Omron 3G3AX-MX2-ECT - Page 21

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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
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
Section 5 CiA402 Drive Profile
5-1 Inverter State Control .............................................................................................................. 5-2
5-1-1 State Machine ............................................................................................................................. 5-2
5-1-2 State Descriptions.......................................................................................................................5-3
5-1-3 Command Coding ....................................................................................................................... 5-3
5-1-4 State Coding ............................................................................................................................... 5-3
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
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 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
Appendices
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