Omron 3G3AX-MX2-ECT - Page 20

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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 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
Section 3 Common Slave Specifications
3-1 Structure of CANopen over EtherCAT ................................................................................... 3-2
3-2 Communications Status Transitions ..................................................................................... 3-3
3-3 Process Data Objects (PDO)...................................................................................................3-4
3-3-1 Outline ........................................................................................................................................ 3-4
3-3-2 PDO Mapping Settings ............................................................................................................... 3-4
3-3-3 Sync Manager PDO Assignment Settings .................................................................................. 3-5
3-3-4 Fixed PDO Mapping ................................................................................................................... 3-5
3-4 Service Data Objects (SDO).................................................................................................... 3-6
3-4-1 Outline ........................................................................................................................................ 3-6
3-4-2 Abort Codes................................................................................................................................ 3-6
3-5 Emergency Messages ............................................................................................................. 3-7
3-5-1 Outline ........................................................................................................................................ 3-7
3-5-2 Error Code List............................................................................................................................ 3-7
3-6 Sysmac Device Functions ......................................................................................................3-8
Section 4 Inverter Control
4-1 Outline ...................................................................................................................................... 4-2
4-1-1 Function 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