Omron 3G3AX-MX2-ECT User Manual
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Inverter
MX2 Series
EtherCAT Communication Unit
User’s Manual
I574-E1-02
3G3AX-MX2-ECT
EtherCAT Communication Unit
© OMRON, 2011
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
1
Introduction
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Introduction
Thank you for choosing the EtherCAT Communication Unit 3G3AX-MX2-ECT. This User's Manual
(hereinafter called this manual) describes the parameter setting methods required for installation/wiring
and operation of the 3G3AX-MX2-ECT, as well as troubleshooting and inspection methods.
This manual should be delivered to the actual end user of the product.
After reading this manual, keep it handy for future reference.
This manual describes the specifications and functions of the product as well as the relations between
them. You should assume that anything not described in this manual is not possible with the product.
This manual is intended for those with knowledge of the workings of electricity (qualified electric
engineers or the equivalent), and also in charge of:
• Introducing the control equipment
• Designing the control system
• Installing and/or connecting the control equipment
• Field management
Intended Readers
Read and Understand this Manual
2
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period
of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED
USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS
OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER
SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE
PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION,
ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
3
Read and Understand this Manual
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings
and limitations of use that apply to the products. This information by itself is not sufficient for a complete
determination of the suitability of the products in combination with the end product, machine, system, or other
application or use.
The following are some examples of applications for which particular attention must be given. This is not intended
to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be
suitable for the products:
Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses
not described in this manual.
Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment,
amusement machines, vehicles, safety equipment, and installations subject to separate industry or government
regulations.
Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY
WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS,
AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE
WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence
thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons.
It is our practice to change model numbers when published ratings or features are changed, or when significant
construction changes are made. However, some specifications of the products may be changed without any
notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your
application on your request. Please consult with your OMRON representative at any time to confirm actual
specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances
are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does not
constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to
actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of
Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
Safety Precautions
4
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Safety Precautions
In this manual, the following precautions and signal words are used to provide information to ensure the
safe use of the EtherCAT Communication Unit 3G3AX-MX2-ECT.
The information provided here is vital to safety. Strictly observe the precautions provided.
The precautions and symbols are as follows.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure that the product does not
become inoperative, malfunction, or disrupt functionality and performance.
Additional Information
Additional information to increase understanding or make operation easier.
Indications and Meanings of Safety Information
Meanings of Signal Words
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or may result in serious injury or death. Additionally
there may be significant property damage.
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or in property damage.
WARNING
Caution
5
Safety Precautions
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Example of Symbols
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates danger and caution.
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates "beware of electric shock".
This symbol indicates a compulsory item (an item that must be done).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates "typical compulsory items".
Safety Precautions
6
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Do not remove the terminal block cover or the EtherCAT Communication Unit while the power is being
supplied, and within 10 minutes after the power is turned off.
The inverter has high voltage parts inside which, if short-circuited, might cause damage to itself or other
property. Place covers on the openings or take other precautions to make sure that no metal objects such
as cutting bits or lead wire scraps go inside when installing and wiring.
Do not disassemble, repair, or modify the inverter. Failure to follow this guideline may result in injury.
WARNING
Caution
7
Precautions for Safe Use
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Precautions for Safe Use
Do not store or use the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to ambient temperature exceeding the specifications.
• Locations subject to relative humidity exceeding the specifications.
• Locations subject to condensation due to severe temperature fluctuations.
• Locations subject to corrosive or flammable gases.
• Locations subject to exposure to combustibles.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to direct vibration or shock.
• Do not drop or apply strong impact on the product. Doing so may result in damaged parts or
malfunction.
• If you are transporting the product installed to the inverter, be sure to carry it by holding an inverter
radiation fin.
• Do not remove the cover of the EtherCAT Communication Unit. Also, make sure that the unit
fastening screws are tightened to the specified torque.
• Install a stop motion device to ensure safety. In particular, when it is set to continue operation when a
communications error occurs, the inverter may not stop and damage to the equipment.
• Take sufficient shielding measures when using the product in the following locations. Not doing so
may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong magnetic fields.
Locations close to power lines.
• Be sure to confirm the permissible range of motors and machines before operation because the
inverter speed can be changed easily from low to high.
• Be sure to confirm safety before conducting maintenance, inspection or parts replacement.
Installation and Storage
Transportation, Installation, and Wiring
Operation and Adjustment
Maintenance and Inspection
Precautions for Correct Use
8
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Precautions for Correct Use
Follow the inverter mounting direction restrictions.
If this EtherCAT Communication Unit is installed, the inverter Modbus-RTU communication becomes
disabled.
Comply with the local ordinance and regulations when disposing of the product.
• After installing this EtherCAT Communication Unit to the inverter, warning labels are pasted on the
product as shown in the following illustration.
• Be sure to follow the instructions.
(Notes) The overall appearance varies depending on the inverter capacity.
The warning description is written in English when it is shipped from the factory.
Affix the Japanese warning label included with the product if necessary.
Installation
Modbus-RTU communication
Product Disposal
Warning Label Location
Warning Description
STOP
RESET
RUN
Hz
A
ALM
PRG
3G3MX2
INVERTER
RUN
PWR
SYSDRIVE
200V
3PHASE
9
Precautions for Correct Use
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
This EtherCAT Communication Unit can be used with the inverter of unit version 1.1 or higher.
Make sure that the unit version of the inverter is 1.1 or higher.
The unit version of the inverter can be checked on the nameplate of the inverter.
(The unit version can not be checked on the CX-Drive.)
Inverter Version
Applicable Standards
10
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Applicable Standards
(Notes) To conform to EMC Directives, the product must be installed under the conditions described in "2-5-3
Wiring Conforming to EMC Directives".
When the EtherCAT Communication Unit is mounted on the inverter unit, inverter’s conformance to the
Machinery Directive becomes invalid.
This product is conformance tested.
EC Directives
EC Directives Applicable Standard
EMC Directive EN61800-3
Low Voltage Directive EN61800-5-1
UL/cUL Standards
Standards Applicable Standard
UL/cUL UL508c
Functional Safety
EtherCAT Conformance Test
11
Trademarks
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Trademarks
• EtherCAT is a registered trademark of Beckhoff Automation GmbH (Germany). EtherCAT technology
is protected by patents.
EtherCAT
is a registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
• Windows, Windows 98, Windows XP, Windows Vista and Windows 7 are registered trademarks of
Microsoft Corporation in the USA and other countries.
• Sysmac is a FA product of OMRON and a trademark or registered trademark of OMRON in Japan
and other countries.
• CX-One is a registered trademark of OMRON's FA Integrated Tool Package.
• Other system names and product names that appear in this manual are the trademarks or registered
trademarks of the relevant companies.
Checking Before Unpacking
12
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Checking Before Unpacking
On delivery, be sure to check that the delivered product is the EtherCAT Communication Unit
3G3AX-MX2-ECT model that you ordered. Should you find any problems with the product, immediately
contact your nearest local sales representative or OMRON sales office.
The nameplate is affixed to the back side of the product.
Note that the Instruction manual and the Japanese warning label accessories are included with the
EtherCAT Communication Unit 3G3AX-MX2-ECT.
Checking the Product
Checking the Nameplate
Checking the Model
Checking the Accessories
****** ********
3G3AX-MX2-ECT
EtherCAT Communications Unit
For 3G3MX2 series only
13
Revision History
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Revision History
A manual revision code appears as a suffix to the catalog number located at the top left of the front and
lower right of the back covers.
Revision code Revision date Changes and revision pages
01 August 2010 First printing
02 July 2011 Added information on Machine Automation Controller NJ501-1x00 series.
Man.No. I574-E1-02
Revised symbols
Related Manuals
14
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
Related Manuals
When operating this product, it is necessary to have information about the device you are connecting.
Please see the manuals below for related product information.
Manual number
Multi-function Compact Inverter SYSDRIVE MX2 SERIES USER’S MANUAL I570
Model/Name
* Refer to the user’s manual of the Inverter for information on Inverter operation.
Manual number
Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL
W487
EtherCAT Master manual
Model/Name
* When using the Master Unit other than as specified above, refer to the manual (operation manual) for that Master
Unit.
W501
NJ-series CPU Unit Software User's Manual
15
About This Manual
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
About This Manual
This User's Manual consists of chapters listed below.
Understanding the following configuration ensures more effective use of the product.
Overview
Chapter 1
EtherCAT Network
This chapter explains the overview, features and specifications of the
EtherCAT Communication Unit.
Chapter 2
Starting a Sample System
This chapter explains information such as the mounting, wiring and
setting methods for the EtherCAT Communication Unit.
Chapter 3
Common Slave Specifications
This chapter explains the common slave specifications during EtherCAT
communication, and about the ESIs, PDOs and SDOs.
Chapter 4 Inverter Control This chapter describes the profiles that are used to control inverters.
Chapter 5 CiA402 Drive Profile This chapter explains about the CiA402 drive profile.
Chapter 6 Handling of Errors and
Maintenance
This chapter explains how to handle any errors that occur in the
EtherCAT Communication Unit.
Appendix The appendix provides a list of objects.
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Read and Understand this Manual ..........................................................................2
Safety Precautions.................................................................................................... 4
Precautions for Safe Use..........................................................................................7
Precautions for Correct Use.....................................................................................8
Applicable Standards..............................................................................................10
Trademarks ..............................................................................................................11
Checking Before Unpacking...................................................................................12
Revision History...................................................................................................... 13
Related Manuals...................................................................................................... 14
About This Manual ..................................................................................................15
Section 1 EtherCAT Network
1-1 Overview of the EtherCAT Communication Unit................................................................... 1-2
1-1-1 Features of the EtherCAT Communication Unit ..........................................................................1-2
1-2 Overview of EtherCAT ............................................................................................................. 1-3
1-2-1 Features of EtherCAT..................................................................................................................1-3
1-2-2 EtherCAT System........................................................................................................................1-4
1-2-3 EtherCAT Communication Types ................................................................................................1-5
1-3 EtherCAT System Configuration ............................................................................................ 1-6
1-3-1 System Configuration..................................................................................................................1-6
1-3-2 Overview of Component Equipment ...........................................................................................1-7
Section 2 Starting a Sample System
2-1 Part Names and Settings for the EtherCAT Communication Unit....................................... 2-2
2-1-1 Part Names .................................................................................................................................2-2
2-1-2 Status Indicator Names...............................................................................................................2-3
2-1-3 Rotary Switches for Node Address Setting.................................................................................2-4
2-1-4 Communications Connector........................................................................................................2-5
2-1-5 Recommended Products.............................................................................................................2-6
2-1-6 Connection between Communications Cables and Connectors .................................................2-7
2-2 Basic Usage Procedures and Configuration Example......................................................... 2-8
2-2-1 Basic Usage Procedures............................................................................................................. 2-8
2-2-2 System Configuration Example...................................................................................................2-9
2-3 CJ1W-NCx82 Master Setting................................................................................................. 2-11
2-3-1 Mounting the CJ1W-NCx82 ......................................................................................................2-11
2-3-2 CJ1W-NCx82 Setting................................................................................................................ 2-11
2-4 NJ501-1x00 Master Setting ................................................................................................... 2-12
2-4-1 Mounting the NJ501-1x00.........................................................................................................2-12
2-4-2 NJ501-1x00 Setting...................................................................................................................2-12
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
2-5 Mounting and Wiring for the EtherCAT Communication Unit ........................................... 2-13
2-5-1 Mounting the EtherCAT Communication Unit ........................................................................... 2-13
2-5-2 Wiring the EtherCAT Communication Unit................................................................................ 2-15
2-5-3 Wiring Conforming to EMC Directives ...................................................................................... 2-17
2-5-4 Node Address Settings for the EtherCAT Communication Unit................................................ 2-18
2-6 SYSDRIVE MX2 Series Settings ........................................................................................... 2-19
2-6-1 RUN Command Setting ............................................................................................................ 2-19
2-6-2 Frequency Reference Setting ................................................................................................... 2-19
2-6-3 Reset Selection Setting ............................................................................................................ 2-19
2-7 Communication Starting and Operation Checking with CJ1W-NCx82 Master ................ 2-20
2-7-1 Starting the System .................................................................................................................. 2-20
2-7-2 Network Setup .......................................................................................................................... 2-20
2-7-3 Checking the Master Unit ......................................................................................................... 2-20
2-7-4 Checking the Inverter and EtherCAT Communication Unit ....................................................... 2-21
2-7-5 Checking the Operation............................................................................................................ 2-21
2-8 Communication Starting and Operation Checking with NJ501-1x00 Master................... 2-22
2-8-1 Starting the System .................................................................................................................. 2-22
2-8-2 Network Setup .......................................................................................................................... 2-22
2-8-3 Checking the NJ501-1x00 Master ............................................................................................ 2-26
2-8-4 Checking the Inverter and EtherCAT Communication Unit ....................................................... 2-26
2-8-5 Checking the Operation............................................................................................................ 2-26
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 Selection ...................................................................................................................... 4-2
4-1-2 Object Mapping........................................................................................................................... 4-2
4-2 Control with the Position Control Unit................................................................................... 4-4
4-2-1 Inverter Setting ........................................................................................................................... 4-4
4-2-2 Object Mapping........................................................................................................................... 4-4
4-2-3 Control Method ........................................................................................................................... 4-5
4-2-4 Sample Program......................................................................................................................... 4-7
4-3 Control with the Independent Profile................................................................................... 4-10
4-3-1 Inverter Setting ......................................................................................................................... 4-10
4-3-2 Profile Allocation....................................................................................................................... 4-10
4-3-3 Control Method ......................................................................................................................... 4-10
4-4 Control with the CiA402 Profile ............................................................................................ 4-12
4-4-1 Inverter Setting ......................................................................................................................... 4-12
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
4-4-2 Profile Allocation .......................................................................................................................4-12
4-4-3 Control Method..........................................................................................................................4-12
4-5 Control with the PDO Free Format....................................................................................... 4-14
4-5-1 Inverter Setting..........................................................................................................................4-14
4-5-2 Object Mapping .........................................................................................................................4-14
4-5-3 Objects Allocation in Sysmac Studio.........................................................................................4-15
4-5-4 Restrictions ...............................................................................................................................4-16
4-6 Trial operation via EtherCAT Communication Unit............................................................. 4-17
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 ...............................................................................................................................5-3
5-2 Modes of Operation................................................................................................................. 5-4
5-3 Velocity Mode........................................................................................................................... 5-5
5-4 Object Dictionary..................................................................................................................... 5-6
5-4-1 Object Dictionary Area ................................................................................................................5-6
5-4-2 Data Types..................................................................................................................................5-6
5-4-3 Object Description Format ..........................................................................................................5-6
5-5 CoE Communications Area .................................................................................................... 5-8
5-5-1 Communication Objects.............................................................................................................. 5-8
5-5-2 PDO Mapping Objects ..............................................................................................................5-11
5-5-3 Sync Manager Communication Objects.................................................................................... 5-13
5-6 Manufacturer Specific Area .................................................................................................. 5-16
5-6-1 Manufacturer Specific Objects ..................................................................................................5-16
5-6-2 Inverter Parameter Objects ....................................................................................................... 5-17
5-6-3 Independent Profile Objects......................................................................................................5-19
5-7 Device Profile area................................................................................................................. 5-22
5-7-1 Drive Profile Objects .................................................................................................................5-22
Section 6 Handling of Errors and Maintenance
6-1 Communication Line Errors ................................................................................................... 6-2
6-1-1 Status IndicatorExplanations 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
Appendices
A-1 Specifications ..........................................................................................................................A-2
A-1-1 Appearance and Dimensions......................................................................................................A-2
A-1-2 Common Specifications ..............................................................................................................A-2
A-1-3 EtherCAT Communications Specifications..................................................................................A-3
A-2 Communications Response Time ..........................................................................................A-4
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
A-3 Object List ................................................................................................................................A-5
A-3-1 Object List...................................................................................................................................A-5
A-4 Inverter Parameter List............................................................................................................A-9
A-5 Sysmac Error Status Codes .................................................................................................A-36
A-5-1 Error Table ................................................................................................................................A-36
A-5-2 Error Descriptions..................................................................................................................... A-37
Index
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
CONTENTS
1 - 1
1
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
This chapter explains the overview and features of the EtherCAT Communication Unit
and the EtherCAT network.
1-1 Overview of the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-1 Features of the EtherCAT Communication Unit . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 Overview of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-2-1 Features of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-2-2 EtherCAT System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-2-3 EtherCAT Communication Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-3 EtherCAT System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3-1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3-2 Overview of Component Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
EtherCAT Network
1 EtherCAT Network
1 - 2
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
1-1 Overview of the EtherCAT
Communication Unit
The EtherCAT Communication Unit is an interface unit. When installed to a SYSDRIVE MX2-series
multi-function compact inverter, it provides support for 100-Mbps EtherCAT.
Support for EtherCAT enables operating and stopping with high-speed communication, monitoring the
operation status, and changing the various set values, and provides support for a wide range of
applications.
The EtherCAT Communication Unit has the features shown below.
As a Sysmac Device, you can use the MX2 Series EtherCAT Communication Unit together with the
NJ-series Machine Automation Controller and the Sysmac Studio Automation Software to achieve
optimum functionality and ease of operation.
* Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with unified
communications specifications and user interface specifications.
When the CJ1W-NCx82 Master Unit, or Machine Automation Contoroller NJ501-1x00 series is used,
the basic control function, frequency setting function and output frequency monitor function are
assigned to the process data. This means that the inverter can be controlled as easily as normal I/O
control.
The Velocity mode of the CANopen drive profile (CiA402) enables common control that does not vary
with the manufacturer.
When a communication master that supports the process data mapping is used, user can assign the
inverter parameters to the process data.
This product can be used when the communication master is a Machine Automation Controller
NJ501-1x00 series.
EtherCAT supports connection with Servo Drives and digital I/O slaves,as well as Inverters,allowing
flexible network building.
1-1-1 Features of the EtherCAT Communication Unit
Optimal functionality and ease of operation by standardizing
specifications
Communication function as easy as I/O control
Supports the Velocity mode of CiA402
PDO free format
Using together with slaves
1 - 3
1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
1-2 Overview of EtherCAT
1
1-2-1 Features of EtherCAT
1-2 Overview of EtherCAT
Ethernet Control Automation Technology (EtherCAT) is a high-performance industrial network system
based on Ethernet system and can realize faster and more efficient communications.
Each node achieves a short cycle time by transmitting Ethernet frames at high speed.
In addition, even though EtherCAT has its own communication protocol, it uses standard Ethernet
technology in its physical layer. This provides a universal design feature because commercially
available Ethernet cables can be used. Its effectiveness can be fully utilized not only in large control
systems where high processing speed and system integration are required, but also in small to
medium-sized systems.
EtherCAT has the features shown below.
Ultra high-speed communication of 100 Mbps
The I/O response time from the generation of the input signal to the transmission of the output signal
is greatly reduced. The optimized Ethernet frame band is fully utilized and transfer is performed with
the high-speed repeat method, which enables the highly efficient transmission of various types of
data.
Use of standard Ethernet technology
EtherCAT is a global open network that uses standard Ethernet technology in its physical layer. This
means that universally available parts can be used, such as commercially available Ethernet cables,
connectors and tools.
1-2-1 Features of EtherCAT
1 EtherCAT Network
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
In EtherCAT, data is not sent to each node in the network, but the Ethernet frame is made to pass
through each node.
As the frame passes through, data is read and written at each node in the node's own area inside the
frame in several nanoseconds.
The Ethernet frame that was sent by the EtherCAT master passes through all the EtherCAT slaves
without stopping midway. Then, the frame is sent back by the final slave, and passes through all the
slaves again before returning to the EtherCAT master.
This system ensures high-speed data transmission and realtime performance.
The periodic data exchange between the EtherCAT master and EtherCAT slaves is performed with the
"EtherCAT telegrams" that are stored directly inside the Ethernet frame.
Each "EtherCAT telegram" consists of an address, data and working counter (check bit) for one or more
slaves.
If we compare an Ethernet frame to a train, EtherCAT telegrams can be considered as the carriages.
1-2-2 EtherCAT System
EtherCAT master
Slave Slave
Slave
Ethernet frame
IN
OUT
Data
• Reading of output data addressed to self
• Writing of input data
Ethernet
header
CRC
Ethernet data (Max. of 1,498 bytes)
Data
Datagram
header
WKC
1…n EtherCAT telegram
EtherCAT
header
1st EtherCAT
telegram
2nd EtherCAT
telegram
n th EtherCAT
telegram
. . . . .
Ethernet frame
Ethernet frame
WKC: Working counter
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1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
1-2 Overview of EtherCAT
1
1-2-3 EtherCAT Communication Types
EtherCAT provides the following two types of communication functions.
This is cyclic (I/O) communication.
The EtherCAT Master Unit maps logical process data space (cyclic data space) to each slave node,
and realizes cyclic (I/O) communications with Slave Units.
This is message communication.
The EtherCAT Master Unit transmits commands to Slave Units, and the sSave Units return responses
to the EtherCAT Master Unit.
The data below is sent and received.
• Read and write process data
• Slave settings
• Monitor slave state
1-2-3 EtherCAT Communication Types
Process data communications functions (PDO communications)
Mailbox communication function (SDO communications)
EtherCAT master
Slave
Ethernet frame
Slave Slave
Slave
Ethernet
header
EtherCAT
header
1st EtherCAT
telegram
2nd EtherCAT
telegram
3rd EtherCAT
telegram
CRC
• • •
Logic process data
Data a
Data b
Data c
• • •• • •• • •
1 EtherCAT Network
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EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
1-3 EtherCAT System Configuration
A typical system configuration is shown below.
1-3-1 System Configuration
EtherCAT
Communication Unit
3G3AX-MX2-ECT
SYSDRIVE
3G3MX2 series
EtherCAT slaveEtherCAT slave
Communications
cable
EtherCAT slaveEtherCAT slave
Other slaves
Servo Drive
Digital I/O
Analog I/O
Pulse input, etc
Position Control
Unit
CJ1W-NCx82
Programmable
Controller
SYSMAC CJ2
CX-One FA Integrated
Tool Package
or
Configuration ToolConfiguration Tool
EtherCAT masterEtherCAT master
Machine Automation Controller
NJ501-1x00 series
Sysmac Studio
or
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1 EtherCAT Network
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
1-3 EtherCAT System
Configuration
1
1-3-2 Overview of Component Equipment
The overview of each structural device is as follows.
EtherCAT master
Manages the EtherCAT network, and performs slave status monitoring and data exchange with the
slaves.
EtherCAT slave
Receives data from the Master Unit and sends data to the Master Unit across the EtherCAT
network. The sent and received data can be output externally, input from an external source, or used
to perform various types of control for slave equipment.
The EtherCAT slave types shown below are available.
• Field network slaves
Slave devices that perform sequence control.
Examples: Digital I/O slaves, analog I/O slaves
• Motion network slaves
Slave devices that perform motion control.
Examples: Servo Units, Inverter Units
When this 3G3AX-MX2-ECT EtherCAT Communication Unit is installed on an inverter, it can be
operated as a motion network slave inverter.
Configuration tool
Computer software for setting the EtherCAT network and each slave.
Communications cable
The communications cable that connects the Master Unit with the Slave Units, and the Slave Units
to each other.
In an EtherCAT network, use an STP double-shield cable of Ethernet category 5 or higher.
EtherCAT Slave Information (ESI) file
A file in XML format that contains the information unique to the EtherCAT slave.
When this ESI file is loaded into the tool, it makes it easy to perform the various settings, such as the
mapping of the EtherCAT slave's I/O memory.
If OMRON's Configuration Tool is used, the ESI file is used together with the Configuration Tool, so
you need not worry about installing this file.
If a master by other manufacturer is connected, the ESI file must be loaded into a Configuration Tool
supporting that master.
1-3-2 Overview of Component Equipment
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