Omron 3G3M1-A4004-ECT - Page 9

1-3 Specifications.......................................................................................................................1-10
1-3-1 Standard Specifications
............................................................................................................1-10
1-3-2 EtherCAT Communication Specifications..................................................................................1-16
1-3-3 External Dimensions .................................................................................................................1-17
1-4 Restrictions ..........................................................................................................................1-23
Section 2 Design
2-1 Installation ..............................................................................................................................2-2
2-1-1 Inverter Installation
......................................................................................................................2-2
2-1-2 Installation Environment..............................................................................................................2-2
2-2 Removal of Each Part ............................................................................................................2-7
2-2-1 Removing Covers........................................................................................................................2-7
2-2-2 Terminal Blocks ...........................................................................................................................2-8
2-2-3 Preparing Backing Plate..............................................................................................................2-8
2-3 Wiring....................................................................................................................................2-10
2-3-1 Standard Connection Diagram..................................................................................................2-10
2-3-2 Arrangement and Function of Main Circuit Terminal Block ....................................................... 2-11
2-3-3 Arrangement and Function of Control Circuit Terminal Block ...................................................2-12
2-3-4 Wiring for Main Circuit Terminals ..............................................................................................2-15
2-3-5 Wiring for Control Circuit Terminals...........................................................................................2-59
2-3-6 Recommended Encoder and Its Wiring ....................................................................................2-62
2-3-7 Safety Function .........................................................................................................................2-65
2-4 Others ...................................................................................................................................2-67
2-4-1 Compliance with EU Directives and UKCA ...............................................................................2-67
2-4-2 UL/cUL Standards Cautions......................................................................................................2-83
Section 3 EtherCAT Communications
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 Actual Configuration ..........3-19
CONTENTS
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M1 Series EtherCAT Type User’s Manual (I670)