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4 Inverter Control
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
4-2 Control with the Position Control Unit
4
4-2-1 Inverter Setting
4-2 Control with the Position Control Unit
This section describes how to connect the OMRON CJ1W-NCx82 and the EtherCAT Communication
Unit to control the inverter. Both 3G3AX-MX2-ECT and 3G3RX-ECT can be operated using the same
user interface.
Set the inverter parameters as follows.
Note 1. Select speed control or Simple position control by setting inverter parameter P012: Simple Position
Control Selection.
To use the Simple position control function, set the required parameters in accordance with the
inverter manual.
2. If parameter C102 is not displayed, set b037 to 01.
3. Do not use motor 2 control of the inverter. The motor 1 control only can be used.
Note Select speed control or absolute position control by setting inverter parameter P012: V2 Control Mode
Selection.
To use absolute position control function, set the required parameters in accordance with the inverter
manual.
The function object that is used is allocated with the fixed settings below.
PDO mapping
4-2-1 Inverter Setting
Parameter Description
A001 Frequency Reference Selection 1 04: Optional board
A002 RUN Command Selection 1 04: Optional board
C102 Reset Selection 03: Trip reset only
P012 Simple Position Control Selection 00: Simple position control disabled
02: Simple position control enabled
Parameter Description
A001 Frequency Reference Selection 05: Option 2
A002 RUN Command Selection 05: Option 2
C102 Reset Selection 03: Trip reset only
P012 V2 Control Mode Selection 00: ASR (Speed control mode)
02: APR2 (Absolute position control mode)
03: HAPR (High-resolution absolute position control mode)
4-2-2 Function Object Mapping
PDO Description
1701 hex 5000 (Command)
5010 (Frequency reference)
1600 hex 4016.6B (P060 Multi-step position command 0)
1601 hex 301F.40 (Multi-function input (Modbus communication register 1F01 hex coil data 0))
1B01 hex 5100 (Status)
5110 (Output frequency monitor)
1A00 hex 4010.59 (d030 Current position monitor)
1A01 hex 3010.29 (d006 Multi-function output monitor)
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