4 Inverter Control
4 - 12
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
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.
The inverter parameters must be set to match the profile.
With the CiA402 profile, set as follows.
* 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.
Assign the PDOs of the CiA402 profile to Sync Manager.
The values below are the fixed mapping for the PDOs.
Control the inverter by operating the PDOs that allocate the profile.
Control information (master to slave)
Status information (slave to master)
4-4-1 Inverter Setting
Parameter Description
A001 Frequency Reference Selection 1 04: Optional boad
A002 RUN Command Selection 1 04: Optional boad
H004 Motor Pole Number 1 2/4/6/8/10(Set to match the system.)
C102 Reset Selection 03 (Trip reset only)
4-4-2 Profile Allocation
Sync Manager PDO assignment Description
1C12 hex 1700 hex (Fixed allocation conforming to the CiA402 drive profile)
1C13 hex 1B00 hex (Fixed allocation conforming to the CiA402 drive profile)
PDO Description
1700 hex 6040 hex (Controlword)
6042 hex (vl target velocity)
1B00 hex 6041 hex (Statusword)
6043 hex (vl velocity demand)
4-4-3 Control Method
IO format
Word Meaning
n Controlword
n + 1 vl target velocity
Word Meaning
m Statusword
m + 1 vl velocity demand
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