3
EtherCAT Communications
This section explains EtherCAT communications under the assumption that the inver-
ter is connected to a Machine Automation Controller NJ/NX-series CPU Unit.
3-1 Display Area and Settings
............................................................................. 3-2
3-1-1 Node Address Setting ..................................................................................... 3-2
3-1-2 Name of Each Status Indicator........................................................................ 3-2
3-2 Structure of the CAN Application Protocol over EtherCAT........................ 3-4
3-3 Communications Status Transitions ............................................................ 3-5
3-4 Process Data Objects (PDOs) .......................................................................3-6
3-4-1 PDO Mapping Settings.................................................................................... 3-6
3-4-2 Sync Manager PDO Assignment Settings....................................................... 3-6
3-4-3 Fixed PDO Mapping ........................................................................................ 3-7
3-4-4 Variable PDO Mapping.................................................................................... 3-8
3-4-5 Sync Manager PDO Mapping Assignment Settings........................................ 3-8
3-5 Service Data Objects (SDOs) ...................................................................... 3-10
3-6 Synchronization Mode and Communications Cycle................................. 3-11
3-6-1 Free-Run Mode ..............................................................................................3-11
3-7 Emergency Messages.................................................................................. 3-12
3-8 Sysmac Device Features ............................................................................. 3-13
3-9 Cable Redundancy Function....................................................................... 3-16
3-9-1 Description of Operation................................................................................ 3-16
3-9-2 Wiring ............................................................................................................ 3-16
3-9-3 Procedure of Checking Operation ................................................................. 3-17
3-9-4 Slave Communications Statuses When Cable Redundancy Function
Is Used .......................................................................................................... 3-18
3-9-5 Relation between the Network Configuration Information and the Ac-
tual Configuration .......................................................................................... 3-19
3-1
M1 Series EtherCAT Type User’s Manual (I670)
3
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