Appendices
A-1 CiA 402 Drive Profile............................................................................................................. A-3
A-1-1 Controlling the State Machine of the Inverter
............................................................................. A-3
A-1-2 Modes of Operation.................................................................................................................... A-5
A-1-3 Velocity Mode Specifications...................................................................................................... A-6
A-2 CoE Objects........................................................................................................................... A-7
A-2-1 Object Dictionary Area ............................................................................................................... A-7
A-2-2 Data Type................................................................................................................................... A-7
A-2-3 Object Description Format ......................................................................................................... A-8
A-2-4 Communication Objects ............................................................................................................. A-9
A-2-5 PDO Mapping Objects ............................................................................................................. A-15
A-2-6 Sync Manager Communication Objects................................................................................... A-22
A-2-7 Manufacturer Specific Objects 1 .............................................................................................. A-24
A-2-8 Inverter Profile Objects............................................................................................................. A-27
A-2-9 Safety Function Objects ........................................................................................................... A-35
A-3 Object List ........................................................................................................................... A-39
A-4 Lists of Manufacturer Specific Objects 2 (Inverter Parameters) .................................... A-47
A-4-1 M Group Parameter List (Monitor 1) ........................................................................................ A-48
A-4-2 W Group Parameter List (Monitor 2) ........................................................................................ A-64
A-4-3 Z Group Parameter List (Alarm Information 1)......................................................................... A-74
A-4-4 X Group Parameter List (Alarm Information 2)......................................................................... A-85
A-4-5 F Group Parameter List (Basic Functions)............................................................................. A-109
A-4-6 E Group Parameter List (Terminal Functions).........................................................................A-114
A-4-7 C Group Parameter List (Frequency Reference and Analog Input Functions) ...................... A-125
A-4-8 P Group Parameter List (Motor 1 Parameters) ...................................................................... A-129
A-4-9 H Group Parameter List (High Level Functions) .................................................................... A-133
A-4-10 A Group Parameter List (Motor 2 Parameters) ...................................................................... A-147
A-4-11 b Group Parameter List (Velocity Control 3) .......................................................................... A-152
A-4-12 r Group Parameter List (Velocity Control 4) ........................................................................... A-153
A-4-13 J Group Parameter List (Applied Functions 1) ....................................................................... A-154
A-4-14 d Group Parameter List (Applied Functions 2)....................................................................... A-160
A-4-15 y Group Parameter List (EtherCAT Communications Command Function Selection) ........... A-170
A-4-16 S Group Parameter List (EtherCAT Communications Commands) ....................................... A-171
A-4-17 Communication Data Formats of Parameters........................................................................ A-174
A-5 Sysmac Error Status Codes............................................................................................. A-206
A-5-1 Error List................................................................................................................................. A-206
A-5-2 Error Descriptions .................................................................................................................. A-219
A-6 Communications Response Time ................................................................................... A-286
A-7 Derating Table ................................................................................................................... A-287
A-8 Smoothing Capacitor Life Curve ..................................................................................... A-291
A-9 Life Alarm Output.............................................................................................................. A-294
A-10 Overview of Inverter Selection ........................................................................................ A-295
A-10-1 Motor Capacity Selection ....................................................................................................... A-295
A-10-2 Inverter Capacity Selection .................................................................................................... A-298
A-10-3 Overview of Braking Resistor Selection ................................................................................. A-299
CONTENTS
12
M1 Series EtherCAT Type User’s Manual (I670)
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