Non-volatile memory cannot be written.

EtherCAT NET ERR EtherCAT LINK/ACT

When establishing communications after turning

ON power to the slave

System

System-defined variables

Cause and correction

---

Variable

None

Assumed cause

Non-volatile memory failure

---

Data type

---

Correction

Replace the EtherCAT Communications Unit or the EtherCAT slave.

---

Name

---

Prevention

None

Attached information

Precautions/

Remarks

None

This error is not recorded in the error log of the slave.

Event name

Meaning

Source

Connection Error between Inverter and Communications

Unit

Event code

04BA0000 hex

An error occurred in the connection between the Inverter and the EtherCAT Communications Unit for the Inverter.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Continuously

Error attributes Level

Minor fault

Recovery

Error reset (after cycling slave power)

Log category

System

Effects

Indicators

System-defined variables

User program

EtherCAT NET RUN

---

Variable

Continues.

Operation

---

Data type

Inverter communications will not operate.

EtherCAT NET ERR EtherCAT LINK/ACT

---

Name

Cause and correction

None

Assumed cause

Contact failure between the Inverter and the EtherCAT Communications

Unit for the Inverter.

---

Correction

Securely install the EtherCAT Communications Unit for the Inverter.

---

Prevention

Securely install the EtherCAT Communications Unit for the Inverter.

Inverter trip was reset.

The Inverter was initialized or the mode was changed.

The EtherCAT Communications Unit for the Inverter failed.

None

Turn ON the Inverter’s power supply again.

Replace the EtherCAT Communications Unit for the Inverter.

None

None

Attached information

Precautions/

Remarks

None

A-38

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

Appendices

Event name

Meaning

Source

Inverter Warning

An Inverter warning was detected.

EtherCAT Master Function Module

Error attributes Level

Minor fault

Effects

Indicators

System-defined variables

Cause and correction

User program

Continues.

EtherCAT NET RUN

---

Variable

None

Assumed cause

An Inverter warning was detected.

Event code

04BB0000 hex

Source details

Slave

Recovery

Error reset (after resetting slave errors)

Operation

Not affected.

EtherCAT NET ERR

---

Data type

---

Correction

Read the value in slave object 3000 hex sub-index 4F hex and check the warning details. Remove the cause of the warning accordingly. Then execute an error reset with slave object

5000 hex or a fault reset with 6040 hex.

Detection timing

Log category

Continuously

System

EtherCAT LINK/ACT

---

Name

---

Prevention

Depends on the nature of the error.

Attached information

Precautions/

Remarks

None

None

Event name

Meaning

Source

Inverter Trip

An Inverter trip was detected.

EtherCAT Master Function Module

Error attributes Level

Minor fault

Effects

Indicators

System-defined variables

Cause and correction

User program

Continues.

EtherCAT NET RUN

---

Variable

None

Assumed cause

An Inverter trip was detected.

Event code

04BC0000 hex

Source details

Slave

Recovery

Error reset (after resetting slave errors)

Operation

Motor stops.

EtherCAT NET ERR

---

Data type

---

Correction

Read slave object 3000 hex sub-index

13 hex (cause) and 3000 hex subindex 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.

Detection timing

Log category

Continuously

System

EtherCAT LINK/ACT

---

Name

---

Prevention

Depends on the nature of the error.

Attached information

Precautions/

Remarks

None

None

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

A-39

Appendices

Event name

Meaning

Source

Error attributes

Effects

Indicators

PDO Setting Error

There is an illegal setting value in the PDO mapping.

EtherCAT Master Function Module

Source details

Level

User program

Minor fault

Continues.

EtherCAT NET RUN

Event code

34F00000 hex

Slave

Detection timing

At transfer of

EtherCAT Configuration Setup

System

Recovery

Error reset (after resetting slave errors)

Log category

Operation

The slave can enter the Pre-operational state.

EtherCAT NET ERR EtherCAT LINK/ACT

System-defined variables

Cause and correction

---

Variable

None

Assumed cause

The PDO mapping or SyncManager settings are incorrect.

---

Data type

---

Correction

Read and check the ALStatus code and the value in 5200 hex. Correct the settings.

---

Name

---

Prevention

Check that there are no mistakes in settings for the PDO mapping and

SyncManager.

Attached information

Precautions/

Remarks

None

None

A-40

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

Index

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

Index-1

I

Index

Index

A

Abort Codes

.................................................................. 3-6

C

Cable length

.................................................................. 2-6

CANopen

....................................................................... 3-2

Cause code list

............................................................ 5-21

CiA402 profile

.............................................................. 4-12

CoE Communications area

........................................... 5-8

Communications cable

.................................................. 1-7

Communications Connector

.......................................... 2-5

Configuration tool

.......................................................... 1-7

D

Device Profile area

...................................................... 5-22

E

Emergency Messages

............................................3-7, 3-8

Error Code List

.............................................................. 6-6

ESI file

........................................................................... 1-7

Ethernet frame

............................................................... 1-4

EtherCAT master

........................................................... 1-7

EtherCAT slave

.............................................................. 1-7

EtherCAT telegram

........................................................ 1-4

F

Fixed PDO Mapping

...................................................... 3-5

I

Independent profile

...................................................... 4-10

Independent Profile Objects

........................................ 5-19

Inverter Parameter Objects

......................................... 5-17

M

Manufacturer Specific Objects

..................................... 5-16

N

Node address

................................................................ 2-4

O

Object Dictionary

........................................................... 5-6

Object List

.....................................................................A-5

P

Parameter list

................................................................A-9

PDO

............................................................................... 3-4

PDO free format

.................................................4-14, 4-17

PDO mapping

................................................................ 3-4

PDO Mapping Objects

................................................. 5-11

Position Control Unit

...................................................... 4-4

Process data objects

..................................................... 3-4

R

RxPDO

.......................................................................... 4-2

S

SDO

............................................................................... 3-6

Service data objects

...................................................... 3-6

Specifications

................................................................A-2

Status indicators

.....................................................2-3, 6-2

Sync Manager

............................................................... 4-3

Sync Manager channel

.................................................. 3-5

Sync Manager Communication Objects

...................... 5-13

T

TxPDO

........................................................................... 4-2

V

Velocity mode

.......................................................4-12, 5-5

W

Wiring standards

........................................................... 2-7

Index-2

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

OMRON Corporation

Industrial Automation Company

Tokyo, JAPAN

Contact: www.ia.omron.com

Regional Headquarters

OMRON EUROPE B.V.

Wegalaan 67-69-2132 JD Hoofddorp

The Netherlands

Tel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC

One Commerce Drive Schaumburg,

IL 60173-5302 U.S.A.

Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ASIA PACIFIC PTE. LTD.

No. 438A Alexandra Road # 05-05/08 (Lobby 2),

Alexandra Technopark,

Singapore 119967

Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.

Room 2211, Bank of China Tower,

200 Yin Cheng Zhong Road,

PuDong New Area, Shanghai, 200120, China

Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

Authorized Distributor:

© OMRON Corporation 2010 All Rights Reserved.

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. I574-E1-02

1107