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5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-6 Manufacturer Specific Area
5
5-6-3 Independent Profile Objects
This object gives the present state of the unit.
Bit descriptions
This object gives the output frequency of the inverter.
The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode.
Gives the cause of not being able to transit to Op when PDOs are freely mapped.
Gives up to 6 PDO mapping error messages.
Sub-index 1 (error cause) gives the latest cause code.
Sub-index 4 (number of error messages) gives the number of error messages that are registered.
Sub-indexes 5 to 10 (PDO mapping error message 1 to 6) give the cause codes when errors occur in
PDO mapping. Messages are saved in sequence from 1 to 6, and no more are saved. The history is
cleared when the power supply is turned OFF or the state transitions from initialization (Init) to
pre-operational (Pre-Op) is made.
5100 hex Status
Setting range: 0000 to FFFF hex Unit: Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
Bit Meaning Details
0 During forward operation 0: Stop/reverse 1: During Forward operation
1 During reverse operation 0: Stop/forward 1: During Reverse operation
2 Reserved Not used.
3 Fault 1: A fault (inverter trip) occurred.
4 to 6 Reserved Not used.
7 Warning 1: A warning occurred.
9 Remote 0: Commands other than those from the EtherCAT Communication Unit are
enabled.
1: Commands from the EtherCAT Communication Unit are enabled.
10 to 11 Reserved Not used.
12 Frequency matching 0: During Acceleration/deceleration or stopped 1: Frequency matching
13 to 14 Reserved Not used.
15 Connection error between the
Optional Unit and inverter
1: Error (Cannot update data for the inverter. To reset the error, turn the
power supply OFF and then ON again.)
5110 hex Output frequency monitor
Setting range: 0000 to FFFF hex Unit: 0.01 Hz (0.1 Hz) Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Possible
5200 hex PDO mapping error history
Sub-index 0: Number of entries
Setting range: Unit: Default setting: 0A hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Newest PDO mapping error cause
Setting range: Unit: Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-index 4: Number of error message
Setting range: Unit: Default setting: 00 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-indexes 5 to A: PDO mapping error message 1 to 6
Unit: Unit: Default setting: 0000 hex
Size: 2 bytes (U16) Access: RO PDO map: Not possible
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