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21
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
2-3-2 CJ1W-NCx82 Setting................................................................................................................ 2-12
2-4 NJ501-1x00 Master Setting ................................................................................................... 2-13
2-4-1 Mounting the NJ501-1x00......................................................................................................... 2-13
2-4-2 NJ501-1x00 Setting .................................................................................................................. 2-13
2-5 Mounting and Wiring for the EtherCAT Communication Unit ........................................... 2-14
2-5-1 Mounting the EtherCAT Communication Unit on the MX2 Inverter .......................................... 2-14
2-5-2 Mounting the EtherCAT Communication Unit on the RX-V1 Inverter ....................................... 2-17
2-5-3 Wiring the EtherCAT Communication Unit................................................................................ 2-20
2-5-4 Wiring Conforming to EMC Directives ...................................................................................... 2-22
2-5-5 Node Address Settings for the EtherCAT Communication Unit................................................ 2-23
2-6 MX2/RX-V1 Inverter Settings ................................................................................................ 2-24
2-6-1 Frequency Reference/RUN Command Setting......................................................................... 2-24
2-6-2 Reset Selection Setting ............................................................................................................ 2-24
2-7 Communication with CJ1W-NCx82 Master ......................................................................... 2-25
2-7-1 Starting the System................................................................................................................... 2-25
2-7-2 Network Setup .......................................................................................................................... 2-25
2-7-3 Checking the Master Unit ......................................................................................................... 2-25
2-7-4 Checking the Inverter and EtherCAT Communication Unit....................................................... 2-26
2-7-5 Checking the Operation............................................................................................................ 2-26
2-8 Communication with NJ501-1x00 Master............................................................................ 2-27
2-8-1 Starting the System................................................................................................................... 2-27
2-8-2 Network Setup .......................................................................................................................... 2-27
2-8-3 Checking the NJ501-1x00 Master ............................................................................................ 2-31
2-8-4 Checking the Inverter and EtherCAT Communication Unit....................................................... 2-31
2-8-5 Checking the Operation............................................................................................................ 2-31
Section 3 Common Slave Specifications
3-1 Structure of CANopen over EtherCAT ................................................................................... 3-2
3-2 Communications Status Transitions ..................................................................................... 3-3
3-3 Process Data Objects (PDO)...................................................................................................3-4
3-3-1 Outline ........................................................................................................................................ 3-4
3-3-2 PDO Mapping Settings ............................................................................................................... 3-4
3-3-3 Sync Manager PDO Assignment Settings .................................................................................. 3-5
3-3-4 Fixed PDO Mapping ................................................................................................................... 3-5
3-4 Service Data Objects (SDO).................................................................................................... 3-6
3-4-1 Outline ........................................................................................................................................ 3-6
3-4-2 Abort Codes................................................................................................................................ 3-6
3-5 Emergency Messages ............................................................................................................. 3-7
3-5-1 Outline ........................................................................................................................................ 3-7
3-5-2 Error Code List............................................................................................................................ 3-7
3-6 Sysmac Device Functions ......................................................................................................3-8
Section 4 Inverter Control
4-1 Outline ...................................................................................................................................... 4-2
4-1-1 Function Object Selection........................................................................................................... 4-2
4-1-2 Function Object Mapping............................................................................................................ 4-3
4-2 Control with the Position Control Unit .................................................................................. 4-5
4-2-1 Inverter Setting ........................................................................................................................... 4-5
4-2-2 Function Object Mapping............................................................................................................ 4-5
4-2-3 Control Method ........................................................................................................................... 4-6
4-2-4 Sample Program......................................................................................................................... 4-9
4-3 Control with the Independent Profile................................................................................... 4-12
4-3-1 Inverter Setting ......................................................................................................................... 4-12
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