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22 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
CONTENTS
4-3-2 Profile Allocation ....................................................................................................................... 4-12
4-3-3 Control Method.......................................................................................................................... 4-12
4-4 Control with the CiA402 Profile ............................................................................................ 4-14
4-4-1 Inverter Setting.......................................................................................................................... 4-14
4-4-2 Profile Allocation ....................................................................................................................... 4-14
4-4-3 Control Method.......................................................................................................................... 4-15
4-5 Control with the PDO Free Format....................................................................................... 4-17
4-5-1 Inverter Setting.......................................................................................................................... 4-17
4-5-2 Object Mapping ......................................................................................................................... 4-17
4-5-3 Objects Allocation in Sysmac Studio......................................................................................... 4-18
4-5-4 Restrictions ............................................................................................................................... 4-20
4-6 Trial operation via EtherCAT Communication Unit ............................................................ 4-21
Section 5 CiA402 Drive Profile
5-1 Inverter State Control .............................................................................................................. 5-2
5-1-1 State Machine ............................................................................................................................. 5-2
5-1-2 State Descriptions ....................................................................................................................... 5-3
5-1-3 Command Coding ....................................................................................................................... 5-3
5-1-4 State Coding................................................................................................................................ 5-4
5-2 Modes of Operation................................................................................................................. 5-5
5-3 Velocity Mode........................................................................................................................... 5-6
5-4 Object Dictionary..................................................................................................................... 5-7
5-4-1 Object Dictionary Area ................................................................................................................ 5-7
5-4-2 Data Types .................................................................................................................................. 5-7
5-4-3 Object Description Format .......................................................................................................... 5-8
5-5 CoE Communications Area .................................................................................................... 5-9
5-5-1 Communication Objects .............................................................................................................. 5-9
5-5-2 PDO Mapping Objects .............................................................................................................. 5-12
5-5-3 Sync Manager Communication Objects.................................................................................... 5-14
5-6 Manufacturer Specific Area .................................................................................................. 5-17
5-6-1 Manufacturer Specific Objects .................................................................................................. 5-17
5-6-2 Inverter Parameter Objects ....................................................................................................... 5-18
5-6-3 Independent Profile Objects...................................................................................................... 5-20
5-7 Device Profile area ................................................................................................................ 5-23
5-7-1 Drive Profile Objects ................................................................................................................. 5-23
Section 6 Handling of Errors and Maintenance
6-1 Communication Line Errors ................................................................................................... 6-2
6-1-1 Status Indicator Explanations and Error Handling....................................................................... 6-2
6-1-2 Troubleshooting .......................................................................................................................... 6-4
6-2 Message Errors........................................................................................................................ 6-5
6-3 Application Errors ................................................................................................................... 6-6
6-3-1 Error Statuses ............................................................................................................................. 6-6
6-3-2 Error Code List............................................................................................................................ 6-6
6-3-3 List of Cause Codes for PDO Mapping Errors ............................................................................ 6-7
6-3-4 AL Status Code List..................................................................................................................... 6-9
6-4 Inverter Errors........................................................................................................................ 6-10
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