Ethercat Communication Unit: User'S Manual

Inverter
MX2 Series
EtherCAT Communication Unit
User’s Manual
3G3AX-MX2-ECT
I574-E1-02
© 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 permis-
sion 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 informa-
tion contained in this publication.
Introduction
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.
Intended Readers
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
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 1

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.
2 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
Safety Precautions
Indications and Meanings of Safety Information

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.
Meanings of Signal Words

Indicates a potentially hazardous situation which, if not avoided, may result in
WARNING 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

Caution minor or moderate injury, or in property damage.
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.

Safety Precautions
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 symbol shown to the left indicates "beware of electric shock".
This symbol indicates a compulsory item (an item that must be done).

The symbol shown to the left indicates "typical compulsory items".

Safety Precautions
WARNING
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.
Caution
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.

Installation and Storage

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.
Transportation, Installation, and Wiring

• 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.
Operation and Adjustment

• 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.
Maintenance and Inspection

• Be sure to confirm safety before conducting maintenance, inspection or parts replacement.

Installation
Follow the inverter mounting direction restrictions.
Modbus-RTU communication
If this EtherCAT Communication Unit is installed, the inverter Modbus-RTU communication becomes
disabled.
Product Disposal
Comply with the local ordinance and regulations when disposing of the product.
Warning Label Location

• 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.
200V
3PHASE
SYSDRIVE RUN PWR

3G3MX2 INVERTER
Hz ALM
A PRG
STOP
RUN
RESET
Warning Description
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.

Inverter Version
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.)

Applicable Standards
Applicable Standards
EC Directives
EC Directives Applicable Standard
EMC Directive EN61800-3
Low Voltage Directive EN61800-5-1
(Notes) To conform to EMC Directives, the product must be installed under the conditions described in "2-5-3
Wiring Conforming to EMC Directives".
UL/cUL Standards
Standards Applicable Standard
UL/cUL UL508c
Functional Safety
When the EtherCAT Communication Unit is mounted on the inverter unit, inverter’s conformance to the
Machinery Directive becomes invalid.
EtherCAT Conformance Test

This product is conformance tested.

Trademarks
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
Checking Before Unpacking
Checking the Product

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.
Checking the Nameplate

The nameplate is affixed to the back side of the product.
****** ********
Checking the Model
3G3AX-MX2-ECT
EtherCAT Communications Unit
For 3G3MX2 series only
Checking the Accessories

Note that the Instruction manual and the Japanese warning label accessories are included with the
EtherCAT Communication Unit 3G3AX-MX2-ECT.

Revision History
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.
Man.No. I574-E1-02
Revised symbols
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.

Related Manuals
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.
Model/Name Manual number
Multi-function Compact Inverter SYSDRIVE MX2 SERIES USER’S MANUAL I570
* Refer to the user’s manual of the Inverter for information on Inverter operation.
EtherCAT Master manual

Model/Name Manual number
Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL W487
NJ-series CPU Unit Software User's Manual W501
* When using the Master Unit other than as specified above, refer to the manual (operation manual) for that Master
Unit.

About This Manual
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 This chapter explains the overview, features and specifications of the
EtherCAT Network
EtherCAT Communication Unit.
Chapter 2 This chapter explains information such as the mounting, wiring and
Starting a Sample System
setting methods for the EtherCAT Communication Unit.
Chapter 3 This chapter explains the common slave specifications during EtherCAT
Common Slave Specifications
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 This chapter explains how to handle any errors that occur in the
Maintenance EtherCAT Communication Unit.
Appendix The appendix provides a list of objects.

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

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

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

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

CONTENTS

1
EtherCAT Network
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 Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 1-1

1 EtherCAT Network
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.
1-1-1 Features of the EtherCAT Communication Unit

The EtherCAT Communication Unit has the features shown below.
Optimal functionality and ease of operation by standardizing

specifications
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.
Communication function as easy as I/O control

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.
Supports the Velocity mode of CiA402

The Velocity mode of the CANopen drive profile (CiA402) enables common control that does not vary
with the manufacturer.
PDO free format

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.
Using together with slaves

EtherCAT supports connection with Servo Drives and digital I/O slaves,as well as Inverters,allowing
flexible network building.
1-2 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

1 EtherCAT Network
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 1
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
1-2-1 Features of EtherCAT

medium-sized systems.
1-2-1 Features of EtherCAT

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 EtherCAT Network
1-2-2 EtherCAT System

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.
EtherCAT master Slave Slave Slave

Data
OUT IN
• Reading of output data addressed to self

• Writing of input data
Ethernet frame
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.
Ethernet frame
Ethernet Ethernet data (Max. of 1,498 bytes) CRC

header
1…n EtherCAT telegram Ethernet frame

EtherCAT
header
1st EtherCAT 2nd EtherCAT ..... n th EtherCAT

telegram telegram telegram
Datagram Data WKC

header
WKC: Working counter

1 EtherCAT Network

1-2-3 EtherCAT Communication Types
EtherCAT provides the following two types of communication functions.
Process data communications functions (PDO communications)

This is cyclic (I/O) communication.
The EtherCAT Master Unit maps logical process data space (cyclic data space) to each slave node, 1
and realizes cyclic (I/O) communications with Slave Units.
1-2-3 EtherCAT Communication Types

EtherCAT master Slave Slave Slave Slave
Ethernet frame
Ethernet EtherCAT 1st EtherCAT 2nd EtherCAT 3rd EtherCAT

header
• • • CRC
header telegram telegram telegram
Logic process data

•
•
•
Data a
•
•
•
Data b
Data c
•
•
•
Mailbox communication function (SDO communications)

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 EtherCAT Network
1-3 EtherCAT System Configuration
1-3-1 System Configuration

A typical system configuration is shown below.
EtherCAT master Configuration Tool
CX-One FA Integrated
Tool Package
Programmable Position Control

Controller Unit
SYSMAC CJ2 CJ1W-NCx82
or or
Sysmac Studio
Machine Automation Controller

NJ501-1x00 series
Communications
cable
EtherCAT slave EtherCAT slave
Other slaves
Servo Drive
Digital I/O
EtherCAT Analog I/O
Communication Unit Pulse input, etc
SYSDRIVE 3G3AX-MX2-ECT
3G3MX2 series

1 EtherCAT Network
1-3 EtherCAT System

1-3-2 Overview of Component Equipment
Configuration
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.
1
 EtherCAT slave
Receives data from the Master Unit and sends data to the Master Unit across the EtherCAT
1-3-2 Overview of Component Equipment

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 EtherCAT Network

2
Starting a Sample System
This chapter explains information such as the mounting, wiring and setting methods for
the EtherCAT Communication Unit.
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
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

2 Starting a Sample System
2-1 Part Names and Settings for the

2-1-1 Part Names
Status indicator Rotary switches

(L/A IN, L/A OUT, for node address
RUN, ERR) setting (× 10, × 1)
Communications connector FG cable

(IN, OUT)


2-1-2 Status Indicator Names

The following table shows the EtherCAT status indicators and their meanings.
Name Color State Meaning

L/A IN Green OFF Link not established in physical layer 2
ON Link established in physical layer
Flickering In operation after establishing link
2-1-2 Status Indicator Names

L/A OUT Green OFF Link not established in physical layer
ON Link established in physical layer
Flickering In operation after establishing link
RUN Green OFF Init state
Blinking Pre-operational state
Single flash Safe-operational state
ON Operational state
ERR Red OFF No error
Blinking Communications setting error
Single flash Synchronization error or communications data error
Double flash Application WDT timeout
Flickering Boot error
ON PDI WDT timeout
The timing of each flashing state of indicator is as follows.
50
ms
on
Flickering
off
on
Blinking 200 200
ms ms
off
on
Single flash 200 1000 200
ms ms ms
off
on
Double flash 200 200 200 1000
ms ms ms ms
off

2-1-3 Rotary Switches for Node Address Setting

These switches are used to set the node addresses of slaves in the EtherCAT network (decimal).
The 10s digit is set on the left rotary switch and the 1s digit is set on the right rotary switch.
The setting range is 00 to 99.
Node address setting

(× 1)
Node address setting
(× 10)
Note that the node address settings vary as shown below when the Host Controller is made by OMRON
and when it is made by other manufacturers.
Set value for node address

Set value for rotary switch Host Controller from another
OMRON Host Controller
manufacturer
00 The Host Controller set value is used as the The Host Controller set value is used
node address. regardless of the rotary switch set value.
01 to 99 The rotary switch set value is used as the
node address.

• The set node address is read only once when the inverter power supply is turned ON.
If the setting is changed after the power supply is turned ON, the new setting will not be used
until the next time that the power is turned ON.
• Do not change the setting on the rotary switches after the power supply has been turned ON.
• If node addresses overlap, an error occurs and the operation stops.


2-1-4 Communications Connector

An Ethernet twisted-pair cable is connected to this connector.
Communications Communications
connector (IN) connector (OUT)
2-1-4 Communications Connector

8 1
The EtherCAT connector specifications are shown below.

• Electrical characteristics : Conform to IEEE 802.3.
• Connector structure : RJ45 8-pin modular connector (conforms to ISO 8877)
• Terminal arrangement :
Pin No. Signal Abbreviation Function

1 Send data + TD + Send data +
2 Send data  TD  Send data 
3 Receive data + RD+ Receive data +
4 Not used  
5 Not used  
6 Receive data  RD  Receive data 
7 Not used  
8 Not used  
Hood Frame ground FG 

2-1-5 Recommended Products
Connection cables and RJ45 connectors

For the communications cable, use a category 5 or higher straight type cable that is double-shielded
with aluminum tape and braided shielding. Use a shielded connector of category 5 or higher.

• The maximum cable length between nodes is 100 m. However, some cables are specified for
less than 100 m. Generally, transmission performance of twisted wire condactor is lower than
that of solid wire. Confirm the details with the cable manufacturer.
• Use the shielded-type RJ45 connectors. When selecting a connector, confirm if it can be used
with the recommended cable. Confirm the following items: conductor size, conductor type
(solid wire or twisted wire), number of twisted pairs (2 or 4), outer diameter, etc.
If an Ethernet cable of category 5 or higher is used, communications will be possible even if the
cable is not shielded. However, we recommend a cable with double, aluminum tape and braided
shielding to ensure sufficient noise immunity.


2-1-6 Connection between Communications Cables and Connectors

Connect the communications cable and the connector by wiring them straight as shown below.
Pin No. Wire color Wire color Pin No.
1 White-Green White-Green 1
2 Green Green 2
2
3 White-Orange White-Orange 3
4 Blue Blue 4
2-1-6 Connection between Communications Cables and Connectors

5 White-Blue White-Blue 5
6 Orange Orange 6
7 White-Brown White-Brown 7
8 Brown Brown 8
Connector Connector
hood Shielded cable* Shielded cable* hood
* Connect both ends of cable shielded wires to the connector hoods.
There are 2 types of wiring standards for Ethernet cables: "T568A" and "T568B."
The figure above shows a wiring method conforming to the standard "T568A," but a wiring
method conforming to the standard "T568B" can also be used.

2-2 Basic Usage Procedures and

Configuration Example
2-2-1 Basic Usage Procedures

The basic usage procedures are shown below. For details on settings and connections, refer to the
manual for each Master Unit, and the slave manuals.
CJ1W-NCx82 NJ501-1x00
1 Master Unit setting Master Master
Master Unit setting Ref section 2-3-1. Ref section 2-4-1.
ESI file setting Ref section 2-3-2. Ref section 2-4-2.
2 Mounting and wiring of EtherCAT Communications Unit

Mounting of EtherCAT Communications Unit Ref section 2-5-1.
Wiring of EtherCAT Communications Unit Ref section 2-5-2.
Setting the node address of the EtherCAT

Communications Unit Ref section 2-5-3.
3 Setting SYSDRIVE MX2 series

Setting RUN command Ref section 2-6-1.
Setting frequency reference Ref section 2-6-2.
Setting reset selection Ref section 2-6-3.
4 Checking communication start/operation

Starting system Ref section 2-7-1. Ref section 2-8-1.
Network setup Ref section 2-7-2. Ref section 2-8-2.
Checking Master Unit Ref section 2-7-3. Ref section 2-8-3.
Checking Inverter and EtherCAT Communications Unit Ref section 2-7-4. Ref section 2-8-4.
Checking operation Ref section 2-7-5. Ref section 2-8-5.

2-2 Basic Usage Procedures and

2-2-2 System Configuration Example
This chapter describes the usage procedures using the system configuration example shown below.
Configuration Example
When configuring your actual system, select the units that are required for your system.
CJ1W-NCx82 Master
Master Unit : CJ2-series PLC + CJ1W-NCx82

Slave Unit ( 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT ( 2 sets)
2
(Notes) This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series.
2-2-2 System Configuration Example

Used for data
setting • Monitoring status
and • File management, etc
monitoring
PC Master Unit Position Control Unit

Power CJ2 series
CX-Programmer Supply Unit CPU Unit (CJ1W-NCx82)
RS-232C port connection

Slave Unit Slave Unit
Peripheral (USB) First unit inverter 2nd unit inverter
port connection Node address 17 Node address 22
Communications cable 1 Communications cable 2

Length: 5 m Length: 1 m
Refer to 2-3 CJ1W-NCx82 Master Setting on page 2-11 for details on Unit installation and setting
method.

NJ501-1x00 Master
Master Unit : Machine Automation Controller NJ501-1x00 series

Slave Unit ( 2) : 3G3MX2-A2001 + 3G3AX-MX2-ECT ( 2 sets)
(Notes) This Communication Unit can be used with all the capacities in the SYSDRIVE MX2 series.
Used for data

setting • Monitoring status
and • File management, etc
monitoring
PC
Master Unit
Sysmac Studio Power Machine Automation Controller
Supply Unit NJ501-1x00 series
Peripheral (USB)
port connection Slave Unit Slave Unit
First unit inverter 2nd unit inverter
Node address 1 Node address 2
Built-in EtherCAT port
Communications cable 1 Communications cable 2

Length: 5 m Length: 1 m
Refer to 2-4 NJ501-1x00 Master Setting on page 2-12 for details on Unit installation and setting
method.
2 - 10 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

2-3 CJ1W-NCx82 Master Setting
2-3 CJ1W-NCx82 Master Setting

2-3-1 Mounting the CJ1W-NCx82
Connect the SYSMAC CJ2-series PLC and the CJ1W-NCx82 Master Unit by fitting their connectors
together. For specific details on mounting onto the SYSMAC Unit and the control panel of the SYSMAC
Unit, refer to the User Manual for the SYSMAC CJ2 series.
2-3-2 CJ1W-NCx82 Setting 2

Perform the settings for the CJ1W-NCx82 Master Unit. For the setting method of each component, refer
2-3-1 Mounting the CJ1W-NCx82

to the manual for the Master Unit.
For the setting tool, use CX-Programmer Ver. 9.2 or later.
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 2 - 11

2-4 NJ501-1x00 Master Setting
2-4-1 Mounting the NJ501-1x00

Perform configuration of the NJ501-1x00 Master rack. For the specific configuration method, refer to
NJ-series CPU Unit Software User’s Manual (Cat No.W501).
2-4-2 NJ501-1x00 Setting

Set the NJ501-1x00 Master. For the setting method for each part, refer to NJ-series CPU Unit Software
User’s Manual (Cat No.W501).

2-5 Mounting and Wiring for the EtherCAT

2-5 Mounting and Wiring for the
Communication Unit
Mount the EtherCAT Communication Unit onto the inverter. Before performing this procedure, turn OFF
the main power supply of the inverter. Wait at least 10 minutes after the inverter's LED indicator lamp
and charge indicator have turned OFF, and then start the procedure.
This 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. 2
(The unit version can not be checked on the CX-Drive.)
2-5-1 Mounting the EtherCAT Communication Unit

2-5-1 Mounting the EtherCAT Communication Unit
Removing the optional board cover from the inverter front panel
1 Loosen the mounting screw ( 1) from the optional board cover of the inverter front
panel.
2 Remove the optional board cover.
3G
3M
X2 SY
IN
VE SD
RTE
R
RIV
E
RU
N
PW
R
RU Hz
N AL
A M
PR
ST G
O
RE P
SE
T

Mounting the EtherCAT Communication Unit onto the inverter

1 Mount the EtherCAT Communication Unit onto the location where the inverter optional
board cover that you removed was attached. Check that the connector is firmly
connected.
3G
3M
X2 SY
IN
VE SD
RTE
R
RIV
E
RU
N
PW
R
RU Hz
N AL
A M
PR
ST G
O
RE P
SE
T
(Notes) When the EtherCAT Communication Unit is mounted, the main circuit and control circuit
terminals of the inverter are hidden. For this reason, be sure to wire the main circuit and control
circuit terminals before mounting the EtherCAT Communication Unit.
2 Tighten the mounting screw of the EtherCAT Communication Unit.

Tighten the bottom right screw of the EtherCAT Communication Unit with the specified torque
(46 N•cm, 4.7 kgf•cm).


Connecting the ground cable of the EtherCAT Communication Unit
1 Ground the FG cable of the EtherCAT Communication Unit.
Cut the ground wire of the unit's FG cable to an appropriate length and ground it to the closest
Communication Unit
possible ground location. Also refer to the inverter manual.
2
3G
3M
X2 SY
VE S
IN
RTED
R
R IV
E
RU
N
PW
R
RU Hz
N AL
A M
PR
ST G
O
RE P
SE
T
2-5-2 Wiring the EtherCAT Communication Unit

2-5-2 Wiring the EtherCAT Communication Unit
Perform the wiring for the communications cables.
Preparing the communications cables

Determine the number and length of communications cables that are appropriate for your system
configuration.
Each communications cable between the nodes (and between the master and the nodes) must be no
longer than 100 m.
In the system configuration example used in this chapter, a cable of 5 m is prepared for
communications cable 1, and a cable of 1 m is prepared for communications cable 2.Connect an RJ45
connector to both ends of the communications cable by wiring them straight. Connect both ends of the
shielded wires of the cable to the hoods.
For details on preparing the cables, refer to 2-1-6 Connection between Communications Cables and
Connectors on page 2-7.

Wiring the communications cables
IN OUT
FG cable
Master Unit side
Slave Unit side

Securely connect the EtherCAT communication cable connector to the EtherCAT Communication Unit
by inserting the connector all the way until it clicks.
Connect the communication cable from the EtherCAT master side to the communication connector IN
of the Communication Unit.
Connect the communication connector OUT to the communication connector IN of the next EtherCAT
slave.
Do not connect the communication connector OUT of the last EtherCAT slave.
Data will not be communicated correctly if the input/output are connected in reverse.
In the system configuration example used in this chapter, the connectors below are connected with the
communications cables.
Connecting from Connecting to

Communications cable 1 Master Unit 1st inverter IN
Communications cable 2 1st inverter OUT 2nd inverter IN
(Notes) Do not connect anything to 2nd inverter OUT.
If a slave other than this product is used in your system configuration, set the unit in the same way by
referring to its User Manual.
Precautions when constructing the network

• When constructing an EtherCAT network, take sufficient safety measures according to the standards.
We recommend that specialized constructors familiar with the safety measures and standards be
requested to perform the construction.
• Do not install EtherCAT network devices near devices generating noise.
If there is no choice but to install them down in an environment with a high level of noise, be sure to
take measures against the noise, such as covering each device in metal cases.
Precautions when installing communications cables

• To connect a cable to the communications connector of a device, insert it securely until the connector
of the communications cable is locked.
• Install and wire the communications cables separately from high-voltage electrical power lines.
• Do not install the cables near devices generating noise.
• Do not install the cables in high-temperature and high-humidity environments.
• Use the cables in locations without powder dust or oil mist.


2-5-3 Wiring Conforming to EMC Directives
To conform to the EMC directives (EN61800-3), conduct the wiring work for the EtherCAT
Communication Unit, so that it meets the wiring conditions described in this section. These conditions
Communication Unit
are for conformance of products to the EMC directives when an EtherCAT Communication Unit is
installed on a SYSDRIVE MX2-series inverter. The installation and wiring conditions, however, may be
affected by the devices that are connected and wiring of the system where the EtherCAT
Communication Unit is installed. It is necessary to conform to the EMC directives as an overall system.
This section describes only the parts related to the addition of the EtherCAT Communication Unit.
Follow the instructions in the inverter manual for the inverter installation conditions, such as the power
supply line wiring, filter installation, and motor wiring clamps.
2
Wiring the communications cables
2-5-3 Wiring Conforming to EMC Directives

Install the 3 clamp cores shown below near the communications connectors of the communications
cables that are connected to the communications connector (IN) and the communications connector
(OUT). (If the communications cable on the OUT side is not connected, install them for the IN side only.)
Symbol Name Manufacturer Model

FC1, FC2, FC3 Clamp core NEC TOKIN ESD-SR-160
Wiring the FG cable

Install the FG cable with the shortest possible wiring.
200V
3PHASE
SYSDRIVE RUN PWR

3G3MX2 INVERTER
Hz ALM
A PRG
STOP
RUN
RESET
FC1 FC1
FC2 FC2
FC3 FC3
FG cable
Communications cable Communications cable
(IN) (OUT)
(Notes) The overall mounting appearance varies depending on the inverter capacity. Do not squeeze
the FG cable into the EtherCAT Communication Unit.

2-5-4 Node Address Settings for the EtherCAT Communication Unit
Node address settings

Set the rotary switches of the EtherCAT Communication Unit to determine the node address.
In the system configuration example used in this chapter, the settings are as follows.
Inverter CJ1W-NCx82 Master NJ501-1x00 Master

1st unit Node address 17 1
Rotary switch x 10 Set to the 1 position. Set to the 0 position.
2nd unit Node address 22 2
Notes on setting are provided below for each Master Unit.
<CJ1W-NCx82 Master>
1 The EtherCAT Communication Unit uses input and output areas for 5 node addresses.
For this reason, when using the inverter with a fixed allocation, set 5 or larger number to the node
address of the next unit.
2 Node addresses can be set in a range of 17 to 80. Make sure the node addresses set for the Unit do
not overlap with other slave.
3 For the restrictions related to CJ1W-NCx82 Master, refer to Position Control Units
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL (Cat No.W487).
<NJ501-1x00 Master>
1 Node addresses can be set in a range of 1 to 99. Make sure the node addresses set for the Unit do
not overlap with other slave.
2 Unlike with the CJ1W-NCx82 master, the node address of the next unit can be set without intervals.
3 For the restrictions related to your NJ501-1x00, refer to NJ-series CPU Unit Software User’s Manual
(Cat No.W501).
(Notes) If a slave other than this product is also connected to the same network, set the unit by
referring to its User Manual. In such cases, check that the node addresses do not overlap with
other units.

2-6 SYSDRIVE MX2 Series Settings

2-6 SYSDRIVE MX2 Series Settings
To perform control from the Communication Unit, the parameter settings must be changed from the
front panel digital operator of the inverter.
In this procedure, the inverter power supply must be turned ON. When the power supply is turned ON,
the inverter may operate in unintended way. Check the condition of the wiring and system carefully
before starting the procedure.
Refer to the User Manual (Cat No.I570) for the SYSDRIVE MX2-series inverter for details on operating
the inverter parameter settings and for the meaning of the parameter values.
2
2-6-1 RUN Command Setting
2-6-1 RUN Command Setting

Change the control method for the RUN command.
Parameter No. Function name Data Default value

A002 RUN Command Selection 1 04 (Optional boad) 02 (Digital Operator)
2-6-2 Frequency Reference Setting

Change the control method for the frequency reference.

A001 Frequency Reference Selection 1 04 (Optional boad) 02 (Digital Operator)
2-6-3 Reset Selection Setting

Set the operation of the reset signal.

C102 Reset Selection 03 (Trip reset only) 00 (Trip reset at power-ON)
* If parameter C102 is not displayed, first set parameter b037 to 01.

2-7 Communication Starting and Operation

Checking with CJ1W-NCx82 Master
After completing the settings and wiring, turn ON the power and check that the communication starts.
The inverter power supply must be turned ON to set the inverter. When the power supply is turned ON,
before starting the operation.
2-7-1 Starting the System

Check the condition of the wiring and system carefully, and then turn ON the power supply for all the
inverters and PLC. It does not matter whether the inverter or PLC power supply is turned ON first.
However, an error occurs unless the power supply for all the inverters is turned ON within a certain time
(All Registered Slave Participation Standby Time parameter of CJ1W-NCx82, default value is 10
seconds) after turning ON the PLC power supply.
2-7-2 Network Setup

Firstly,enter the network settings. Until the settings are performed, the indicators show "Initial
processing status" in the table below for both the Master Unit and the EtherCAT Communication Unit.
Start CX-Programmer, and double-click the target CJ1W-NCx82 in the I/O table to start the support
tool. When the support tool starts, the Network Auto Setup dialog box is displayed. Perform the network
setup in accordance with the dialog box instructions. If the Network Auto Setup dialog box is not
displayed automatically, start the dialog box by selecting Network Auto Setup from Network in the
support tool menu.
For details on network setting, refer to Position Control Units
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL (Cat No.W487).
2-7-3 Checking the Master Unit

Check that the Master Unit has transitioned to normal operation from initial processing.
The indicators of the CJ1W-NCx82 make it easy to check the changes in status.
7-segment ECAT ECAT

RUN ERC ERH L/A
display RUN ERR
Initial processing Flashing ON OFF OFF OFF OFF ON
Normal operation “00” ON OFF OFF ON OFF Flashing
For details, refer to Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882
OPERATION MANUAL (Cat No.W487).


Checking with CJ1W-NCx82 Master
2-7-4 Checking the Inverter and EtherCAT Communication Unit
Check the POWER indicator and other indications of the inverter to confirm that power is being supplied
to the inverter.
Check the status indicators of the EtherCAT Communication Unit to see that the status has changed to
normal operation from initial processing.
1st unit
L/A IN L/A OUT RUN ERR

Initial processing ON ON OFF OFF
Normal operation Flashing Flashing ON OFF
2
2nd unit

Initial processing ON OFF OFF OFF
Normal operation Flashing OFF ON OFF
* If three or more units are connected, the status LEDs behave in the same way as the LEDs on the first unit,
except for the last unit.
L/A OUT on the last unit is always unlit.
2-7-5 Checking the Operation

Execute the PLC control program and check that the operation is normal.


Checking with NJ501-1x00 Master
After completing the settings and wiring, turn ON the power and check that the communication starts.
The inverter power supply must be turned ON to set the inverter. When the power supply is turned ON,
before starting the operation.
2-8-1 Starting the System

Check the condition of the wiring and system carefully, and then turn ON the power supply for all the
inverters and NJ501-1x00 Master. It does not matter whether the inverter or NJ501-1x00 Master power
supply is turned ON first. However, an error occurs unless the power supply for all the inverters is
turned ON within a certain time (Wait time for slave startup parameter of NJ501-1x00, default value is
30 seconds) after turning ON the NJ501-1x00 power supply.
2-8-2 Network Setup

Firstly, enter the network settings. How to set the network is explained below by taking the "MX2-ECT
sample" project as an example.
1 Starting the Sysmac Studio
<Project Window>
Click the New Project Button, enter MX2-ECT sample under the Project name, and then click
the Create Button.


2 Registering an EtherCAT slave
<Controller Configurations and Setup Pane>

Right-click EtherCAT under the Configurations and Setup menu on the left side of the pane,
and open the Edit Pane.
When a group of items that can be registered as an EtherCAT slave appears on the right side of
the pane, select Frequency Inverter.
From the slave list on the right side of the pane, drag and drop 3G3AX-MX2-ECT onto Master at
the center of the pane, and the Unit will be registered as an EtherCAT slave.
2-8-2 Network Setup

drug & drop

<Pane when 2 inverters are registered>

The pane after 2 inverters are registered is shown below.
3 Registering an IO map
Right-click I/O Map under the Configurations and Setup menu on the left side of the pane, and
open the Edit Pane.
With the NJ501-1x00 Master, data used in the control algorithms is treated as a set of variables.
If you want to assign a variable to each object that controls the inverter and use the assigned
variables in the control algorithms, define the variables on this pane.
<I/O Map Pane>


4 Building a program
Build the project program you created, so as to convert it to the format supported by the
NJ501-1x00 Master.
Select Build Controller from the Project Menu.
Confirm that the program that is built is with no errors.
5 Synchronizing with the CPU Unit

Transfer the program and settings created in Sysmac Studio to the NJ501-1x00 Master.
Go online and select Synchronization from the Controller Menu.
Click Transfer To Controller to transfer the program data. 2
When the transfer is completed successfully, the RUN LED indicator on the inverter turns ON.
The inverter is now ready.
2-8-2 Network Setup

<Synchronization Pane>

2-8-3 Checking the NJ501-1x00 Master

Check that the NJ501-1x00 Master is operating normally in the RUN Mode.
Operating normally
Status of NJ501-1x00 Master
User program is running User program is stopped
Front LED PWR (Green) ON ON
indicators RUN (Green) ON OFF
ERROR (Red) OFF OFF

Check the POWER indicator and other indications of the inverter to confirm that power is being supplied
to the inverter.
Check the status indicators of the EtherCAT Communication Unit to see that the status has changed to
normal operation from initial processing.
1st unit

Initial processing ON ON OFF OFF
Normal operation Flashing Flashing ON OFF
2nd unit

Initial processing ON OFF OFF OFF
Normal operation Flashing OFF ON OFF
* If three or more units are connected, the status LEDs behave in the same way as the LEDs on the first unit,
except for the last unit.
L/A OUT on the last unit is always unlit.
2-8-5 Checking the Operation

Execute the NJ501-1x00 Master control program and check that the operation is normal.

Common Slave Specifications
3
This chapter explains the common slave specifications during EtherCAT
communication, and about the PDOs and SDOs.
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

3 Common Slave Specifications
3-1 Structure of CANopen over EtherCAT

The figure below shows the structure of CANopen over EtherCAT (CoE).
Inverter
Application layer Inverter application
Object dictionary
SDO PDO mapping

Communications
status transitions (Mailbox)
PDO (Cyclic)
Register Mailbox Process data
SyncManager FMMU
EtherCAT data link layer
EtherCAT physical layer
Normally, multiple protocols can be transmitted using EtherCAT. In the EtherCAT Communication Unit
for MX2 inverters, the CANopen communication profile (CiA 301) that is popular in Europe, and the
drive profile (CiA 402) are used.
The object dictionary in the application layer contains parameters and application data as well as
information on the PDO mapping between the process data and inverter application.
The process data object (PDO) consists of objects in the object dictionary that can be mapped to the
PDO. The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications (SDO)
uses asynchronous message communications where all objects in the object dictionary can be read
and written.

3-2 Communications Status Transitions
3-2 Communications Status Transitions

The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master.
Initialization
Pre-operational
Safe-operational
3
Operational
SDO PDO PDO

State Details
communications reception transmission
Initialization (Init) Not supported Not supported Not supported Communications are being initialized.
Communications are not possible.
Pre-Operational Supported Not supported Not supported Only mailbox communications are possible in this
(Pre-Op) state. This state is entered after initialization has
been completed. It is used to initialize network
settings.
Safe-Operational Supported Not supported Supported In this state, PDO transmissions are possible in
(Safe-Op) addition to mailbox communications. Cyclic
communications can be used to send information
such as status from the inverter.
Operational (Op) Supported Supported Supported This is a normal operating state. Cyclic
communications can be used to control the motor.

3-3 Process Data Objects (PDO)
3-3-1 Outline
The process data objects (PDOs) are used to transfer data during cyclic communications in realtime.
There are two types of PDOs: reception PDOs (RxPDOs) which receive data from the controller, and
transmission PDOs (TxPDOs) which send statuses from the inverter to the Host Controller.
RxPDO
Operation command, target value, etc
Host
Controller Inverter
TxPDO
Operation status, present value, etc
The EtherCAT application layer can hold multiple objects to enable the transferring of inverter process
data. The contents of the process data are described in the PDO mapping object and the Sync
Manager PDO assignment object.
3-3-2 PDO Mapping Settings

The PDO mapping indicates the mapping for application objects (realtime process data) between the
object dictionary and PDO.
The number of mapped objects is described in sub-index 00 hex of the mapping table. In this mapping
table, 1600 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs.
The following table is an example of PDO mapping.
Object dictionary
Index Sub Object contents
Mapping
objects
1ZZZ hex 01 hex 6TTT hex TT hex 8

1ZZZ hex 02 hex 6UUU hex UU hex 8
1ZZZ hex 03 hex YYYY hex YY hex 16 PDO length: 32 bits
PDO_1 Object A Object B Object D
6TTT hex TT hex Object A

6UUU hex UU hex Object B
Application
6VVV hex VV hex

objects
Object C
6YYY hex YY hex Object D
6ZZZ hex ZZ hex Object E

3-3-3 Sync Manager PDO Assignment Settings

A Sync Manager channel consists of several PDOs. The Sync Manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
3-3 Process Data Objects (PDO)

The number of PDOs is given in sub-index 00 hex of the Sync Manager PDO assignment table. In this
table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of Sync Manager PDO mapping.
Object dictionary
Sync Manager PDO
assignment objects
Index Sub Object contents

1C1Z hex 1 hex 1A00 hex
Sync Manager entity Z
PDO A PDO B PDO D
3
3-3-3 Sync Manager PDO Assignment Settings

1A00 hex PDO A
Mapping objects
1A01 hex PDO B

1A02 hex PDO C
1A03 hex PDO D
1A04 hex PDO E
1A05 hex PDO F
1A06 hex PDO G
3-3-4 Fixed PDO Mapping

This section describes the contents of fixed PDO mapping for MX2 inverters. The contents of fixed
PDOs cannot be changed.
PDO mapping for speed control (independent profile)

RxPDO 5000 hex Command
(1701 hex) 5010 hex Frequency reference
TxPDO 5100 hex Status
(1B01 hex) 5110 hex Output frequency monitor
PDO mapping for speed control (CiA402 profile)

RxPDO 6040 hex Controlword
(1700 hex) 6042 hex vl target velocity
TxPDO 6041 hex Statusword
(1B00 hex) 6043 hex vl velocity demand

3-4 Service Data Objects (SDO)
3-4-1 Outline
The EtherCAT Communication Unit for MX2 inverters supports SDO communications as message
communications. SDO communications are used for setting objects and monitoring the status of MX2
inverters. Objects can be set and the status monitored by reading and writing data to the entries in the
object dictionary of the Host Controller.
3-4-2 Abort Codes

The following table lists the abort codes for when an SDO communications error occurs.
Value Meaning
05030000 hex Toggle bit not changed
05040000 hex SDO protocol timeout
05040001 hex Client/Server command specifier not valid or unknown
05040005 hex Out of memory
06010000 hex Unsupported access to an object
06010001 hex Attempt to read a write only object
06010002 hex Attempt to write to a read only object
06020000 hex The object does not exist in the object directory
06040041 hex The object can not be mapped into the PDO.
06040042 hex The number and length of the objects to be mapped would exceed the
PDO length.
06040043 hex General parameter incompatibility reason
06040047 hex General internal incompatibility in the device
06060000 hex Access failed due to a hardware error
06070010 hex Data type does not match, length of service parameter does not match
06070012 hex Data type does not match, length of service parameter too high
06070013 hex Data type does not match, length of service parameter too low
06090011 hex Subindex does not exist
06090030 hex Value range of parameter exceeded (only for write access)
06090031 hex Value of parameter written too high
06090032 hex Value of parameter written too low
06090036 hex Maximum value is less than minimum value
08000000 hex General error
08000020 hex Data cannot be transferred or stored to the application
08000021 hex Data cannot be transferred or stored to the application because of local control
08000022 hex Data cannot be transferred or stored to the application because of the present
device state
08000023 hex Object dictionary dynamic generation fails or no object dictionary is present

3-5 Emergency Messages
3-5-1 Outline
3-5 Emergency Messages

When an error or warning occurs in an MX2 inverter, an emergency message is sent to the master
using mailbox communications. An emergency message is not sent for a communications error.
You can select whether to send emergency messages by setting Diagnosis history (10F3 hex).
The default setting is to send emergency messages. (10F3 hex, sub-index: 05 hex (Flags) = 1)
Set the sub-index 05 hex (Flags) in object 10F3 hex to 0 every time the power is turned ON to disable
the sending of emergency messages.
Emergency messages consist of 8 bytes of data.
Byte 0 1 2 3 4 5 6 7
3
Error register Manufacturer specific error field
Meaning Error code
(Object 1001 hex) (reserved)
3-5-1 Outline
3-5-2 Error Code List
Error code Meaning Possible correction
5300 hex Error in the option and inverter • Check that the Communication Unit is mounted correctly
connection onto the inverter.
• The Communication Unit is faulty. Replace the
Communication Unit.
• If a trip reset was performed with the inverter, set the
inverter C102 to 3: Trip reset only, and turn the power
supply OFF and ON again.
• If an initialization mode change was performed with the
inverter, turn the inverter power supply OFF and ON again.
6341 hex PDO setting error A set value in PDO mapping is invalid. Check the value of
object 5200 and the AL Status code, and then review the PDO
assignment settings.
6331 hex EEPROM data error • An error was detected in data inside EEPROM when the
power supply was turned ON. Replace the Communication
Unit.
• The Diagnosis history cannot be saved because the
EEPROM has reached the end of its service life. There is
no effect on operations, but if you want to use the Diagnosis
history, replace the unit.
FF00 hex A warning occurred for the Eliminate the cause and turn on the bit 7: Fault reset of 5000
inverter hex (Command) or 6040 hex (Controlword).
FF01 hex A trip occurred for the inverter Eliminate the cause and turn on the bit 7: Fault reset of 5000
hex (Command) or 6040 hex (Controlword).

3-6 Sysmac Device Functions

The control device products designed according to the unified communication specifications and user
interface specifications applicable to OMRON's control devices are called Sysmac devices.
In addition, the functions of these devices are called Sysmac device functions.
The following explains the functions available when this product is combined with the Machine
Automation Controller including NJ Series or automation software.
The EtherCAT Communication Unit 3G3AX-MX2-ECT is a Sysmac device that, if the unit version is 1.1
or later, supports Sysmac device functions.
 Sysmac error status

Errors generated by slaves are systematically defined in Sysmac devices. When Sysmac Studio is
used, error messages and remedial actions can be checked by following common operating
procedures.
Errors are notified by 2002 hex-01 hex: Sysmac Error status. If errors detected by the EtherCAT
Communication Unit are to be displayed in Sysmac Studio, 2002 hex-01 hex: Sysmac Error status must
be mapped to the PDO. By default, Sysmac Studio automatically maps 2002 hex-01 hex: Sysmac Error
status to the PDO by allocation of 1BFF hex : 512th transmit PDO Mapping.
• For the Sysmac error status, refer to 5-6-1 Manufacturer Specific Objects on page 5-16.
• For the errors displayed in Sysmac Studio, refer to A-5 Sysmac Error Status Codes on page
A-36.
 Saving the node address settings

When the node address switch is set to 00, it means that the system is in the software setting mode and
the node address values set by Sysmac Studio become effective.
In the software setting mode, execute Write Slave Node Address on the EtherCAT Edit Screen of
Sysmac Studio to save the set values to the nonvolatile memory on the EtherCAT Communication Unit
side.

Software setting
The value saved in the non-volatile memory on the slave side as SII (Slave Information Interface)
information becomes the node address.
EtherCAT Master
3-6 Sysmac Device Functions

(4) (5) Nonvolatile (1) While the power is off, set the node address
EtherCAT switches to 00.
Slave Controller memory
(2) SII (2) Write the set value of node address to SII on
the slave, from the master side.
(3) When the slave power is turned on, the set
Register: 0010 hex value of node address is reflected in the register
(3) address 0012 hex by the software.
Register: 0012 hex
(4) The EtherCAT master reads the set value at
(1)
Node address
switch
the register address 0012 hex.
(5) The EtherCAT master writes the value at the
3
address 0012 hex to the address 0010 hex as
EtherCAT Slave the node address.
(EtherCAT Communication Unit)
Node address switch setting

The value set by the node address switches on the slave becomes the node address.
EtherCAT Master
(3) (4) Nonvolatile

EtherCAT (1) While the power is off, set the node address
Slave Controller memory
switches.
SII
(2) When the slave power is turned on, the value
set by the node address switches is reflected
Register: 0010 hex in the register address 0012 hex.
(2) (3) The EtherCAT master reads the set value at
Register: 0012 hex
the register address 0012 hex.
Node address (4) The EtherCAT master writes the value at the
(1)
switch address 0012 hex to the address 0010 hex as
the node address.
EtherCAT Slave
(EtherCAT Communication Unit)
 Displaying the serial number

The serial number saved in the nonvolatile memory on the Servo Drive side is displayed under 1018
hex-04 hex: Serial number. With controllers conforming to the Sysmac device functions, the network
configuration can be checked using this serial number.
To check the network configuration, set Setting = Actual device under Serial Number Check Method
on the EtherCAT Edit Screen of Sysmac Studio.
If the specified criteria cannot be met, a Network Configuration Verification Error will occur.
Since replacement of slave device can be detected, all slave parameters will be set without fail.

 Conforming to the ESI Specification (ETG.2000 S (R) V1.0.1)

The ESI Specification is a specification document defining the items described in the EtherCAT Slave
Information (ESI) file.
With controllers conforming to the Sysmac device functions, optional functions defined in the ESI
Specification can be used to specify backup parameters on the slave side.
Specified backup parameters on the slave side can be backed up and restored by Sysmac Studio.
 SII data check

SII (Slave Information Interface) represents configuration information specific to each EtherCAT slave,
which is written to the nonvolatile memory in the EtherCAT slave.
With Sysmac device EtherCAT slaves, SII information is checked on the slave side.
If the slave cannot operated based on the SII information written, a SII verification error will occur. If the
error still occurs after turning the power OFF and then ON again, contact your OMRON sales
representative.

Do not modify the SII information using a setting tool by other manufacturer.

Inverter Control
This chapter describes the profiles that are used to control inverters.
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
4-4-2 Profile Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4-3 Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-5 Control with the PDO Free Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

4 Inverter Control
4-1 Outline
This section describes how to use the EtherCAT Communication Unit to control the inverter.
4-1-1 Function Selection

Inverter control is performed by allocating a function object to a PDO.
These functions are limited depending on the combination with the used Master Unit.
Type Details
Allocation when using CJ1W-NCx82 The fixed allocation when connected with OMRON's CJ1W-NCx82.
Independent profile OMRON's independently-developed function object.
Enables easy control of the inverter.
CiA402 drive profile A function object that conforms to the CiA402 drive profile.
PDO free format Objects can be freely allocated, including the above objects.
*1 When using a Master Unit from another manufacturer, check yourself whether it supports the above functions.
*2 If you are using your NJ501-1x00 as the master, refer to the explanation on allocation in PDO free format.
4-1-2 Object Mapping

Allocate the object that you want to use to a PDO with the procedure below.
1 Allocate the object to a PDO.
2 Assign the PDO to Sync Manager.
Use the tool of the Master Unit for allocation.
PDO Mapping
This unit uses the PDOs below to allocate the objects.
 RxPDO (master to slave)

PDO Details
1600 hex to 1604 hex Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be
(1st receive PDO Mapping to allocated to each PDO.
5th receive PDO Mapping)
1700 hex The fixed allocation that conforms to the CiA402 drive profile.
(257th receive PDO Mapping)
1701 hex The fixed allocation of the independent profile.
(258th receive PDO Mapping)
 TxPDO (slave to master)

PDO Details
1A00 to 1A04 hex Objects can be freely allocated. Up to 2 objects (maximum size of 4 bytes) can be
(1st transmit PDO Mapping to allocated to each PDO.
5th transmit PDO Mapping)
1B00 hex The fixed allocation that conforms to the CiA402 drive profile.
(257th transmit PDO Mapping)
1B01 hex The fixed allocation of the independent profile.
1BFF hex By default, Sysmac Studio assigns 2002 hex: Sysmac error status.

4 Inverter Control
Sync ManagerAssignment
In this unit, specify the PDOs that you want to use as follows.
 Sync Manager
Sync Manager PDO assignment Details
1C12 hex Allocate RxPDO (master to slave).
Up to 5 RxPDOs can be allocated.
1C13 hex Allocate TxPDO (slave to master).
Up to 5 TxPDOs can be allocated.
4-1 Outline
4

4 Inverter Control
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.
4-2-1 Inverter Setting

Set the inverter parameters as follows.
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
* 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.
* If parameter C102 is not displayed, set b037 to 01.
* Do not use motor 2 control of the inverter. The motor 1 control only can be used.

The object that will be used is allocated with the fixed settings below.
 PDO 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)
 Sync Manager assignment

Sync Manager PDO assignment Description
1C12 hex 1701 (Fixed allocation of the independent profile)
1600 (Setting as above)
1601 (Setting as above)
1C13 hex 1B00 (Fixed allocation of the independent profile)
1A00 (Setting as above)
1A01 (Setting as above)

4 Inverter Control
4-2-3 Control Method

Control the inverter by operating the fixed mapping PDOs.
 Control information (master to slave)

Word Meaning
n Control command
n+1 Frequency reference
n+2 Multi-step position command 0 (LSW)
n+3 Multi-step position command 0 (MSW)
n+4 Multi-function input
(Notes) n: Start address of the remote I/O output relay area that is assigned to the unit.
 Status information (slave to master)

Word Meaning
m Status
m+1 Output frequency monitor
m+2 Current position monitor (LSW) 4
m+3 Current position monitor (MSW)
m+4 Multi-function output monitor

(Notes) m: Start address of the remote I/O input relay area that is assigned to the unit.
Bit and data information

 Command
The bit data for the command is shown below.
        7      1 0
Bit Name Meaning

0 Forward/stop *1 0: Stop
1: Forward command
1 Reverse/stop *1 0: Stop
1: Reverse command
7 Fault reset : Resets an error or trip for the unit or inverter.
- (Reserved) The reserved area. Set 0.
*1 Operates as a start bit when Simple position control is enabled.
 Frequency reference
Name Meaning
Frequency reference Specify the reference frequency in increments of 0.01 Hz. When a value is set that
exceeds the maximum frequency, operation is performed at the maximum frequency.
Setting range: 0 to maximum frequency
 Multi-step Position command 0

Name Meaning
Multi-step position command 0 Specify the value of inverter parameter P060: Multi-step position command 0. Values
outside the range are not applied and operation is performed with the previous value.
Setting range: Position range setting (reverse side) to position range setting (forward
side)

4 Inverter Control
 Multi-function input
The bit data for the multi-function input information is shown below.
  13 12 11 10 9 8 7       
Bit Name Meaning

7 Multi-function input 1 0: OFF
8 Multi-function input 2 1: ON
9 Multi-function input 3
 (Reserved) The reserved area. Set 0.
* Use by assigning a function to the multi-function input with the inverter parameters.
 Status
The bit data for the status information is shown below.
15   12   9  7    3  1 0
Bit Name Meaning

0 Forward operation in 0: Stopped/during reverse operation
progress 1: During forward operation
1 Reverse operation in 0: Stopped/during forward operation
progress 1: During reverse operation
3 Fault 0: No error or trip occurred for the unit or inverter
1: Error or trip occurred for the unit or inverter
7 Warning 0: No warning occurred for the unit or inverter
1: Warning occurred for the unit or inverter
9 Remote 0: Local (Operations from EtherCAT are disabled)
1: Remote (Operations from EtherCAT are enabled)
12 Frequency matching 0: During acceleration/deceleration
1: Frequency matched
15 Connection error between the 0: Normal
Optional Unit and inverter 1: Error (Cannot update data for the inverter. To restore, turn the power OFF
and then ON again.)
 Output frequency monitor

Name Meaning
Output frequency monitor Displays the output frequency in increments of 0.01 Hz.
 Current position monitor

Name Meaning
Current position monitor Displays the value of inverter parameter d030: Current position monitor.
 Multi-function output monitor

The bit data for the multi-function output monitor information is shown below.
         6     1 0
Bit Name Meaning

0 Multi-function output P1/EDM 0: OFF
1 Multi-function output P2 1: ON
6 Multi-function relay output
* Use by assigning a function to the multi-function output with the inverter parameters.

4 Inverter Control
4-2-4 Sample Program
Configuration

This section explains a configuration that uses CJ1W-NCx82 as the master, and one MX2 inverter on
which an EtherCAT Communication Unit (node address: 17) is mounted as the slave.
Parameter settings
The shared parameter settings of CJ1W-NCx82 are as follows.
Parameter name Set value

Remote I/O Output Memory Area Selection CIO area
First word of remote I/O Output memory area 3800
Remote I/O Input Memory Area Selection CIO area
First word of remote I/O Input memory area 3900
The control information and status information of the EtherCAT Communication Unit is allocated to the 4
addresses below.
• Control information (master to slave)

Word Address Meaning
n CIO 3800 Command
Bit 0: Forward/stop
Bit 1: Reverse/stop
Bit 7: Fault reset
n+1 CIO 3801 Frequency reference (increments of 0.01 Hz)
• Status information (slave to master)

Word Address Meaning
m CIO 3900 Command
Bit 0: During forward operation
Bit 1: During reverse operation
Bit 3: Fault
m+1 CIO 3901 Output frequency monitor (increments of 0.01 Hz)

4 Inverter Control
Ladder program example
MOV
0.00 (021)
Frequency
D0000 reference
Frequency 3801
setting
3900.03 0.03 30.00
Fault
occurred
Fault Fault
reset
30.00
Fault occurred
0.01 0.02 3900.01 30.00 3900.15 3800.00

Forward/stop
(word n bit 0)
Forward Reverse During reverse Fault Option - Inverter
operation occurred connection fault
0.02 0.01 3900.00 30.00 3900.15 3800.01 Reverse/stop

(word n bit 1)
Reverse Forward During forward Fault Option - Inverter
operation occurred connection fault
0.03 3900.03 3800.07 Fault reset

(word n bit 7)
Fault reset Fault
END
(001)
Time chart
Frequency setting (0.00)
Forward (0.01)
Reverse (0.02)
During forward operation (word m bit 0)
During reverse operation (word m bit 1)
Frequency reference (word n + 1) The frequency reference data in D00000

is forwarded to word n + 1.
Fault occurred (30.00)
Fault reset (0.03)
(1) (2) (3) (4) (5) (6) (7)

4 Inverter Control
Explanation of operations
(1) When the "Frequency setting" contact is turned ON, the frequency reference data that is set in
D00000 is forwarded to the remote I/O output relay area (word n + 1).

(2) When the "Forward" contact is turned ON, "Forward/stop (word n bit 0)" of the remote I/O output
relay area turns ON and forward operation starts. During forward operation, "During forward
operation (word m bit 0)" of the remote I/O input relay area turns ON.
(3) When the "Forward" contact is turned OFF and after decelerating and stopping, "During forward
operation (word m bit 1)" of the remote I/O input relay area turns OFF.
(4) When the "Reverse" contact is turned ON, "Reverse/stop (word n bit 1)" of the remote I/O output
relay area turns ON and reverse operation starts. During reverse operation, "During reverse
operation (word m bit 1)" of the remote I/O input relay area turns ON.
(5) When the "Reverse" contact is turned OFF and after decelerating and stopping, "During reverse
operation (word m bit 1)" of the remote I/O input relay area turns OFF.
(6) When "Fault (word m bit 3)" of the remote I/O input relay area turns ON, "Fault occurred" turns ON.
(7) When the "Fault reset" contact is turned ON, "Fault reset (word n bit 7)" of the remote I/O output
relay area turns ON and the fault is cancelled.
4

4 Inverter Control
4-3 Control with the Independent Profile

This section describes how to use the OMRON profile to control the inverter.

The inverter parameters must be set to match the profile.
With the independent profile, set as follows.
A001 Frequency Reference Selection 1 04: Optional boad
A002 RUN Command Selection 1 04: Optional boad
C102 Reset Selection 03: Trip reset only
4-3-2 Profile Allocation

Assign the PDOs of the independent profile to Sync Manager.

1C12 hex 1701 hex (Fixed allocation of the independent profile)
1C13 hex 1B01 hex (Fixed allocation of the independent profile)
The values below are the fixed mapping for the PDOs.
PDO Description
1701 hex 5000 hex (Command)
5010 hex (Frequency reference)
1B01 hex 5100 hex (Status)
5110 hex (Output frequency monitor)

Control the inverter by operating the PDOs that allocate the profile.
IO format
Word Meaning
n Command

Word Meaning
m Status

4 Inverter Control

 Command
        7      1 0
4-3 Control with the Independent Profile

Bit Name Meaning
0 Forward/stop 0: Stop
1: Forward command
1 Reverse/stop 0: Stop
1: Reverse command
7 Fault reset : Resets an error or trip for the unit or inverter.
- Reserved Set 0.
 Frequency reference
Name Meaning
Frequency reference Specify the frequency reference in increments of 0.01 Hz. When a value is set that
exceeds the maximum frequency, operation is performed at the maximum frequency.
Setting range: 0 to maximum frequency
4
 Status

The 16-bit data is as shown below.
15   12   9  7    3  1 0
Bit Name Meaning

0 During forward operation 0: Stopped/during reverse operation
1: During forward operation
1 During reverse operation 0: Stopped/during forward operation
1: During reverse operation
3 Fault 0: No error or trip occurred for the unit or inverter
1: No error or trip occurred for the unit or inverter
7 Warning 0: No warning occurred for the unit or inverter
1: Warning occurred for the unit or inverter
9 Remote 0: Local (Operations from EtherCAT are disabled)
1: Remote (Operations from EtherCAT are enabled)
12 Frequency matching 0: During acceleration/deceleration or stopped
1: Frequency matched
15 Connection error between the 0: Normal
Optional Unit and inverter 1: Error (Cannot update data for the inverter. To restore, turn the
power supply OFF and then ON again.)
 Reserved Set 0.
 Output frequency monitor

Name Meaning
Output frequency monitor Displays the output frequency in increments of 0.01 Hz.

4 Inverter Control
4-4 Control with the CiA402 Profile

This section describes how to use the Velocity mode of the CiA402 drive profile to control the inverter.

The inverter parameters must be set to match the profile.
With the CiA402 profile, set as follows.
A001 Frequency Reference Selection 1 04: Optional boad
A002 RUN Command Selection 1 04: Optional boad
H004 Motor Pole Number 1 2/4/6/8/10(Set to match the system.)
C102 Reset Selection 03 (Trip reset only)
* After changing H004, turn the inverter power supply OFF and ON again.
* Do not use motor 2 control of the inverter. The motor 1 control only can be used.
4-4-2 Profile Allocation

Assign the PDOs of the CiA402 profile to Sync Manager.

1C12 hex 1700 hex (Fixed allocation conforming to the CiA402 drive profile)
1C13 hex 1B00 hex (Fixed allocation conforming to the CiA402 drive profile)
The values below are the fixed mapping for the PDOs.
PDO Description
1700 hex 6040 hex (Controlword)
6042 hex (vl target velocity)
1B00 hex 6041 hex (Statusword)
6043 hex (vl velocity demand)

Control the inverter by operating the PDOs that allocate the profile.
IO format
Word Meaning
n Controlword
n+1 vl target velocity

Word Meaning
m Statusword
m+1 vl velocity demand

4 Inverter Control

 Controlword
        7    3 2 1 0
4-4 Control with the CiA402 Profile

Bit Name Meaning
0 Switch on The state is controlled by these bits.
1 Enable voltage For details, refer to 5-1-3 Command Coding on page 5-3.
2 Quick stop
3 Enable operation
7 Fault reset Faults and warnings are cleared when this bit turns ON.
 Reserved Set 0.
* When Quick stop is set to 0 during operation, deceleration stop is made. After completely stopping, the next
operation is accepted.
 vl target velocity
Name Meaning 4
vl target velocity Specify the command speed in rpm.
Setting range: maximum speed to +maximum speed

Specify the operation direction with a symbol (/+). When a value is set that exceeds
the maximum frequency, operation is performed at the maximum frequency.
 Statusword
      9  7 6 5 4 3 2 1 0
Bit Name Meaning

0 Ready to switch on These bits indicate the state.
1 Switched on For details, refer to 5-1-4 State Coding on page 5-3.
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning 0: No warning occurred for the unit or inverter.
1: Warning occurred for the unit or inverter.
9 Remote 0: Control from Controlword is disabled.
1: Control from Controlword is enabled.
 Reserved Not used.
 vl velocity demand
Name Meaning
vl velocity demand Displays the operation speed in rpm.
The operation direction is expressed with a symbol (/+).

4 Inverter Control
4-5 Control with the PDO Free Format

Objects can be freely allocated to PDOs to create an independent profile.
If you use in combination with the OMRON independent profile or the CiA402 drive profile, you can
perform advanced control and monitoring.
To use your OMRON NJ501-1x00 as the master, allocate desired objects by referring to this section.

When using the OMRON independent profile, set A001, A002 and C102.
When using the CiA402 drive profile, set A001, A002, H004 and C102.
For details, refer to the previous sections.

Allocate the objects that you want to use to PDOs.
Setting example
Set as follows to allocate the acceleration time and deceleration time to RxPDO and the current monitor
to TxPDO, based on the OMRON independent profile.
 PDO mapping
PDO Description
1600 hex 4011.26 (F002 Acceleration time setting 1)
(1st receive PDO Mapping)
1601 hex 4011.28 (F003 Deceleration time setting 1)
(2nd receive PDO Mapping)
1A00 hex 3010.24 (d002 Output current monitor)
(1st transmit PDO Mapping)
 Sync Manager assignment

1C12 hex 1701 hex (Fixed allocation of the independent profile)
1600 hex (Setting as above)
1601 hex (Setting as above)
1C13 hex 1B01 hex (Fixed allocation of the independent profile)
1A00 hex (Setting as above)
Following from the above allocations, the IO format is as follows.

Word Meaning
n Command
n+2 Acceleration time setting 1 (LSW)
n+3 Acceleration time setting 1 (MSW)
n+4 Deceleration time setting 1 (LSW)
n+5 Deceleration time setting 1 (MSW)

4 Inverter Control

Word Meaning
m Status
m+2 Output current monitor
4-5 Control with the PDO Free Format

4-5-3 Objects Allocation in Sysmac Studio
In Sysmac Studio, you can edit the PDO map settings for each slave.
4-5-3 Objects Allocation in Sysmac Studio

Click Edit PDO Map Settings in the Configurations and Setup of the EtherCAT slave to open the Edit
PDO Map Settings pane.

4 Inverter Control
To allocate an object to a PDO in Sysmac Studio, select Output (or Input) for one of 1st receive PDO
Mapping to 5th receive PDO Mapping (or 1st transmit PDO Mapping to 5th transmit PDO Mapping),
right-click Add PDO Entry on the right side of the screen, and then select a desired object from the list.
When Output (or Input) is selected, the applicable PDO among 1st receive PDO Mapping to 5th
receive PDO Mapping (or 1st transmit PDO Mapping to 5th transmit PDO Mapping) will be allocated to
Sync Manager.
Note that up to 5 PDOs can be selected each for the target of Output (or Input).
Add PDO Entry
In the example shown below, Jogging Frequency (Index: 3012.5Dh) and Manual Torque Boost
Frequency 1 (Index: 3012.62h) are allocated to 1st receive PDO Mapping.
4-5-4 Restrictions
The PDO free format has the restrictions that are described below.
• Up to 2 objects can be allocated to each PDO from 1600 to 1604 hex and 1A00 to 1A04 hex. Keep
the total size of the allocated objects to within 4 bytes.
• Up to 5 PDOs each can be allocated to 1C12 and 1C13.
• An object from 5000 to 5999 cannot be allocated to RxPDO (master to slave) together with an object
from 6000 to 6999.
• An RxPDO that combines an object from 5000 to 5999 with an object from 6000 to 6999 cannot be
allocated to 1C12 hex of Sync Manager.
• The inverter parameters (objects 3000 to 3999 and 4000 to 4999) that can be allocated to RxPDO
(master to slave) are limited to those that can be changed during operation.
• It is not possible to allocate only the LSW or only the MSW to RxPDO or TxPDO.
• The greater the number of RxPDOs or TxPDOs is, the longer the data updating cycle becomes.
Normally the data is updated every 4 ms, but it can increase to every 6 ms depending on the number.

4 Inverter Control
4-6 Trial operation via EtherCAT
4-6 Trial operation via EtherCAT Communication Unit

Communication Unit
You can use the "Test Operation" function of your parameter setting tool (CX-Drive, etc.) to operate the
inverter on a trial basis.
Before performing trial operation of the inverter via the EtherCAT Communication Unit, make sure
EtherCAT network communications have been established properly. The main purpose of trial operation
is to confirm that the system operates correctly from the electrical viewpoint. Perform trial operation
after confirming safety around the devices.
If an error occurs during trial operation, remove the error by referring to Chapter 6, Handling of Errors
and Maintenance or the User's Manual for MX2 Series, and resume operation after conforming safety.
 How to perform trial operation using a parameter setting tool

1 Start your parameter setting tool and make online connection via EtherCAT.
2 Select the Test Operation function.

4
3 Set a desired frequency, acceleration time and deceleration time, and then select
Forward or Reverse and run the motor.
The motor will keep running until Stop is selected.

4 Inverter Control

CiA402 Drive Profile
This chapter explains about the CiA402 drive profile.
5-1 Inverter State Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-1-1 State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 5
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

5 CiA402 Drive Profile
5-1 Inverter State Control

The state of the MX2 inverter is controlled by using the Controlword (6040 hex). Control state is given in
the Statusword (6041 hex).
5-1-1 State Machine

The state of the MX2 inverter changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to 5-1-2 State Descriptions on page 5-3, and for details on the command
codings, refer to 5-1-3 Command Coding on page 5-3.
Power turned OFF or reset

Start
0: After the main power supply is turned on
Not ready to switch on
1: After initialization is completed
Switch on 15: Fault reset

Fault
disabled
Shutdown: 2 7: Disable Voltage
Ready to
switch on
Switch on: 3
6: Shutdown
14: Error
response
Switched on operation
Disable Voltage: 10 completed
Enable operation: 4 Fault

reaction active
5: Disable
operation
Operation 8: Shut down 13: Error occurs

enabled
9: Disable Voltage
(Notes) The Quick stop active state is not supported. If Quick stop is enabled in the Operation enable state,
transition 9 is executed.

5-1-2 State Descriptions

State Details
Not ready to switch on The power supply is turned ON and initialization is being executed.
Switch on disabled Initialization has been completed.
Parameters can be set.
Ready to switch on Parameters can be set.
Switched on Parameters can be set.
Operation enabled Inverter can be controlled.
Fault reaction active There was an error in the inverter and the cause is being determined.
Fault There is an error in the inverter.
5-1 Inverter State Control

5-1-3 Command Coding
The state is controlled by combining the bits in Controlword (6040 hex), as shown in the following table.
Controlword bit
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transition
fr eo qs ev so
Shutdown - - 1 1 0 2, 6, 8
Switch on - 0 1 1 1 3 5
Switch on + - 1 1 1 1 3 + 4*1
enable operation
5-1-2 State Descriptions

Disable voltage - - - 0 - 7, 9, 10
Quick stop - - 0 1 - 7, 9, 10
Disable operation - 0 1 1 1 5
Enable operation - 1 1 1 1 4
Fault reset 0  1*2*3 - - - - 15
(Notes) fr = Fault reset, eo = Enable operation, qs = Quick stop, ev = Enable voltage, so = Switch on
*1 The state automatically transitions to the Enable operation state after the Switch on state.
*2 Operation when bit 7: Fault reset turns ON.
Fault state : Fault are cleared and the state transitions to Switch on disabled.
: If there are any warnings (6401 hex: Statusword bit 7), they are reset.
State other than Fault : If there are any warnings (6041 hex: Statusword bit 7), they are reset.
: The state will change according to command bits 0 to 3.
*3 When Fault reset is executed with bit 7, set the bit back to 0 before giving the next command.
5-1-4 State Coding

The state is indicated by the combination of bits in Statusword (6041 hex), as shown in the following
table.
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

State
sod qs ve f oe so rtso
Not ready to switch on 0 0 - 0 0 0 0
Switch on disabled 1 1 - 0 0 0 0
Ready to switch on 0 1 - 0 0 0 1
Switched on 0 1 1 0 0 1 1
Operation enabled 0 1 1 0 1 1 1
Fault reaction active 0 1 - 1 1 1 1
Fault 0 1 - 1 0 0 0
(Notes) sod = Switch on disabled, qs = Quick stop, ve = Voltage enabled, f = Fault, oe = Operation enabled,
so = Switched on, rtso = Ready to switch on

5-2 Modes of Operation

The operation mode indicated below is supported.
* vl: Velocity mode
The operation mode is set in Modes of operation (6060 hex). In addition, the operation mode is given in
Modes of operation display (6061 hex).
The operation modes supported by the inverter can be checked in Supported drive modes (6502 hex).

5-3 Velocity Mode

In this operation mode, the output speed of the inverter can be controlled.
vl target velocity (6042 hex) Velocity

vl velocity min/max amount (6046 hex) limit
function vl velocity vl velocity actual
vl velocity acceleration (6048 hex) Ramp demand (6043 hex) Velocity value (6044 hex)
function control
vl velocity deceleration (6049 hex) function
• Related objects
5-3 Velocity Mode

Index Name Details
6040 hex Controlword Gives commands to the inverter.
6042 hex vl target velocity Gives speed commands to the inverter.
6046 hex vl velocity min max amount Sets the maximum speed and minimum speed that can be
output.
6048 hex vl velocity acceleration Sets the acceleration time.
6049 hex vl velocity deceleration Sets the deceleration time.
6041 hex Statusword Sets the status of the inverter. 5
6043 hex vl velocity demand Gives the command speed.
6044 hex vl velocity actual value Gives the output speed.

5-4 Object Dictionary
5-4-1 Object Dictionary Area

CANopen over EtherCAT (CoE) protocol uses the CANopen object dictionary as its base. All objects
are assigned four-digit hexadecimal numbers in the areas shown in the following table.
Index Area Meaning

0000 to 0FFF hex Data Type area Definitions of data types.
1000 to 1FFF hex CoE Communications area Definitions of variables that can be used by all servers for
designated communications.
2000 to 2FFF hex Manufacturer Specific area 1 Variables with common definitions for all OMRON products.
3000 to 5FFF hex Manufacturer Specific area 2 Variables with definitions for this unit. (Inverter parameters,
independent profile)
6000 to 9FFF hex Device Profile area Variables defined in the inverter's CiA402 drive profile.
A000 to FFFF hex Reserved area Area reserved for future use.
5-4-2 Data Types

The data types shown in the following table are used in this profile.
Data type Code Size Range

Boolean BOOL 1 bit 0 to 1
Unsigned8 U8 1 byte 0 to 255
Unsigned16 U16 2 bytes 0 to 65,535
Unsigned32 U32 4 bytes 0 to 4,294,967,295
Integer8 INT8 1 byte 128 to 127
Integer16 INT16 2 bytes 32,768 to 327,671
Integer32 INT32 4 bytes 2,147,483,648 to 2,147,483,647
Visible string VS  
5-4-3 Object Description Format

In this manual, objects are described in the following format.
• Object description format
<Index> <Object name> Operating Mode

Setting range: <Setting range> Unit: <Unit> Default setting: <Default setting>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>
• Object description format when there is a sub-index
<Index> <Object name> Operating Mode

Sub-index 0
•
•
•
Sub-index N

• Index : Object index given by a four-digit hexadecimal number.

• Object name : The object name.
• Operating mode : Related operating modes.
• Setting range : The possible range of settings.
• Unit : Physical units.
• Default setting : The default value set before shipment.
• Size : The object size is given in bytes.
• Access : Indicates whether the object is read only, or read and write.
RO: Read only.
WO: Write only.
RW: Read and write.
• PDO map : Indicates the PDO mapping attribute.
5-4 Object Dictionary

5
5-4-3 Object Description Format

5-5 CoE Communications Area
5-5-1 Communication Objects
1000 hex Device type All

Setting range:  Unit:  Default setting: 00010192 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• Gives the CoE device profile number.
• Explanation of set values
Bit Name Meaning

0 to 15 Device profile number 402 (192 hex): Drive profile
16 to 23 Type 01: Inverter
25 to 31 Mode 0: Manufacturer specific
1001 hex Error register All

Setting range:  Unit:  Default setting: 0
Size: 1 byte (U8) Access: RO PDO map: Not possible
• Gives the error type that occurred.
Bit Details Bit Details

0 Generic error 4 Communication error
1 (Reserved) 5 Device profile specific error
2 (Reserved) 6 (Reserved)
3 (Reserved) 7 Manufacturer specific error
1008 hex Manufacturer device name All

Setting range:  Unit:  Default setting: 3G3AX-MX2-ECT
Size: 20 bytes (VS) Access: RO PDO map: Not possible
• Gives the model.
1009 hex Manufacturer hardware version All

Setting range:  Unit:  Default setting: *1

*1 "V*.**" which shows the hardwave version is saved.
• Gives the Manufacturer hardware version of the EtherCAT Communication Unit.
100A hex Manufacturer software version All

Setting range:  Unit:  Default setting: *1

*1 The version number is saved in “v*.**”.
• Gives the Manufacturer software version of the EtherCAT Communication Unit.

1010 hex Store parameters All

Sub-index 0: Number of entries
Sub-index 1: Save all parameters
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• All savable parameters are saved in the Inverter EEPROM.
• Saving is executed only when a specific value is written to sub-index 1. This prevents parameter
values from being accidentally overwritten.
• The specific value means “save”.

MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
• A value of 00000001 hex (command valid) is given when reading.

• Parameters cannot be saved to the EEPROM during inverter operation.
• In the following cases, an ABORT code is returned.
• Writing with CompleteAccess.
• Writing a value other than 65766173 hex.
• Writing to the EEPROM may take up to 1 second. (This is when all objects are changed.) 5
• There is a limit to the number of times you can write to the EEPROM.
5-5-1 Communication Objects

1011 hex Restore default parameters All
Sub-index 1: Restore all default parameters
• Inverter parameters are reset to their default settings.
• A restoration operation is executed only when a specific value is written to sub-index 1. This prevents
parameter values from being accidentally overwritten.
• The specific value means “load.”
MSB LSB
d a o l
64 hex 61 hex 6f hex 6c hex
• A value of 00000001 hex (command valid) is given when reading.

• In the following cases, an ABORT code is returned.
• Writing with CompleteAccess.
• Writing a value other than 64616F6C hex.
• Writing to the EEPROM may take up to 3 seconds. (This is when all objects are changed.)
• There is a limit to the number of times you can write to the EEPROM.

1018 hex Identity object All

Sub-index 1: Vendor ID
Sub-index 2: Product code
Sub-index 3: Revision number
Setting range:  Unit:  Default setting: Refer to the table.
Sub-index 4: Serial number
• This object contains device information.
• Sub-index 1 (Vendor ID) gives the manufacturer identifier.
• Sub-index 2 (Product code) gives the product's identifier.
• Sub-index 3 (Revision number) gives the device revision number.
Bit Details
0 to 15 Device's minor revision number
16 to 31 Device's major revision number
• Sub-index 4 (Revision number) gives the serial number for each product. (This is not used by MX2
inverters.)
10F3 hex Diagnosis history All

Setting range:  Unit:  Default setting: 0D hex
Sub-index 1: Maximum messages
Setting range: 00 to 08 hex Unit:  Default setting: 00 hex
Sub-index 2: Newest message
Setting range: 06 to 0D hex Unit:  Default setting: 06 hex
Sub-index 5: Flags
Setting range: 0000 to 0001 hex Unit:  Default setting: 0001 hex
Sub-indexes 6 to 13: Diagnosis messages 1 to 8
Setting range:  Unit:  Default setting: 
• This object gives up to 8 diagnosis history items. It also enables or disables emergency messages.
• Sub-index 1 (Maximum messages) gives the number of error messages.
• Sub-index 2 (Newest message) gives the sub index where the latest diagnosis message is saved.
• Sub-index 5 (Flags) sets whether or not to give notification of the diagnosis history as an emergency
message. It is set to Emergency Message Enabled (0001 hex) when the power supply is turned ON.
• Sub-indexes 6 to 13 (Diagnosis messages 1 to 8) give the diagnosis history. The diagnosis history is
saved in Diagnosis messages 1 to 8 in ascending order. When the 9th error is reached, it is saved as
Diagnosis message 1 and the sequence starts again.
• The diagnosis history is retained even when the power supply is turned OFF.

Diagnosis history details

Meaning Size Details
Error code 4 bytes (U32) The upper byte is the error code that is defined with CiA301 and CiA402. The
lower 2 bytes are the code type and are fixed at E800 hex.
Error flag 2 bytes (U16) Gives the error type.
Bit 1: Warning
Bit 2: Error
Other bits: Reserved
(Reserved) 17 bytes The reserved area.
5-5-2 PDO Mapping Objects

Indexes 1600 to 17FF hex are used for receive PDO mapping and indexes 1A00 to 1BFF hex are used
for transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application
object being mapped.
31 16 15 8 7 0
Index Sub-index Bit length

MSB LSB
Bit 0 to 7 : Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Bit 8 to 5 : Sub-index of the mapped object. 5
Bit 16 to 31 : Index of the mapped object.
5-5-2 PDO Mapping Objects

1600 to 1604 hex 1st to 5th receive PDO mapping All
Sub-index 0: Number of objects
Setting range: - Unit: - Default setting: 0
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Setting range: - Unit: - Default setting: 00000000 hex
Sub-index 2: 2nd Output Object to be mapped
Setting range: - Unit: - Default setting: 00000000 hex
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
1700 hex 257th fixed receive PDO mapping All

• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Controlword (6040 hex), vl target velocity (6042 hex)

1701 hex 258th fixed receive PDO mapping All

• The PDO mapping when a fixed profile is used.
• Command (5000 hex), Frequency reference (5010 hex)
1A00 to 1A04 hex 1st to 5th transmit PDO mapping All

Sub-index 1: 1st Input Object to be mapped
Sub-index 2: 2nd Input Object to be mapped
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
1B00 hex 257th fixed transmit PDO mapping All

• The PDO mapping when Velocity mode is used.
• Statusword (6041 hex), vl velocity demand (6043 hex)

1B01 hex 258th fixed transmit PDO mapping All

• The PDO allocation when a fixed profile is used.

• Status information (5100 hex), Output frequency monitor (5110 hex)
1BFF hex 512th transmit PDO mapping All

Sub-index 0: Number of objects in this PDO
• This is a mapping object to notify that the EtherCAT Communication Unit has detected an error.
• 2002 hex-01 hex: Sysmac Error Status has been mapped. 5
• When the Machine Automation Controller NJ501-1x00 series is connected, assign this object to
1C13 hex: Sync manager 3 PDO assignment.
5-5-3 Sync Manager Communication Objects

• By default, Sysmac Studio assigns this object automatically.

Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
1C00 hex Sync Manager communication type All

Sub-index 0: Number of used SM channels
Sub-index 1: Communication Type SM0
Sub-index 2: Communication type SM1
• The Sync Manager has the following settings.
• SM0 : Mailbox reception (master to slave)
• SM1 : Mailbox send (slave to master)
• SM2 : Process data output (master to slave)
• SM3 : Process data input (slave to master)

1C10 hex Sync Manager 0 PDO assignment All

Sub-index 0: Number of assigned RxPDOs
• The PDO mapping used by this Sync Manager is given. Mailbox reception Sync Manager does not
have PDOs.

Sub-index 0: Number of assigned PDOs
• The PDO mapping used by this Sync Manager is given. Mailbox send Sync Manager does not have
PDOs.

Sub-index 0: Number of assigned RxPDOs
Sub-index 1: 1st PDO Mapping object index of assigned PDO
Sub-index 2: 2nd PDO Mapping object index of assigned PDO
Sub-index 3: 3rd PDO Mapping object index of assigned PDO
Sub-index 4: 4th PDO Mapping object index of assigned PDO
• The receive PDOs used by this Sync Manager are given.
• Up to 5 PDOs can be assigned.
• An object from 5000 to 5999 cannot be allocated at the same time as an object from 6000 to 6999.


Sub-index 0: Number of assigned TxPDOs
Sub-index 1: 1st PDO Mapping object index of assigned PDO
Setting range:  Unit:  Default setting: 1B01 hex
Sub-index 2: 2nd PDO Mapping object index of assigned PDO
Sub-index 3: 3rd PDO Mapping object index of assigned PDO

• The transmit PDOs used by this Sync Manager are given.
• Up to 5 PDOs can be assigned.
1C32 hex SM 2 synchronization All 5

Sub-index 0: Number of synchronization parameters

Sub-index 1: Synchronization type
Sub-index 4: Synchronization types supported
• Synchronization type (1C32 to 01 hex) indicates the Synchronization mode of Sync Manager 2.
• 0000 hex: Free Run mode
• Synchronization types supported (1C32 to 04 hex) indicates the types of synchronization supported.
1C33 hex SM 3 synchronization All

Sub-index 0: Number of synchronization parameters
Sub-index 1: Synchronization type
Sub-index 4: Synchronization types supported
• Synchronization type (1C33 to 01 hex) indicates the Synchronization mode of Sync Manager 2.
• Synchronization types supported (1C33 to 04 hex) indicates the types of synchronization supported.

5-6 Manufacturer Specific Area
5-6-1 Manufacturer Specific Objects
2002 hex Sysmac Error All

Sub-index 1: Sysmac Error Status
Size: 1 byte (U8) Access: RO PDO map: Possible
Sub-index 2: Sysmac Error Status Clear
• Notify and clear the Sysmac Error Status.
• Sub-index 1: Sysmac Error Status
• This object is used to notify that the EtherCAT Communication Unit has detected an error.
• When the Machine Automation Controller NJ501-1x00 series, etc., is connected, this object is
mapped to the PDO.
• Sub-index 2: Sysmac Error Status Clear
• This object is used to allow the Sysmac product controller to reset the error present in the
EtherCAT Communication Unit.
By default, Sysmac Studio automatically maps sub-index 01 hex: Sysmac Error status to the
PDO by allocation of 1BFF hex: 512th transmit PDO Mapping.
2100 hex Error history clear All

Setting range: 6C636C65 hex Unit:  Default setting: 00000000 hex
• This object clears the contents of Diagnosis history (10F3 hex).
• This function can be executed by writing 6C636C65 hex using SDO mailbox communications.
• In the following cases, an abort code is returned.
• Writing with CompleteAccess
• Writing a value other than 6C636C65 hex

5-6-2 Inverter Parameter Objects

Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex.
3000 to 3102 hex are 16-bit parameters and 4000 to 4102 hex are 32-bit parameters.
 Index and sub-index calculation method

Index: 3000 hex + (N/254), Sub-index: 1 + (N%254)
N: Inverter register number
(N/254): Integer part after N is divided by 254

(N%254): Remainder after N is divided by 254
3000 hex Inverter parameter object 1 (16-bit access) All

Sub-index 0: Number of assigned
Setting range:  Unit:  Default setting: FE hex
Sub-index 1: Inverter register 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: *
Size: 2 bytes (U16) Access: RW PDO map: * 5
•
•
•
5-6-2 Inverter Parameter Objects

Sub-index 253 hex: Inverter register 00FC hex
* PDO mapping can only be performed for parameters that exist in the inverter. Only parameters that can be set
during operation can be mapped to RxPDO.
3001 to 3101 hex Inverter parameter objects 2 to 258 (16-bit access) All
Same format as 3000 hex, inverter registers 00FD to FFFB hex


Sub-index 1: Inverter register FFFC hex
Sub-index 2: Inverter register FFFD hex
Sub-index 3: Inverter register FFFE hex
Sub-index 4: Inverter register FFFF hex

Setting range:  Unit:  Default setting: FE hex
• • •
Sub-index 253 hex: Inverter register 00FC hex
4001 to 4101 hex Inverter parameter objects 2 to 258 (32-bit access) All
Same format as 3000 hex, inverter registers 00FD to FFFB hex


Sub-index 1: Inverter register FFFC hex
Sub-index 2: Inverter register FFFD hex
Sub-index 3: Inverter register FFFE hex

Sub-index 4: Inverter register FFFF hex
5-6-3 Independent Profile Objects

This section explains about OMRON's independent profile objects. 5
5000 hex Command All

Setting range: 0000 to FFFF hex Unit:  Default setting: 0000 hex
Size: 2 bytes (U16) Access: RW PDO map: Possible
• This object gives an operation command to the inverter.
• Bit descriptions
Bit Meaning Details

0 Forward/stop 0: Stop 1: Forward
1 Reverse/stop 0: Stop 1: Reverse
2 to 6 Reserved Not used. Always keep at 0.
5010 hex Frequency reference All

Setting range: 0000 to FFFF hex Unit: 0.01 Hz (0.1 Hz) Default setting: 0000 hex
• This object gives an output frequency command to the inverter.
• The value in parenthesis indicates the unit when the inverter mode selection is High frequency mode.

5100 hex Status All

Size: 2 bytes (U16) Access: RO PDO map: Possible
• This object gives the present state of the unit.
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.
12 Frequency matching 0: During Acceleration/deceleration or stopped 1: Frequency matching
15 Connection error between the 1: Error (Cannot update data for the inverter. To reset the error, turn the
Optional Unit and inverter power supply OFF and then ON again.)
5110 hex Output frequency monitor All

Setting range: 0000 to FFFF hex Unit: 0.01 Hz (0.1 Hz) Default setting: 0000 hex
• 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.
5200 hex PDO mapping error history All

Setting range:  Unit:  Default setting: 0A hex
Sub-index 1: Newest PDO mapping error cause
Sub-index 4: Number of error message
Sub-indexes 5 to A: PDO mapping error message 1 to 6
Unit:  Unit:  Default setting: 0000 hex
• 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.

Cause code list

Cause code Meaning
0001 hex Busy
0002 hex Device busy
0003 hex Unexpectedly received data
0020 hex Sync Manager assignment exceeded
0021 hex PDO map number is invalid (outside the range, does not exist)
0022 hex RxPDO map overlap
0023 hex Object specified for RxPDO mapping is invalid
0024 hex Total number of assignment exceeded

0040 hex RxPDO object overlap
0041 hex Number of PDO mapping exceeded
0042 hex PDO map size exceeded (more than 32 bits)
0043 hex Incorrect object specification (sub-index 0 is mapped)
0044 hex Object not supported
0045 hex 5000 to 5999 and 6000 to 6999 objects mixed
0046 hex Object specified for PDO map is invalid
0047 hex Incorrect data size for specified object
0048 hex PDO mapping exists but size is 0
004F hex Specified access method not supported
0050 hex Specified object mapping is invalid
0060 hex RxPDO object overlap (MX2 registers are overlapping)
0061 hex Unsupported data type is specified 5
0070 hex Unsupported mode (mode other than FreeRun is specified)
00E0 hex Start address of the Refresh area is 1000 hex or lower, or an odd number

00E1 hex Specified size of the Refresh area exceeds the range
00E2 hex Start address of the Refresh area is different from the value in pre-operational (Pre-Op)
00E3 hex Sync Manager buffer overlap
00E4 hex Map size and Sync Manager size are different
00E5 hex Sync Manager operation invalid
00E6 hex Sync Manager size is 0
00E7 hex Incorrect direction setting
00E8 hex Buffer mode is incorrect
8000 hex Resource depletion
8001 hex Internal inconsistency
8002 hex Other error
FFFF hex No error
For details, refer to Chapter 6 Handling of Errors and Maintenance.

5-7 Device Profile area
5-7-1 Drive Profile Objects

This chapter explains about the supported CiA402 drive profile.
603F hex Error code All

• This object gives the latest error code or warning code that occurred in the unit.
Index Name Data type Specifications

603F hex Error code U16 0000 hex: No error
5300 hex: No response from the inverter
6331 hex: EEPROM data error
6341 hex: PDO setting error
FF00 hex: Warning occurred for the inverter
FF01 hex: Trip occurred for the inverter
6040 hex Controlword All

• This object controls the state transitions of the unit.
Bit Name Details

0 Switch on The state is controlled by these bits.
1 Enable voltage Quick stop is not supported. Even when the bit 2 is set to 0, it is ignored.
For details, refer to 5-1-3 Command Coding on page 5-3.
2 Quick stop
3 Enable operation
6041 hex Statusword All

• This object gives the present state of the unit.
Bit Name Details

0 Ready to switch on These bits give the state.
1 Switched on For details, refer to 5-1-4 State Coding on page 5-3.
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning 0: No warning occurred for the unit or inverter.
1: Warning occurred for the unit or inverter.
8 Reserved Not used.
9 Remote 0: Control from Controlword is disabled.
1: Indicates that control is being performed by Controlword.

6042 hex vl target velocity vl

Setting range: 8000 to 7FFF hex Unit: rpm Default setting: 0000 hex
Size: 2 bytes (INT16) Access: RW PDO map: Possible
• This object gives a command speed and rotation direction command to the inverter.
6043 hex vl velocity demand vl

Size: 2 bytes (INT16) Access: RO PDO map: Possible
• This object gives the operating speed that is sent to the inverter.
6044 hex vl velocity actual value vl

Size: 2 bytes (INT16) Access: RO PDO map: Possible
• This object gives the output speed of the inverter.
6046 hex vl velocity min max amount vl

Setting range:  Unit: Command Default setting: 02 hex
unit 5
Sub-index 1: vl velocity min amount

Setting range: 00000000 to FFFFFFFF hex Unit: rpm Default setting: 0000000F hex
Sub-index 2: vl velocity max amount
Setting range: 00000000 to FFFFFFFF hex Unit: rpm Default setting: 00000708 hex
• This object sets the maximum speed and minimum speed.
• To read and write the minimum speed, read or write the inverter parameter b082: Starting Frequency.
• To read and write the maximum speed, read or write the inverter parameter A004: Maximum
Frequency.
6048 hex vl velocity acceleration vl

unit
Sub-index 1: Delta speed
Sub-index 2: Delta time
Setting range: 0000 to FFFF hex Unit: s Default setting: 000A hex
• This object sets the acceleration time.
• To read the Speed (6048 to 01 hex), read the inverter parameter A004: Maximum Frequency.
• To read and write the Time (6048 to 02 hex), read and write the inverter parameter F002:
Acceleration Time Setting.

6049 hex vl velocity deceleration vl

unit
Sub-index 1: Delta speed
Sub-index 2: Delta time
Setting range: 0000 to FFFF hex Unit: s Default setting: 000A hex
• This object sets the deceleration time.
• To read the Speed (6049 to 01 hex), read the inverter parameter A004: Maximum Frequency.
• To read and write the Time (6049 to 02 hex), read and write the inverter parameter F003:
Deceleration Time Setting.
605B hex Shutdown option code All

Setting range: 1 Unit:  Default setting: 1
Size: 2 bytes (Int16) Access: RW PDO map: Not possible
• This object sets the behavior during Shutdown (Operation enable  Ready to switch on) .
Set value Stop method

1 Deceleration stop
605C hex Disable operation option code All

Setting range: 1 Unit:  Default setting: 1
• This object sets the behavior during Disable operation (Operation enable  Switched on).

1 Deceleration stop
605E hex Fault reaction option code All

Setting range 1: Unit:  Default setting: 1
• This object sets the behavior when an error occurs.

1 Deceleration stop

6060 hex Modes of operation All

Setting range: 2 Unit:  Default setting: 02 hex
Size: 1 byte (Int8) Access: RW PDO map: Possible
• This object sets the operation mode.
Value Details
1 Velocity mode
6061 hex Modes of operation display All

Setting range: 0 to 10 Unit:  Default setting: 02 hex
Size: 1 byte (Int8) Access: RO PDO map: Possible

• This object gives the present operation mode.
• The value definitions are the same as for Modes of operation (6060 hex).
6502 hex Supported drive modes All

• This object indicates the supported operation modes.
• Bit descriptions 5
Bit Supported mode Definition
0 pp (Profile Position mode) 0: Not supported

1 vl (Velocity mode) 1: Supported
2 pv (Profile Velocity mode) 0: Not supported
3 t q (Profile Torque mode) 0: Not supported
4 Reserved 0
5 hm (Homing mode) 0: Not supported
6 ip (Interpolated Position mode) 0: Not supported
7 csp (Cyclic Sync Position mode) 0: Not supported
8 csv (Cyclic Sync Velocity mode) 0: Not supported
9 cst (Cyclic Sync Torque mode) 0: Not supported
10 to 31 Reserved 0


Handling of Errors and
Maintenance
This chapter explains how to handle errors that occur in the EtherCAT Communication
Unit.
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
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

6 Handling of Errors and Maintenance
6-1 Communication Line Errors
6-1-1 Status IndicatorExplanations and Error Handling

The 7 types of indicator lighting status are shown below.
Abbreviation Name and status

ON ON
OFF OFF
F Flickering ON (50 ms) and OFF (50 ms)
B Blinking ON (200 ms) and OFF (200 ms)
SF Single flash ON (200 ms) and OFF (1,000 ms)
D Double flash ON (200 ms), OFF (200 ms), ON (200 ms) and OFF (1,000 ms)
 Undefined
L/A IN
RUN ERR Meaning Remarks
L/A OUT
ON OFF ON During EtherCAT communications The status is normal if either process data
EtherCAT are being executed. communications, message communications,
communications or both are being executed.
  F Link established The operation waiting status • There was a status transition instruction
in physical layer after the link is established in from the host system during operation, and
the physical layer. a transition was made to a status other
than Operational. Check that the Master
Unit is operating correctly.Refer to the
manual for the Master Unit.
  OFF Link not The link is not established in • Check that the communications cable is
established in the physical layer (cannot connected correctly to the connector.
physical layer participate in the network). • Check that the communications cable is
wired correctly.
• Check that the Master Unit is operating
correctly. If using an OMRON Master Unit,
check the Master Unit mode and the node
address-setting rotary switches of the
Communication Unit.
• If using a Master Unit from another
manufacturer, refer to the user's manual for
that master.
• If there are devices that generate noise,
take necessary measures against the
noise to protect the Master Unit,
Communication Unit and communications
cables.
OFF OFF OFF Power supply Power is not supplied • Check that power is supplied correctly to
error correctly to the the inverter (for example, check whether
Communication Unit. the wiring of the inverter main power
supply is correct, the power supply voltage
has dropped, and the inverter is operating
normally).
• Check that the Communication Unit is
mounted correctly onto the inverter.
• Eliminate the cause of the error, and then
turn the inverter power supply OFF and
ON again.
OFF ON  Hardware error A hardware error has • Check that the Communication Unit is
F occurred. mounted correctly onto the inverter.
• Replace the Communication Unit.
B

L/A IN
RUN ERR Meaning Remarks
L/A OUT
 B  Invalid node The setting of the node • Check the setting of the node
address setting address-setting rotary address-setting rotary switches, turn OFF
switches is invalid. the power supply of the inverter, and then
restart it.
EEPROM data This is an EEPROM data Use the tool to restore the default data, and
error error. restart.
Sync Manager The Sync Manager setting is Change to a correct setting.
setting error invalid.
 D  Process data An error occurred in Check the items below, turn OFF the power
communications communications. supply of the inverter, and then restart it.
timeout • Is the cable length OK?
(Max. 100 m)
• Is the cable disconnected or loosen?
• Is there too much noise?
SF   Safe-operational An instruction to transition to If it was generated during system operation,
state safe-operational state was check the status of the host master.
6-1 Communication Line Errors

generated by the master.
B   Pre-operational An instruction to transition to
state pre-operational state was
generated by the master.
OFF   Init state An instruction to transition to
init state was generated by
the master.
6-1-1 Status IndicatorExplanations and Error Handling

6-1-2 Troubleshooting
Errors related to the EtherCAT Communication Unit

Problem Cause and possible corrections
Both the RUN and ERR indicators are Power is not supplied correctly to the Communication Unit. Check that the
OFF Communication Unit is mounted correctly onto the inverter, and that the inverter
power supply is wired correctly.Eliminate the cause of the power supply interruption,
turn the inverter power supply OFF, and then restart it.
ERR indicator is lit red • Check that the Communication Unit is mounted correctly onto the inverter.
• The Communication Unit is faulty. Replace the Communication Unit.
ERR indicator is flashing red • The setting of the rotary switches for node address setting is invalid. Check the
setting of the rotary switches for node address setting, turn OFF the power supply
of the inverter, and then restart it.
• There is an error in the Slave Unit's EEPROM memory data. Use the tool to
initialize the settings.
• The Sync Manager setting is invalid. Change to a correct setting.
• An error occurred in communications. Check the connection of the
communications cables and the length of the cables.
If the ERR indicator remains flashing even after checking the above items, replace
the slave.
RUN indicator remains flashing green There was a status transition instruction from the host system during operation, and
and status does not change a transition was made to a status other than Operational. Refer to the Master Unit's
manual, and check that the host Master Unit is operating correctly.
Errors related to the network

Problem Cause and possible corrections
L/A IN and L/A OUT indicators remain Slaves are not connected to the network.
OFF • Check that the Master Unit is operating correctly. If using an OMRON Master Unit,
check the Master Unit mode and the slave node addresses.
• If using a Master Unit from another manufacturer, refer to the user's manual for
that master.
• Check that the communications cable is wired correctly.
• Check that the Communication Unit is mounted correctly onto the inverter, and
that the power supply is wired correctly. Eliminate the cause of the power supply
interruption, turn the inverter power supply OFF, and then restart it.
• Check the connector wiring to make sure that the communications cables are not
disconnected.
• If the L/A IN and L/A OUT indicators of a certain slave remain OFF, replace the
corresponding slave.
• If there are devices that generate noise, take necessary measures against the
noise to protect the Master Unit, Communication Unit and communications
cables.
L/A IN and L/A OUT indicators remain • The slave status has not transitioned to Operational. Refer to the Master Unit's
flashing green manual, and check that the Master Unit is operating correctly.
• If the L/A IN and L/A OUT indicators of a certain slave remain flashing, replace
the corresponding slave.

6-2 Message Errors

The abort codes for when an SDO communications error occurs are shown below.
Value Meaning
05030000 hex Toggle bit not changed
05040000 hex SDO protocol timeout
05040001 hex Client/Server command specifier not valid or unknown
05040005 hex Out of memory
06010000 hex Unsupported access to an object
06010001 hex Attempt to read a write only object
06010002 hex Attempt to write to a read only object
06020000 hex The object does not exist in the object directory
06040041 hex The object can not be mapped into the PDO.
06040042 hex The number and length of the objects to be mapped would exceed the PDO length.
06040043 hex General parameter incompatibility reason
06040047 hex General internal incompatibility in the device
6-2 Message Errors

06060000 hex Access failed due to a hardware error
06070010 hex Data type does not match, length of service parameter does not match
06070012 hex Data type does not match, length of service parameter too high
06070013 hex Data type does not match, length of service parameter too low
06090011 hex Subindex does not exist
06090030 hex Value range of parameter exceeded (only for write access)
06090031 hex Value of parameter written too high
06090032 hex Value of parameter written too low 6
06090036 hex Maximum value is less than minimum value
08000000 hex General error
08000020 hex Data cannot be transferred or stored to the application
08000021 hex Data cannot be transferred or stored to the application because of local control
08000022 hex Data cannot be transferred or stored to the application because of the present device state
08000023 hex Object dictionary dynamic generation fails or no object dictionary is present

6-3 Application Errors
6-3-1 Error Statuses

The statuses change as follows when an error is detected in the unit or inverter.
Function Status when error occurs

Status display An error is notified with bit 3: Fault or bit 7: Warning of the Status object (5100 hex)
and bit 3: Fault or bit 7: Warning of the Statusword object (6041 hex).
When a trip occurs for the inverter, Fault bit it turned ON, and when a warning
occurs for the inverter, Warning bit is turned ON.
To cancel the error, eliminate the cause and set bit 7: Fault reset of 5000 hex
Command or bit 7: Fault reset of 6040 hex Controlword to ON.
Error code display The error codes are notified to the object 603F hex. Read with the SDO.
To check the error that occurred for the inverter, check the inverter front panel, or
read object 3000 hex sub-index 13 hex with the SDO.
Diagnosis history Errors that were detected in the unit and inverter are stored in the Diagnosis history
object (10F3 hex) (up to 8 errors).
If a trip occurred for the inverter, check the trip history of the inverter.
6-3-2 Error Code List

Error code Meaning Possible correction
5300 hex Error in the communication unit • Check that the Communication Unit is mounted correctly
and inverter connection onto the inverter.
• The Communication Unit is faulty. Replace the
Communication Unit.
• A connection error occurred because a trip reset was
performed with the inverter. Set the inverter C102 to 3: Trip
reset only, and turn the power supply OFF and ON again.
• A connection error occurred because an initialization or
mode change was performed with the inverter. Turn the
inverter power supply OFF and ON again.
6341 hex PDO setting error A set value in PDO mapping is invalid. Check the value of
object 5200 and the AL Status code, and then review the PDO
mapping settings.
6331 hex EEPROM data error • An error was detected in data inside EEPROM when the
power supply was turned ON. Replace the Communication
Unit.
• The Diagnosis history cannot be saved because the
EEPROM has reached the end of its service life. There is
no effect on operations, but if you want to use the Diagnosis
history, replace the unit.
FF00 hex A warning occurred for the Eliminate the cause and set bit 7: Fault reset of Command
inverter (5000 hex) or bit 7: Fault reset of Controlword (6040 hex) to
ON.
FF01 hex A trip occurred for the inverter Eliminate the cause and set bit 7: Fault reset of Command
(5000 hex) or bit 7: Fault reset of Controlword (6040 hex) to
ON.

6-3-3 List of Cause Codes for PDO Mapping Errors

Cause code Meaning Cause and possible corrections
0000 hex No registered error 
0001 hex Busy Cannot accept the PDO allocation because the internal status is busy.
Transition again to safe-operational.
0002 hex Device busy Cannot accept the PDO allocation because the internal status is busy.
Transition again to safe-operational.
0003 hex Unexpectedly received data Wrote to sub-index 0 of the PDO mapping in a size other than 1 byte.
Write in a 1-byte data size.
Wrote to sub-index 0 of Sync Manager in a size other than 1 byte.
Write in a 1-byte data size.
Wrote to sub-indexes 1 to 5 of Sync Manager in a size other than 2
bytes. Write in a 2-byte data size.
0020 hex Sync Manager assignment Allocated more than 5 PDOs to Sync Manager. Allocate 5 PDOs or
exceeded less to Sync Manager.
0021 hex PDO map number is invalid An object was assigned that cannot be assigned to Sync Manager.
(outside the range, does not Assign within the ranges below.
exist) Sync Manager 2PDO assignment (1C12 hex): 1600 to 1604 hex, 1700
to 1701 hex

Sync Manager 3PDO assignment (1C13 hex): 1A00 to 1A04 hex,
1B00 to 1B01 hex
0022 hex RxPDO map overlap The same PDO is assigned more than once to Sync Manager 2PDO
assignment (1C12 hex). Correct the assignment.
0023 hex Object specified for RxPDO An object was allocated that cannot be allocated to RxPDO. Correct
mapping is invalid the RxPDO mapping.
0024 hex Total number of assignment The total size of the objects specified with the Sync Manager PDO
exceeded mapping exceeds 20 bytes. Correct the PDO mapping.
0040 hex RxPDO object overlap The same object is mapped more than once to RxPDO. Change the
RxPDO mapping. 6
0041 hex Number of PDO mapping 3 or more objects are allocated to a single PDO. Allocate a maximum
exceeded of 2 objects to a PDO.
0042 hex PDO map size exceeded The total size of the objects mapped to a single PDO exceeds 4 bytes.
6-3-3 List of Cause Codes for PDO Mapping Errors

(more than 32 bits) Keep the total object size that is mapped to a PDO to within 4 bytes.
0043 hex Incorrect object specification An object of sub-index 0 (number of entries, etc.) that cannot be
(sub-index 0 is mapped) allocated to a PDO was mapped. Remove the corresponding object
from the mapping.
0044 hex Object not supported An object that does not exist was mapped. Correct the PDO mapping.
A sub-index of an object that does not exist was mapped. Correct the
PDO mapping.
0045 hex 5000 to 5999 and 6000 to An object from 5000 to 5999 was allocated to RxPDO mapping at the
6999 objects mixed same time as an object from 6000 to 6999.Objects from 5000 to 5999
and 6000 to 6999 cannot be mixed in RxPDO, so change the mapping
to only one of the ranges.
When a PDO was assigned to Sync Manager 2PDO assignment
(1C12 hex), objects from 5000 to 5999 and 6000 to 6999 were mixed
in the assignment. Correct the assignment so that they are not mixed.
0046 hex Object specified for PDO map An object that cannot be allocated to a PDO was mapped. Correct the
is invalid PDO mapping.
0047 hex Incorrect data size for The specified object data size is incorrect. Change to a correct size.
specified object
0048 hex PDO mapping exists but size Cannot assign to Sync Manager because the PDO mapping is invalid.
is 0 Correct the PDO mapping.
004F hex Specified access method not PDO mapping writing was performed with complete access which is
supported not supported. Write with single access.
There was an error in the values written with complete access. Correct
the values and perform the writing.
0050 hex Specified object mapping is An object that does not exist was allocated to a PDO. Correct the PDO
invalid mapping.
An object that cannot be mapped was mapped to a PDO. Correct the
PDO mapping.
0060 hex RxPDO object overlap (MX2 The objects allocated to RxPDO are different, but the same function,
registers are overlapping) such as a start command or speed reference, is allocated more than
once. Change the PDO mapping.

Cause code Meaning Cause and possible corrections

0061 hex Unsupported data type is The data type of the allocated object is invalid. Change to a correct
specified data type.
0070 hex Unsupported mode (mode An operation mode other than FreeRun is set. Set FreeRun mode.
other than FreeRun is
specified)
00E0 hex Start address of the Refresh The start address of Sync Manager is set to a value lower than 1000
area is 1000 hex or lower, or hex. Change the start address to 1000 hex or higher.
an odd number The start address of Sync Manager is set to an odd number. Change
the start address to an even number.
00E1 hex Specified size of the Refresh The used area of Sync Manager exceeds 2FFF hex. Change the start
area exceeds the range address.
00E2 hex Start address of the Refresh The start address of Sync Manager is different from the value set
area is different from the during pre-operational. Transition again from pre-operational to
value in pre-operational safe-operational.
(Pre-Op)
00E3 hex Sync Manager buffer overlap Sync Manager areas are overlapping. Correct the start address.
00E4 hex Map size and Sync Manager The assignment size and Sync Manager area size do not match.
size are different Match the sizes.
The mapping size is set to 0.Correct the mapping.
00E5 hex Sync Manager operation Cannot operate Sync Manager because the PDO mapping is invalid.
invalid Correct the PDO mapping.
00E6 hex Sync Manager size is 0 The size assigned to Sync Manager was set to 0 because the PDO
mapping is invalid. Correct the PDO mapping.
00E7 hex Incorrect direction setting The access direction (read/write) setting of Sync Manager is incorrect.
Change the setting.
00E8 hex Buffer mode is incorrect The Butter mode setting of Sync Manager is incorrect. Change the
setting.
8000 to 8002 hex Other error An error other than those above occurred. Turn the power supply OFF
and ON again. If the problem persists, replace the unit.
FFFF hex No error 

6-3-4 AL Status Code List

Code Meaning Cause and possible corrections
0011 hex Invalid status transition An impossible status transition request was received. Perform the
request received status transition again.
0012 hex Error status transition A transition request to an unknown status was received. Perform the
received status transition again.
0014 hex SII verification error The data written in SII and the data inside the unit do not match.
Rewrite the SII data to the correct values. If the problem persists,
replace the unit.
0016 hex Mailbox setting error A mailbox setting is invalid. Set to the correct value.
001B hex Process data WDT error In the operational state, the data set with RxPDO was not received for
a certain time. Check that the network is connected correctly. Check
that RxPDO is being refreshed on the master.
001D hex RxPDO setting error An RxPDO (Sync Manager) setting error was detected. Correct the
RxPDO mapping setting. For the detailed cause, check the contents of
object 5200 hex.
001E hex TxPDO setting error A TxPDO (Sync Manager) setting error was detected. Correct the
TxPDO mapping setting. For the detailed cause, check the contents of
object 5200 hex.

001F hex PDO WDT setting error The WDT setting of a PDO is invalid. Set a correct value.
0024 hex TxPDO mapping error An invalid TxPDO is set. Correct the TxPDO mapping setting. For the
detailed cause, check the contents of object 5200 hex.
0025 hex RxPDO mapping error An invalid RxPDO is set. Correct the RxPDO mapping setting. For the
detailed cause, check the contents of object 5200 hex.
0028 hex SM event mode setting error Set to an unsupported SM event mode. Set a correct value.
6-3-4 AL Status Code List

6-4 Inverter Errors

The trips that occur for inverters when using an optional board are as follows.
Name Meaning Error code Check point and remedy

Option error When an E60.@ The inverter unit version is old.
unrecoverable error is  Check that the unit version of the inverters is 1.1 or higher
detected in the (1.0 or lower do not operate).Replace the inverter.
optional board, a trip
is generated for the Generated when a trip reset was performed with the inverter.
inverter.  Set C102 to 3: Trip reset only, and turn the power supply
OFF and ON again.
Generated when an initialization or mode change was

performed with the inverter.
 Turn the power supply OFF and ON again.
The optional board is disconnected.

 Check that the optional board case and inverter are fitted
together correctly, and check for looseness in the fastening
screw.
The inverter or optional board is faulty.

 If they are fitted together correctly, the inverter or optional
PCB may be faulty. Replace the inverter or optional board.
Option timeout A trip occurs when a E69.@ The optional board is disconnected.
timeout is generated  Check that the optional board case and inverter are fitted
in communication together correctly, and check for looseness in the fastening
between the inverter screw.
and optional PCB.
The optional board is faulty.
 If they are fitted together correctly, the optional PCB may be
faulty. Replace the optional board.

pp
Appendices
This chapter explains the specifications of the EtherCAT Communication Unit as well as
objects and inverter parameters handled by/set in the EtherCAT Communication Unit.
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
A-3 Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
App
A-3-1 Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A-4 Inverter Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
A-5 Sysmac Error Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-36
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) A-1

Appendices
A-1 Specifications
A-1-1 Appearance and Dimensions
Status Indicator Rotary switches for node

67.6 address setting
44.9
28.6
60.0
FG cable 27.9 53.1

Communications
10.3 10.3 Communications
connector (IN) 26.4mm*1
connector (OUT) D*1
28.2
FG cable
*1 After the EtherCAT Communication Unit is installed, dimension D of the inverter increases by 26.4 mm.
(Dimension D of the inverter varies depending on the capacity. Refer to the manual for the inverter.)
A-1-2 Common Specifications
Item Specifications
Model 3G3AX-MX2-ECT
Power supply Supplied from the inverter
Protective structure Open type (IP20)
Temperature 10 to 50C
Storage temperature 20 to 65C
Humidity 20% to 90% RH (with no condensation)
Vibration 5.9 m/s2 (0.6 G), 10 to 55 Hz
Application environment At a maximum altitude of 1,000 m; indoors (without corrosive gases or dust)
Weight 100 g max.
A-2 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

Appendices
A-1-3 EtherCAT Communications Specifications
Item Specifications
Communications standard IEC 61158 Type12, IEC 61800-7 CiA 402 drive profile
Physical layer 100BASE-TX (IEEE802.3)
Connector RJ45  2 (shielded type)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Communications media Category 5 or higher (cable with double, aluminum tape and braided shielding) is
recommended.
Communications distance Distance between nodes: 100 m max.
Process data Fixed PDO mapping
PDO mapping
Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock FreeRun mode (asynchronous)
LED display L/A IN (Link/Activity IN)  1
L/A OUT (Link/Activity OUT)  1
RUN  1
ERR  1
CiA402 drive profile Velocity mode
A-1 Specifications
App
A-1-3 EtherCAT Communications Specifications

Appendices
A-2 Communications Response Time

The table below lists the communications response time.
 CJ1W-NCx82 Master
Meaning Performance Conditions

Starting time Approx. 10 to 14 ms Time after the inverter is started from the PLC until the
motor produces output *
CJ1W-NCx82 When the communication cycle is 250
s
Data transmitting Write Approx. 27 ms/pc Time needed to write/read inverter parameters from
time Read Approx. 24 ms/pc the PLC
CJ1W-NCx82 When the communication cycle is 250
s
IO data updating cycle 4 ms or 6 ms Varies depending on the number of allocated PDOs
* Due to the characteristics of EtherCAT, the result will become the same with any node as long as the
communication cycle is the same.
 NJ501-1x00 Master
Meaning Performance Conditions

Starting time Approx. 6 to 10 ms Time after the inverter is started from the PLC until the
motor produces output *
NJ501-1x00 When the communication cycle is 500 s
Data transmitting Write Approx. 7 ms/pc Time needed to write/read inverter parameters from
time the PLC
Read Approx. 6 ms/pc
NJ501-1x00 When the communication cycle is 500 s
IO data updating cycle 4 ms or 6 ms Varies depending on the number of allocated PDOs
* Due to the characteristics of EtherCAT, the result will become the same with any node as long as the
communication cycle is the same.

Appendices
A-3 Object List
A-3-1 Object List
Sub- Setting PDO

Index Object name Unit Default setting Size Access
index range map
1000 hex 0 Device type   00010192 hex 4 bytes (U32) RO Not
possible
1001 hex 0 Error register   0 1 byte (U8) RO Not
possible
1008 hex 0 Manufacturer device name   3G3AX-MX2-ECT 20 bytes (VS) RO Not
possible
1009 hex 0 Manufacturer hardware version   *1 20 bytes (VS) RO Not
possible
100A hex 0 Manufacturer software version   *1 20 bytes (VS) RO Not
possible
1010 hex Store parameters      
Number of entries   01 hex 1 byte (U8) RO Not
possible
Save all parameters   00000001 hex 4 bytes (U32) RW Not
possible
1011 hex Restore default parameters      
Number of entries   01 hex 1 byte (U8) RO Not
A-3 Object List

possible
Restore all default parameters   00000001 hex 4 bytes (U32) RW Not
possible
1018 hex Identity object      
0 Number of entries   04 hex 1 byte (U8) RO Not
possible
App
1 Vendor ID   00000083 hex 4 bytes (U32) RO Not
possible
2 Product code   00000053 hex 4 bytes (U32) RO Not
possible
A-3-1 Object List

3 Revision number   XXXXXXXX hex 4 bytes (U32) RO Not
possible
4 Serial number   00000000 hex 4 bytes (U32) RO Not
possible
10F3 hex Diagnosis history      
possible
1 Maximum messages 00 to 08 hex  00 hex 1 byte (U8) RO Not
possible
2 Newest message 06 to 0D hex  06 hex 1 byte (U8) RO Not
possible
5 Flags 0000 to  0001 hex 2 bytes (U16) RW Not
0001 hex possible
6 to 13 Diagnosis message 1 to 8    23 bytes (VS) RO Not
possible
1600 to 1st to 5th receive PDO mapping      
1604 hex
0 Number of objects   0 1 byte (U8) RW Not
possible
1 1st object  00000000 hex 4 bytes (U32) RW Not
(1st Output Object to be mapped) possible
2 2nd object  00000000 hex 4 bytes (U32) RW Not
(2nd Output Object to be mapped) possible
*1 "V*.**" which shows the hardware version is saved.

Appendices
Sub- Setting PDO

index range map
1700 hex 257th fixed receive PDO mapping      
0 Number of objects   2 1 byte (U8) RO Not
possible
1 1st object   60400010 hex 4 bytes (U32) RO Not
2 2nd object   60420010 hex 4 bytes (U32) RO Not
1701 hex 258th fixed receive PDO mapping      
possible
1A00 to 1st to 5th transmit PDO mapping      
1A04 hex
0 Number of objects   2 1 byte (U8) RW Not
possible
1 1st object   00000000 hex 4 bytes (U32) RW Not
(1st Input Object to be mapped) possible
2 2nd object   00000000 hex 4 bytes (U32) RW Not
(2nd Input Object to be mapped) possible
1B00 hex 257th fixed transmit PDO mapping      
possible
1B01 hex 258th fixed transmit PDO mapping      
possible
1BFF hex 512th transmit PDO Mapping      
0 Number of objects in this PDO   01 hex 1 byte (U8) RO Not
possible
1 1st Input Object to be mapped   20020108 hex 4 bytes (U8) RO Not
possible
1C00 hex Sync manager communication type      
0 Number of used SM channels   04 hex 1 byte (U8) RO Not
possible
1 Communication type SM0   01 hex 4 bytes (U8) RO Not
possible
possible
possible
possible
1C10 hex Sync Manager 0 PDO assignment      
0 Number of assigned PDOs   00 hex 1 byte (U8) RO Not
possible
0 Number of assigned PDOs   00 hex 1 byte (U8) RO Not
possible

Appendices
Sub- Setting PDO

index range map
1C12 hex Sync manager 2 PDO assignment      
0 Number of assigned RxPDOs   01 hex 1 byte (U8) RW Not
possible
1 Assigned PDO 1   1701 hex 2 bytes (U16) RW Not
(1st PDO Mapping object index of possible
assigned PDO)
(2nd PDO Mapping object index of possible
assigned PDO)
(3rd PDO Mapping object index of possible
assigned PDO)
(4th PDO Mapping object index of possible
assigned PDO)
assigned PDO)
0 Number of assigned TxPDOs   01 hex 1 byte (U8) RW Not
possible
1 Assigned PDO 1   1B01 hex 2 bytes (U16) RW Not
(1st PDO Mapping object index of possible
assigned PDO)
(2nd PDO Mapping object index of possible
assigned PDO)
 
A-3 Object List

3 Assigned PDO 3 0000 hex 2 bytes (U16) RW Not
(3rd PDO Mapping object index of possible
assigned PDO)
assigned PDO)
App
assigned PDO)
1C32 hex SM2 synchronization      
0 Number of synchronization   20 hex 1 byte (U8) RO Not
parameter possible
A-3-1 Object List

1 Synchronization type   0000 hex 2 bytes (U16) RW Not
possible
4 Synchronization types supported   0001 hex 2 bytes (U16) RO Not
possible
1C33 hex SM3 synchronization      
0 Number of synchronization   20 hex 1 byte (U8) RO Not
parameter possible
1 Synchronization type   0000 hex 2 bytes (U16) RW Not
possible
4 Synchronization types supported   0001 hex 2 bytes (U16) RO Not
possible
2002 hex Sysmac Error      
possible
1 Sysmac Error Status   00 hex 1 byte (U8) RO Possible
(TxPDO)
2 Sysmac Error Status Clear   00 hex 1 byte (U8) RW Not
possible
2100 hex 0 Error history clear 6C636C65 hex  00000000 hex 4 bytes (U32) RW Not
possible
5000 hex 0 Command 0000 to  0000 hex 2 bytes (U16) RW Possible
FFFF hex
5010 hex 0 Frequency reference 0000 to 0.01 Hz 0000 hex 2 bytes (U16) RW Possible
FFFF hex (0.1 Hz)
5100 hex 0 Status 0000 to  0000 hex 2 bytes (U16) RO Possible
FFFF hex (TxPDO)

Appendices
Sub- Setting PDO

index range map
5110 hex 0 Output frequency monitor 0000 to Unit: 0000 hex 2 bytes (U16) RO Possible
FFFF hex 0.01 Hz (TxPDO)
(0.1 Hz)
5200 hex PDO mapping error history      
0 Number of entries   0A hex 1 byte (U8) RO Not
possible
1 Newest PDO mapping error code   FFFF hex 2 bytes (U16) RO Not
possible
4 Number of error messages   00 hex 2 bytes (U16) RO Not
possible
5 to A PDO mapping error message 1 to   0000 hex 2 bytes (U16) RO Not
6 possible
603F hex 0 Error code 0000 to  0000 hex 2 bytes (U16) RO Possible
FFFF hex (TxPDO)
6040 hex 0 Controlword 0000 to  0000 hex 2 bytes (U16) RW Possible
FFFF hex
6041 hex 0 Statusword 0000 to  0000 hex 2 bytes (U16) RO Possible
FFFF hex (TxPDO)
6042 hex 0 vl target velocity 8000 to rpm 0000 hex 2 bytes (INT16) RW Possible
7FFF hex
6043 hex 0 vl velocity demand 8000 to rpm 0000 hex 2 bytes (INT16) RO Possible
7FFF hex (TxPDO)
6044 hex 0 vl velocity actual value 8000 to rpm 0000 hex 2 bytes (INT16) RO Possible
7FFF hex (TxPDO)
6046 hex vl velocity min max amount      
0 Number of entries  Command 02 hex 1 byte (U8) RO Not
unit possible
1 vl velocity min amount 00000000 to rpm 0000000F hex 4 bytes (U32) RW Not
FFFFFFFF hex possible
2 vl velocity max amount 00000000 to rpm 00000708 hex 4 bytes (U32) RW Not
6048 hex vl velocity acceleration      
unit possible
1 Delta speed 00000000 to rpm 00000708 hex 4 bytes (U32) RO Not
2 Delta time 0000 to s 000A hex 2 bytes (U16) RW Not
FFFF hex possible
6049 hex vl velocity deceleration      
unit possible
1 Delta speed 00000000 to rpm 00000708 hex 4 bytes (U32) RO Not
2 Delta time 0000 to s 000A hex 2 bytes (U16) RW Not
FFFF hex possible
605B hex 0 Shutdown option code 1  1 2 bytes (INT16) RW Not
possible
605C hex 0 Disable operation option code 1  1 2 bytes (INT16) RW Not
possible
605E hex 0 Fault reaction option code 1  1 2 bytes (INT16) RW Not
possible
6060 hex 0 Modes of operation 2  02 hex 1 byte (INT8) RW Possible
6061 hex 0 Modes of operation display 0 to 10  02 hex 1 byte (INT8) RO Possible
(TxPDO)
6502 hex 0 Supported drive modes   00000002 hex 4 bytes (U32) RO Not
possible

Appendices
A-4 Inverter Parameter List

Inverter parameters are allocated to objects 3000 to 3102 hex and 4000 to 4102 hex.
3000 to 3102 hex are 16-bit parameters and 4000 to 4102 hex are 32-bit parameters.
 Index and sub-index calculation method

N: Inverter register number
(N/254): Integer part after N is divided by 254
(N%254): Remainder after N is divided by 254
 Holding register number list (frequency reference and fault monitor)
Sub- Register Parameter Data PDO

Index Function name R/W Monitor and setting items
index No. No. resolution map

4000 02 0001 hex Output Frequency F001 RW 0 to maximum frequency (enabled 0.01 [Hz] Possible
hex hex Setting when A001 = 03) (TxPDO)
3000 05 0004 hex Inverter Status B  RO 0: Stopped  Possible

hex hex 1: During operation (TxPDO)
2: During trip
3000 06 0005 hex Inverter Status C  RO 0:   Possible

hex hex 1: Stop (TxPDO)
2: Deceleration
3: Constant speed
4: Acceleration
5: Forward
6: Reverse
App
7: Forward to reverse
8: Reverse to forward
9: Forward run start
10: Reverse run start
3000 07 0006 hex PID Feedback  RO 0 to 10000 0.01 [%] Possible

hex hex (TxPDO)
3000 12 0011 hex Fault Counter d080 RO 0 to 65530 1 [time] Possible

hex hex (TxPDO)
3000 13 0012 hex Fault Monitor 1 d081 RO Refer to Inverter Fault Factor List in  Possible
hex hex Cause the operation manual for the MX2 (TxPDO)
inverter.
3000 14 0013 hex Fault Monitor 1 Refer to Inverter Fault Factor List in  Possible
hex hex Inverter Status the operation manual for the MX2 (TxPDO)
inverter.
4000 15 0014 hex Fault Monitor 1 0 to 100000 0.01 [Hz] Possible

hex hex Frequency (TxPDO)
3000 17 0016 hex Fault Monitor 1 Output current value at the time of 0.01 [A] Possible
hex hex Current tripping (TxPDO)
3000 18 0017 hex Fault Monitor 1 Voltage DC input voltage at the time of 0.1 [V] Possible
hex hex tripping (TxPDO)
4000 19 0018 hex Fault Monitor 1 Total RUN time at the time of 1 [h] Possible
hex hex RUN Time tripping (TxPDO)
4000 1B 001A Fault Monitor 1 Power ON time at the time of 1 [h] Possible
hex hex hex ON Time tripping (TxPDO)

Appendices

3000 1D 001C Fault Monitor 2 d082 RO Refer to Inverter fault factor list on  Possible
hex hex hex Cause page A-12. (TxPDO)
3000 1E 001D Fault Monitor 2 Refer to Inverter fault factor list on  Possible
hex hex hex Inverter Status page A-12. (TxPDO)
4000 1F 001E Fault Monitor 2 0 to 100000 0.01 [Hz] Possible

hex hex hex Frequency (TxPDO)
4000 25 0024 hex Fault Monitor 2 Power ON time at the time of 1 [h] Possible
hex hex ON Time tripping (TxPDO)
3000 27 0026 hex Fault Monitor 3 d083 RO Refer to Inverter fault factor list on  Possible
hex hex Cause page A-12. (TxPDO)
3000 28 0027 hex Fault Monitor 3 Refer to Inverter fault factor list on  Possible
hex hex Inverter Status page A-12. (TxPDO)

3000 2B 002A Fault Monitor 3 Output current value at the time of 0.01 [A] Possible
hex hex hex Current tripping (TxPDO)
3000 2C 002B Fault Monitor 3 Voltage DC input voltage at the time of 0.1 [V] Possible
hex hex hex tripping (TxPDO)
4000 2D 002C Fault Monitor 3 Total RUN time at the time of 1 [h] Possible
hex hex hex RUN Time tripping (TxPDO)
4000 2F 002E Fault Monitor 3 Power ON time at the time of 1 [h] Possible

3000 3B 003A Fault Monitor 5 d085 RO Refer to Inverter fault factor list on  Possible
hex hex hex Cause page A-12. (TxPDO)
3000 3C 003B Fault Monitor 5 Refer to Inverter fault factor list on  Possible
hex hex hex Inverter Status page A-12. (TxPDO)
4000 3D 003C Fault Monitor 5 0 to 100000 0.01 [Hz] Possible

3000 3F 003E Fault Monitor 5 Output current value at the time of 0.01 [A] Possible
hex hex hex Current tripping (TxPDO)
3000 40 003F hex Fault Monitor 5 Voltage DC input voltage at the time of 0.1 [V] Possible

Appendices


3000 4A 0049 hex Fault Monitor 6 Voltage DC input voltage at the time of 0.1 [V] Possible
4000 4B 004A Fault Monitor 6 Total RUN time at the time of 1 [h] Possible
hex hex hex RUN Time tripping (TxPDO)
4000 4D 004C Fault Monitor 6 Power ON time at the time of 1 [h] Possible
3000 4F 004E Warning Monitor d090 RO Warning code  Possible

hex hex hex (TxPDO)
3009 13 0900 hex EEPROM Write  WO 0: Motor parameter recalculation  Not

hex hex 1: Set value storage in EEPROM possible
Other: Motor parameter recalculation
and EEPROM
3009 15 0902 hex EEPROM Write Mode  WO 0: Write disabled  Not

hex hex Selection 1: Write enabled possible
App

Appendices
Inverter fault factor list
Trip factor high-order (factor) Trip factor low-order (Inverter status)
Name Code Name Code
No trip factor 0 During reset 0
Overcurrent protection during constant 1 During stop 1

speed
Overcurrent protection during decelera- 2 During deceleration 2

tion
Overcurrent protection during accelera- 3 At a constant speed 3

tion
Overcurrent protection during stop 4 During acceleration 4
Overload protection 5 Operates at frequency = 0 5

Braking resistor overload protection 6 During startup 6
Overvoltage protection 7 DB active (DC injection braking active) 7
EEPROM error 8 During overload limit 8
Undervoltage protection 9
Current detector error 10
CPU error 11
External trip 12
USP error 13
Grounding protection 14
Incoming overvoltage protection 15
Abnormal temperature 21
Main circuit error 25
Driver error 30
Thermistor error 35
Brake error 36
Emergency shutoff 37
Overload protection in a low speed 38

range
Digital operator connection error 40
Modbus communication (Modbus-RTU) 41

error
Internal data error 43 to 45

50 to 69
Encoder disconnection 80
Overspeed 81
Position control range trip 83

Appendices
 Holding register number list (monitor)

index No. No resolution map
4010 22 1001 hex Output Frequency d001 RO 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex Monitor (TxPDO)
3010 24 1003 hex Output current monitor d002 RO 0 to 65530 0.01 [A] Possible
hex hex (TxPDO)
3010 25 1004 hex Rotation Direction d003 RO 0: Stop  Possible

hex hex Monitor 1: Forward (TxPDO)
2: Reverse
4010 26 1005 hex PID Feedback Value d004 RO 0 to 1000000 0.1 Possible
3010 28 1007 hex Multi-function Input d005 RO 20: Terminals S1 Bit Possible
21 to 26: Terminals S7/EB
3010 29 1008 hex Multi-function output d006 RO 20: Terminals P1/EDM Bit Possible
hex hex monitor (TxPDO)
to 21: Terminal P2
26: Relay output terminal
4010 2A 1009 hex Output Frequency d007 RO 0 to 4000000 (10000000) 0.01 Possible
hex hex Monitor (after (TxPDO)
conversion)

4010 2C 100B Real Frequency d008 RO 100000 to +100000 0.01 [Hz] Possible
hex hex hex Monitor (TxPDO)
3010 2E 100D Torque Reference d009 RO 200 to +200 1 [%] Possible

3010 2F 100E Torque Bias Monitor d010 RO 200 to +200 1 [%] Possible
hex hex hex (TxPDO)
3010 31 1010 hex Output Torque Monitor d012 RO 200 to +200 1 [%] Possible
hex hex (TxPDO)
3010 32 1011 hex Output Voltage d013 RO 0 to 6000 0.1 [V] Possible
App
3010 33 1012 hex Input Power Monitor d014 RO 0 to 9999 0.1 [kW] Possible
hex hex (TxPDO)
4010 34 1013 hex Integrated Power d015 RO 0 to 9999000  Possible

4010 36 1015 hex Total RUN Time d016 RO 0 to 999000 1 [h] Possible
4010 38 1017 hex Power ON Time d017 RO 0 to 999000 1 [h] Possible

3010 3A 1019 hex Fin Temperature d018 RO 200 to 1500 0.1 [C] Possible
3010 3E 101D Life Assessment d022 RO 20: Capacitor on main circuit board Bit Possible
21: Cooling fan
3010 47 1026 hex DC Voltage Monitor d102 RO 0 to 10000 0.1 [V] Possible
hex hex (TxPDO)
3010 48 1027 hex Regenerative Braking d103 RO 0 to 1000 0.1 [%] Possible
hex hex Load Rate Monitor (TxPDO)
3010 49 1028 hex Electronic Thermal d104 RO 0 to 1000 0.1 [%] Possible
hex hex Load Rate Monitor (TxPDO)
4010 57 1036 hex Position Reference d029 RO 268435455 to 268435455 1 Possible

4010 59 1038 hex Current position d030 RO 268435455 to 268435455 1 Possible

hex hex monitor (TxPDO)
3010 78 1057 hex Inverter Mode Monitor d060 RO 0: I-C (IM heavy load)  Possible
hex hex 1: I-V (IM light load) (TxPDO)
2: H-I (IM power supply harmonics)

Appendices
 Holding register number list (F group)

4011 26 1103 hex Acceleration Time F002 RW 1 to 360000 0.01 [s] Possible
hex hex Setting 1
4011 28 1105 hex Deceleration Time F003 RW 1 to 360000 0.01 [s] Possible
hex hex Setting 1
3011 2A 1107 hex RUN Direction F004 RW 0: Forward  Possible

hex hex Selection 1: Reverse (TxPDO)
 Holding register number list (A, b, C, H, P group)

3012 26 1201 hex Frequency Reference A001 RW 00: Volume  Possible

hex hex Selection 1 01: Control circuit terminal block (TxPDO)
02: Digital operator
03: Modbus communication
(Modbus-RTU)
04: Optional board
06: Pulse train frequency
07: Do not set.
10: Operation function output
3012 27 1202 hex RUN Command A002 RW 01: Control circuit terminal block  Possible
hex hex Selection 1* 02: Digital operator (TxPDO)
(Modbus-RTU)
04: Optional board
3012 28 1203 hex Base Frequency 1 A003 RW 300 to Maximum Frequency 1 0.1 [Hz] Possible
hex hex (TxPDO)
3012 29 1204 hex Maximum Frequency 1 A004 RW 300 to 4000 (10000) 0.1 [Hz] Possible
hex hex (TxPDO)
3012 2A 1205 hex FV/FI Selection A005 RW 00: Switch between FV/FI  Possible
hex hex 02: Switch between FV/volume (TxPDO)
03: Switch between FI/volume
4012 30 120B FV Start Frequency A011 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex (TxPDO)
4012 32 120D FV End Frequency A012 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex (TxPDO)
3012 34 120F hex FV Start Ratio A013 RW 0 to 100 1 [%] Possible

hex hex (TxPDO)
3012 35 1210 hex FV End Ratio A014 RW 0 to 100 1 [%] Possible

hex hex (TxPDO)
3012 36 1211 hex FV Start Selection A015 RW 00: Start frequency  Possible
hex hex 01: 0 Hz (TxPDO)
3012 37 1212 hex FV, FI sampling A016 RW 1 to 30/31 (with 500 ms filter  0.1 1 Possible
hex hex Hz hysteresis) (TxPDO)
3012 3A 1215 hex Multi-step Speed A019 RW 00: Binary 16-step selection with 4  Possible
hex hex Selection terminals (TxPDO)
01: Bit 8-step selection with 7
terminals
4012 3B 1216 hex Multi-step Speed 1 A020 RW 0 0.01 [Hz] Possible

hex hex Reference 0 Starting Frequency to Maximum
Frequency 1
* After changing the RUN Command Selection 1, provide an interval of at least 40 ms before the RUN command is actually executed.

Appendices

4012 3D 1218 hex Multi-step Speed A021 RW 0 0.01 [Hz] Possible
hex hex Reference 1 Starting Frequency to nth Maximum
Frequency
4012 3F 121A Multi-step Speed A022 RW 0 0.01 [Hz] Possible
hex hex hex Reference 2 Starting Frequency to nth Maximum
Frequency
4012 41 121C Multi-step Speed A023 RW 0 0.01 [Hz] Possible
Frequency
4012 43 121E Multi-step Speed A024 RW 0 0.01 [Hz] Possible
Frequency
4012 45 1220 hex Multi-step Speed A025 RW 0 0.01 [Hz] Possible
Frequency
Frequency
Frequency
4012 4B 1226 hex Multi-step Speed A028 RW 0 0.01 [Hz] Possible
Frequency

4012 4D 1228 hex Multi-step Speed A029 RW 0 0.01 [Hz] Possible
Frequency
4012 4F 122A Multi-step Speed A030 RW 0 0.01 [Hz] Possible
Frequency
4012 51 122C Multi-step Speed A031 RW 0 0.01 [Hz] Possible
Frequency
4012 53 122E Multi-step Speed A032 RW 0 0.01 [Hz] Possible
Frequency
App
Frequency
Frequency
Frequency
3012 5D 1238 hex Jogging Frequency A038 RW Starting Frequency to 999 (10000) 0.01 [Hz] Possible
hex hex
3012 5E 1239 hex Jogging Stop A039 RW 00: Free run on jogging  Possible
hex hex Selection stop/Disabled in operation (TxPDO)
01: Deceleration stop on jogging
stop/Disabled in operation
02: DC injection braking on jogging
stop/Disabled in operation
03: Free run on jogging
stop/Enabled in operation
04: Deceleration stop on jogging
05: DC injection braking on jogging
3012 60 123B Torque Boost A041 RW 00: Manual torque boost  Possible
hex hex hex Selection 1 01: Automatic torque boost (TxPDO)
3012 61 123C Manual Torque Boost A042 RW 0 to 200 0.1 [%] Possible
hex hex hex Voltage 1
3012 62 123D Manual Torque Boost A043 RW 0 to 500 0.1 [%] Possible
hex hex hex Frequency 1
3012 63 123E Control Method 1 A044 RW 00: Constant torque characteristics  Possible
hex hex hex 01: Reduced torque characteristics (TxPDO)
02: Free V/f setting
03: Sensorless vector control
3012 64 123F hex Output Voltage Gain 1 A045 RW 20 to 100 1 [%] Possible
hex hex

Appendices

3012 65 1240 hex Automatic Torque A046 RW 0 to 255 1 [%] Possible
hex hex Boost Voltage
Compensation Gain 1
hex hex Boost Slip
Compensation Gain 1
3012 6A 1245 hex Internal DC Injection A051 RW 00: Disabled  Possible
hex hex Braking Selection 01: Enabled during stop (TxPDO)
02: Output frequency (at A052)
3012 6B 1246 hex Internal DC Injection A052 RW 0 to 6000 0.01 [Hz] Possible
hex hex Braking Frequency (TxPDO)
3012 6C 1247 hex DC Injection Braking A053 RW 0 to 50 0.1 [s] Possible
hex hex Delay Time (TxPDO)
3012 6D 1248 hex DC Injection Braking A054 RW 0 to 100 1 [%] Possible
hex hex Power (TxPDO)
3012 6E 1249 hex DC Injection Braking A055 RW 0 to 600 0.1 [s] Possible
hex hex Time (TxPDO)
3012 6F 124A DC Injection Braking A056 RW 00: Edge operation  Possible
hex hex hex Edge/Level Selection 01: Level operation (TxPDO)
3012 70 124B Startup DC Injection A057 RW 0 to 100 1 [%] Possible
hex hex hex Braking Power (TxPDO)
3012 71 124C Startup Internal DC A058 RW 0 to 600 0.1 [s] Possible
hex hex hex Injection Braking Time (TxPDO)
3012 72 124D DC Injection Braking A059 RW 20 to 150 0.1 [kHz] Possible
hex hex hex Carrier Frequency (TxPDO)
4012 74 124F hex Frequency Upper A061 RW 0 0.01 [Hz] Possible
hex hex Limit 1 Frequency Lower Limit 1 to (TxPDO)
Maximum Frequency 1
4012 76 1251 hex Frequency Lower A062 RW 0 0.01 [Hz] Possible
hex hex Limit 1 Starting Frequency to Frequency (TxPDO)
Upper Limit 1
4012 78 1253 hex Jump Frequency 1 A063 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex (TxPDO)
3012 7A 1255 hex Jump Frequency A064 RW 0 to 1000 (10000) 0.01 [Hz] Possible
hex hex Width 1 (TxPDO)
4012 7B 1256 hex Jump Frequency 2 A065 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex (TxPDO)
3012 7D 1258 hex Jump Frequency A066 RW 0 to 1000 (10000) 0.01 [Hz] Possible
hex hex Width 2 (TxPDO)
4012 7E 1259 hex Jump Frequency 3 A067 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex (TxPDO)
3012 80 125B Jump Frequency A068 RW 0 to 1000 (10000) 0.01 [Hz] Possible
hex hex hex Width 3 (TxPDO)
4012 81 125C Acceleration Stop A069 RW 0 to 40000 0.01 [Hz] Possible
3012 83 125E Acceleration Stop A070 RW 0 to 600 0.1 [s] Possible
hex hex hex Time (TxPDO)
3012 84 125F hex PID Selection A071 RW 00: Disabled  Possible
hex hex 01: Enabled (TxPDO)
02: Reverse output enabled
3012 85 1260 hex PID P Gain A072 RW 2 to 2500 0.01 Possible
hex hex
3012 86 1261 hex PID I Gain A073 RW 0 to 36000 0.1 [s] Possible
hex hex
3012 87 1262 hex PID D Gain A074 RW 0 to 10000 0.01 [s] Possible
hex hex
3012 88 1263 hex PID Scale A075 RW 1 to 9999 0.01 Possible
hex hex (TxPDO)
3012 89 1264 hex PID Feedback A076 R/W 00: Current (FI)  Possible
hex hex Selection 01: Voltage (FV) (TxPDO)
(Modbus-RTU)
3012 8A 1265 hex PID Deviation Reverse A077 RW 00: Disabled  Possible
hex hex Output 01: Enabled (TxPDO)
3012 8B 1266 hex PID Variable Range A078 RW 0 to 1000 0.1 [%] Possible
hex hex Limit (TxPDO)

Appendices

3012 8C 1267 hex PID Feedforward A079 RW 00: Disabled  Possible
hex hex Selection 01: Voltage (FV) (TxPDO)
02: Current (FI)
3012 8E 1269 hex AVR Selection 1 A081 RW 00: Always ON  Possible
hex hex 01: Always OFF (TxPDO)
02: OFF during deceleration
3012 8F 126A Motor Incoming A082 RW 200-V class: 00 (200) Possible
hex hex hex Voltage Selection 1 01 (215) (TxPDO)
02 (220)
03 (230)
04 (240)
400-V class: 05 (380)
06 (400)
07 (415)
3012 90 126B AVR Filter Time A083 RW 0 to 1000 0.01 [s] Possible
hex hex hex Parameter (TxPDO)
3012 91 126C AVR Deceleration A084 RW 50 to 200 1 [%] Possible
hex hex hex Voltage Gain (TxPDO)
3012 92 126D RUN Mode Selection A085 RW 00: Normal operation  Possible
hex hex hex 01: Energy-saving operation (TxPDO)
3012 93 126E Energy-saving A086 RW 0 to 1000 0.1 [%] Possible
hex hex hex Response/Accuracy
Adjustment
4012 99 1274 hex 1st Acceleration Time A092 RW 1 to 360000 0.01 [s] Possible
hex hex 2

4012 9B 1276 hex 1st Deceleration Time A093 RW 1 to 360000 0.01 [s] Possible
hex hex 2
3012 9D 1278 hex 2-step A094 RW 00: Switched via word 2 terminal  Possible
hex hex Acceleration/Decelerat 01: Switched by setting (TxPDO)
ion Selection 1 02: Switched only when switching
forward/reverse
4012 9E 1279 hex 2-step Acceleration A095 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex Frequency 1 (TxPDO)
4012 A0 127B 2-step Deceleration A096 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex Frequency 1 (TxPDO)
3012 A2 127D Acceleration Pattern A097 RW 00: Linear  Possible
App
hex hex hex Selection 01: S shape curve (TxPDO)
02: U shape curve
03: Inverted U shape curve
04: EL-S shape curve
3012 A3 127E Deceleration Pattern A098 RW 00: Linear  Possible
hex hex hex Selection 01: S shape curve (TxPDO)
02: U shape curve
03: Inverted U shape curve
04: EL-S shape curve
4012 A6 1281 hex FI Start Frequency A101 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex (TxPDO)
4012 A8 1283 hex FI End Frequency A102 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex (TxPDO)
3012 AA 1285 hex FI Start Ratio A103 RW 0 to 100 1 [%] Possible
hex hex (TxPDO)
3012 AB 1286 hex FI End Ratio A104 RW 0 to 100 1 [%] Possible
hex hex (TxPDO)
3012 AC 1287 hex FI Start Selection A105 RW 00: Start frequency  Possible
hex hex 01: 0 Hz (TxPDO)
3012 CA 12A5 Acceleration Curve A131 RW 01 (small curve) to  Possible
hex hex hex Parameter 10 (large curve) (TxPDO)
3012 CB 12A6 Deceleration Curve A132 RW 01 (small curve) to  Possible
hex hex hex Parameter 10 (large curve) (TxPDO)
3012 D4 12AF Operation Frequency A141 RW 00: Digital Operator  Possible
hex hex hex Selection 1 01: Volume (TxPDO)
02: Voltage (FV) input
03: Current (FI) input
(Modbus-RTU)
05: Do not set.

Appendices

3012 D5 12B0 Operation Frequency A142 RW 00: Digital Operator  Possible
hex hex hex Selection 2 01: Volume (TxPDO)
02: Voltage (FV) input
03: Current (FI) input
(Modbus-RTU)
05: Do not set.
3012 D6 12B1 Operation Function A143 RW 00: Addition (A141 + A142)  Possible
hex hex hex Operator Selection 01: Subtraction (A141  A142) (TxPDO)
02: Multiplication (A141  A142)
4012 D8 12B3 Frequency Addition A145 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex Amount Setting (TxPDO)
3012 DA 12B5 Frequency Addition A146 RW 00: Frequency reference + A145  Possible
hex hex hex Sign Selection 01: Frequency reference  A145 (TxPDO)
3012 DE 12B9 EL-S Shape A150 RW 0 to 50 1 [%] Possible
hex hex hex Acceleration (TxPDO)
Curve Ratio 1
3012 DF 12BA EL-S Shape A151 RW 0 to 50 1 [%] Possible
hex hex hex Acceleration (TxPDO)
Curve Ratio 2
3012 E0 12BB EL-S Shape A152 RW 0 to 50 1 [%] Possible
hex hex hex Deceleration (TxPDO)
Curve Ratio 1
3012 E1 12BC EL-S Shape A153 RW 0 to 50 1 [%] Possible
hex hex hex Deceleration (TxPDO)
Curve Ratio 2
4012 E2 12BD Deceleration Stop A154 R/W 0 to 40000 (100000) 0.01 [Hz] Possible
3012 E4 12BF Deceleration Stop A155 RW 0 to 600 0.1 [s] Possible
4012 E5 12C0 PID Sleep Function A156 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex Operation Level (TxPDO)
3012 E7 12C2 PID Sleep Operation A157 RW 0 to 255 0.1 [s] Possible
hex hex hex Delay Time (TxPDO)
4012 EB 12C6 VR Start Frequency A161 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex (TxPDO)
4012 ED 12C8 VR End Frequency A162 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex (TxPDO)
3012 EF 12CA VR Start Ratio A163 RW 0 to VR End Ratio 1 [%] Possible
hex hex hex (TxPDO)
3012 F0 12CB VR End Ratio A164 RW VR Start Ratio to 100 1 [%] Possible
hex hex hex (TxPDO)
3012 F1 12CC VR Start Selection A165 RW 00: Start Frequency A161  Possible
hex hex hex 01: 0 Hz (TxPDO)
3013 28 1301 hex Retry Selection b001 RW 00: Trip  Possible
hex hex 01: 0 Hz restart (TxPDO)
02: Frequency matching restart
03: Trip after frequency matching
deceleration stop
04: Frequency pull-in restart
3013 29 1302 hex Allowable Momentary b002 RW 3 to 250 0.1 [s] Possible
hex hex Power Interruption Time (TxPDO)
3013 2A 1303 hex Restart Standby Time b003 RW 3 to 1000 0.1 [s] Possible
hex hex (TxPDO)
3013 2B 1304 hex Momentary Power b004 RW 00: Disabled  Possible
hex hex Interruption/Undervolt 01: Enabled (TxPDO)
age Trip During Stop 02: Disabled during stop and
Selection deceleration stop
3013 2C 1305 hex Restart During b005 RW 00: 16 times  Possible
hex hex Momentary Power 01: No limit (TxPDO)
Interruption Selection
4013 2E 1307 hex Frequency Matching b007 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex Lower Limit Frequency (TxPDO)
Setting
3013 30 1309 hex Overvoltage/Overcurrent b008 RW 00: Trip  Possible
hex hex Restart Selection 01: 0 Hz restart (TxPDO)
02: Frequency matching restart
03: Trip after frequency matching
deceleration stop

Appendices

3013 32 130B Overvoltage/Overcurrent b010 RW 1 to 3 1 [time] Possible
hex hex hex Restart Count Selection (TxPDO)
3013 33 130C Overvoltage/Overcurrent b011 RW 3 to 1000 0.1 [s] Possible
hex hex hex Restart Standby Time (TxPDO)
3013 34 130D Electronic Thermal b012 RW 200 to 1000 0.1 [%] Possible
hex hex hex Level 1 (TxPDO)
3013 35 130E Electronic Thermal b013 RW 00: Reduced torque characteristics  Possible
hex hex hex Characteristics 01: Constant torque characteristics (TxPDO)
Selection 1 02: Free setting
3013 37 1310 hex Free-electronic b015 RW 0 to Free-electronic Thermal 1 [Hz] Possible
hex hex Thermal Frequency 1 Frequency 2 (TxPDO)
3013 38 1311 hex Free-electronic b016 RW 0.00 to rated current 0.01 [%] Possible
hex hex Thermal Current 1 (TxPDO)
3013 39 1312 hex Free-electronic b017 RW Free-electronic Thermal Frequency 1 [Hz] Possible
hex hex Thermal Frequency 2 1 to Free Setting, Electric Thermal (TxPDO)
Frequency 3
3013 3A 1313 hex Free-electronic b018 RW 0.00 to rated current 0.01 [%] Possible
3013 3B 1314 hex Free-electronic b019 RW Free-electronic Thermal Frequency 1 [Hz] Possible
hex hex Thermal Frequency 3 2 to 400 (1000) (TxPDO)
3013 3C 1315 hex Free-electronic b020 RW 0.00 to rated current 0.01 [%] Possible
3013 3D 1316 hex Overload Limit 1 b021 RW 00: Disabled  Possible

hex hex Selection 01: Enabled during (TxPDO)
acceleration/constant speed
02: Enabled during constant speed
03: Enabled during
(accelerated during
regeneration)
3013 3E 1317 hex Overload Limit 1 Level b022 RW 200 to 2000 0.01 [%] Possible
hex hex (TxPDO)
3013 3F 1318 hex Overload Limit 1 b023 RW 1 to 30000 0.1 [s] Possible
hex hex Parameter (TxPDO)
3013 40 1319 hex Overload Limit 1 b024 RW 00: Disabled  Possible
App
hex hex Selection 2 01: Enabled during (TxPDO)
03: Enabled during
(accelerated during
regeneration)
3013 41 131A Overload Limit 1 b025 RW 200 to 2000 0.01 [%] Possible
3013 42 131B Overload Limit 1 b026 RW 1 to 30000 0.1 [s] Possible
hex hex hex Parameter 2 (TxPDO)
3013 43 131C Overcurrent b027 RW 00: Disabled  Possible
hex hex hex Suppression Selection 01: Enabled (TxPDO)
3013 44 131D Frequency Pull-in b028 RW 200 to 2000 0.01 [%] Possible
hex hex hex Restart Level (TxPDO)
3013 45 131E Frequency Pull-in b029 RW 1 to 30000 0.1 [s] Possible
hex hex hex Restart Parameter (TxPDO)
3013 46 131F hex Starting Frequency at b030 RW 00: Frequency at interruption  Possible
hex hex Frequency Pull-in 01: Max. frequency (TxPDO)
Restart Selection 02: Set frequency
3013 47 1320 hex Soft Lock Selection b031 RW 00: Data other than b031 cannot be  Possible
hex hex changed when terminal SFT is (TxPDO)
ON.
01: Data other than b031 and the
set frequency cannot be
changed when terminal SFT is
ON.
02: Data other than b031 cannot be
changed.
03: Data other than b031 and the
set frequency cannot be
changed.
10: Data can be changed during
RUN.
3013 49 1322 hex Motor Cable Length b033 RW 5 to 20  Possible
hex hex Code Selection (TxPDO)

Appendices

4013 4A 1323 hex RUN Time/Power ON b034 RW 0 to 65535 10 [h] Possible
hex hex Time Level (TxPDO)
3013 4C 1325 hex Rotation Direction b035 RW 00: No direction limit  Possible
hex hex Limit Selection 01: Only Forward is enabled. (TxPDO)
(Reverse is limited.)
02: Only Reverse is enabled.
(Forward is limited.)
3013 4D 1326 hex Reduced Voltage b036 RW 0 (Reduced voltage startup time:  Possible
hex hex Startup Selection small) to 255 (Reduced voltage (TxPDO)
startup time: large)
3013 4E 1327 hex Display Selection b037 RW 00: Complete display  Possible
hex hex 01: Individual display of functions (TxPDO)
02: User setting, this setting
03: Data comparison display
04: Basic display
05: Monitor display only
3013 4F 1328 hex Initial Screen Selection b038 RW 00: Screen on which the Entry was  Possible
hex hex last pressed (TxPDO)
001 to 060: (d001 to d060)
201: F001
3013 50 1329 hex User Parameter b039 RW 00: Disabled  Possible
hex hex Automatic Setting 01: Enabled (TxPDO)
Function
3013 51 132A Torque Limit Selection b040 RW 00: Four-quadrant separate setting  Possible
hex hex hex 01: Terminal switching (TxPDO)
02: Analog voltage input
03: Do not set.
3013 52 132B Torque Limit 1 (four- b041 RW 0 to 200/255 (no) 1 [%] Possible
hex hex hex quadrant mode (TxPDO)
forward power
running)
3013 53 132C Torque Limit 2 (four- b042 RW 0 to 200/255 (no) 1 [%] Possible
reverse regeneration)
3013 54 132D Torque Limit 3 (four- b043 RW 0 to 200/255 (no) 1 [%] Possible
reverse power
running)
3013 55 132E Torque Limit 4 (four- b044 RW 0 to 200/255 (no) 1 [%] Possible
forward regeneration)
3013 56 132F hex Torque LADSTOP b045 RW 00: Disabled  Possible
hex hex Selection 01: Enabled (TxPDO)
3013 57 1330 hex Reverse Rotation b046 RW 00: Disabled  Possible
hex hex Prevention Selection 01: Enabled (TxPDO)
3013 5A 1333 hex Heavy Load/Light b049 RW 00: Heavy load mode  Possible
hex hex Load Selection 01: Light load mode (TxPDO)
3013 5B 1334 hex Controlled b050 RW 00: Disabled  Possible
hex hex Deceleration on Power 01: Deceleration stop (TxPDO)
Loss 02: Constant voltage (without
recovery)
03: Constant voltage (with recovery)
3013 5C 1335 hex DC Bus Voltage b051 RW 0 to 10000 0.1 [V] Possible
hex hex Trigger Level of Ctrl. (TxPDO)
Decel
3013 5D 1336 hex Deceleration Hold b052 RW 0 to 10000 0.1 [V] Possible
hex hex Level of Ctrl. Decel (TxPDO)
4013 5E 1337 hex Deceleration Time of b053 RW 1 to 360000 0.01 [s] Possible
hex hex Ctrl. Decel (TxPDO)
3013 60 1339 hex Freq. Drop to start Ctrl. b054 RW 0 to 1000 0.01 [Hz] Possible
hex hex Decel (TxPDO)
3013 66 133F hex Window Comparator b060 RW 0. to 100. 1 [%] Possible
hex hex FV Upper Limit Level (Lower limit: b061 + b062  2)
3013 67 1340 hex Window Comparator b061 RW 0. to 100. 1 [%] Possible
hex hex FV Lower Limit Level (Upper limit: b060 - b062  2)
3013 68 1341 hex Window Comparator b062 RW 0. to 10. (Upper limit: 1 [%] Possible
hex hex FV Hysteresis Width (b060  b061) / 2)
3013 69 1342 hex Window Comparator b063 RW 0. to 100. 1 [%] Possible
hex hex FI Upper Limit Level (Lower limit: b064 + b065  2)
3013 6A 1343 hex Window Comparator b064 RW 0. to 100. 1 [%] Possible
hex hex FI Lower Limit Level (Upper limit: b063  b065  2

Appendices

3013 6B 1344 hex Window Comparator b065 RW 0. to 10. 1 [%] Possible
hex hex FI Hysteresis Width (Upper limit: (b063  b064) / 2)
3013 70 1349 hex Analog Operation Level b070 RW 0 to 100/255 (no) 1 [%] Possible
hex hex at FV Disconnection (TxPDO)
3013 71 134A Analog Operation b071 RW 0 to 100/255 (no) 1 [%] Possible
hex hex hex Level at FI (TxPDO)
Disconnection
3013 75 134E Ambient Temperature b075 RW 10 to 50 1 [C] Possible
hex hex hex
3013 78 1351 hex Integrated Power Clear b078 RW 00: Disabled  Possible
hex hex 01: Clear (Return to 00 after clear)
3013 79 1352 hex Integrated Power b079 RW 1 to 1000 1 Possible
hex hex Display Scale
3013 7C 1355 hex Starting Frequency b082 RW 10 to 999 (10000) 0.01 [Hz] Possible
hex hex (TxPDO)
3013 7D 1356 hex Carrier Frequency b083 RW 20 to 150 0.1 [kHz] Possible
hex hex (TxPDO)
3013 7E 1357 hex Initialization Selection b084 RW 00: Initialization disabled  Possible
hex hex 01: Clear fault monitor (TxPDO)
02: Initialize data
03: Clear fault monitor + initialize
data
04: Do not set.


3013 7F 1358 hex Initialization Data b085 RW 00: Do not change. Possible
hex hex Selection (TxPDO)
3013 80 1359 hex Frequency Conversion b086 RW 1 to 9999 0.01 Possible
hex hex Coefficient
3013 81 135A STOP Key Selection b087 RW 00: Enabled  Possible
hex hex hex 01: Disabled (TxPDO)
02: Only reset is enabled
3013 82 135B Free-run Stop b088 RW 00: 0 Hz restart  Possible
hex hex hex Selection 01: Frequency matching restart (TxPDO)
3013 83 135C Automatic Carrier b089 RW 00: Disabled  Possible
hex hex hex Reduction 01: Enabled, depends on the (TxPDO)
App
current
02: Enabled, depends on the fin
temperature
3013 84 135D Usage Rate of b090 RW 0 to 1000 0.1 [%] Possible
hex hex hex Regenerative Braking (TxPDO)
3013 85 135E Stop Selection b091 RW 00: Deceleration stop  Possible
hex hex hex 01: Free-run stop (TxPDO)
3013 86 135F hex Cooling Fan Operation b092 RW 00: Always  Possible
hex hex 01: Only during operation (TxPDO)
(Including 5 minutes after the
power is turned on and also
after the inverter stops)
02: Depends on the fin temperature
3013 87 1360 hex Cooling Fan Total b093 RW 00: Operating time count  Possible
hex hex Operating Time Clear 01: Clear (Return to 00 after clear) (TxPDO)
3013 88 1361 hex Initialization Target b094 RW 00: All data  Possible
hex hex Selection 01: Data other than (TxPDO)
terminal/communications
02: U*** registration function only
03: Other than U*** registration
function
3013 89 1362 hex Regenerative Braking b095 RW 00: Disabled  Possible
hex hex Selection 01: Enabled (Disabled during stop) (TxPDO)
02: Enabled (Enabled during stop)
3013 8A 1363 hex Regenerative Braking b096 RW 330 to 380/660 to 760 1 [V] Possible
hex hex ON Level (TxPDO)
3013 8E 1367 hex Free V/f Frequency 1 b100 RW 0 to Free V/f Frequency 2 1 [Hz] Possible
hex hex (TxPDO)
3013 8F 1368 hex Free V/f Voltage 1 b101 RW 0 to 8000 0.1 [V] Possible
hex hex (TxPDO)
3013 90 1369 hex Free V/f Frequency 2 b102 RW 0 to Free V/f Frequency 3 1 [Hz] Possible
hex hex (TxPDO)
3013 91 136A Free V/f Voltage 2 b103 RW 0 to 8000 0.1 [V] Possible
hex hex hex (TxPDO)

Appendices

3013 92 136B Free V/f Frequency 3 b104 RW 0 to Free V/f Frequency 4 1 [Hz] Possible
hex hex hex (TxPDO)
3013 93 136C Free V/f Voltage 3 b105 RW 0 to 8000 0.1 [V] Possible
hex hex hex (TxPDO)
3013 94 136D Free V/f Frequency 4 b106 RW 0 to Free V/f Frequency 5 1 [Hz] Possible
hex hex hex (TxPDO)
3013 95 136E Free V/f Voltage 4 b107 RW 0 to 8000 0.1 [V] Possible
hex hex hex (TxPDO)
3013 96 136F hex Free V/f Frequency 5 b108 RW 0 to Free V/f Frequency 6 1 [Hz] Possible
hex hex (TxPDO)
3013 97 1370 hex Free V/f Voltage 5 b109 RW 0 to 8000 0.1 [V] Possible
hex hex (TxPDO)
3013 98 1371 hex Free V/f Frequency 6 b110 RW 0 to Free V/f Frequency 7 1 [Hz] Possible
hex hex (TxPDO)
3013 99 1372 hex Free V/f Voltage 6 b111 RW 0 to 8000 0.1 [V] Possible
hex hex (TxPDO)
3013 9A 1373 hex Free V/f Frequency 7 b112 RW 0 to 400 (1000) (Hz) 1 [Hz] Possible
hex hex (TxPDO)
3013 9B 1374 hex Free V/f Voltage 7 b113 RW 0 to 8000 0.1 [V] Possible
hex hex (TxPDO)
3013 A2 137B Brake Control b120 RW 00: Disabled  Possible
hex hex hex Function Selection 01: Enabled (TxPDO)
3013 A3 137C Brake Release Wait b121 RW 0 to 500 0.01 [s] Possible
3013 A4 137D Acceleration Wait b122 RW 0 to 500 0.01 [s] Possible
3013 A5 137E Stop Wait Time b123 RW 0 to 500 0.01 [s] Possible
hex hex hex (TxPDO)
3013 A6 137F hex Brake Wait Time for b124 RW 0 to 500 0.01 [s] Possible
hex hex Confirmation (TxPDO)
3013 A7 1380 hex Brake Release b125 RW 0 to 40000 0.01 [Hz] Possible
3013 A8 1381 hex Brake Release Current b126 RW 0 to 20000 0.01 [%] Possible
hex hex (TxPDO)
3013 A9 1382 hex Break ON Frequency b127 RW 0 to 40000 0.01 [Hz] Possible
hex hex (TxPDO)
3013 AC 1385 hex Overvoltage b130 RW 00: Disabled  Possible
hex hex Suppression Function 01: DC voltage kept constant (TxPDO)
Selection During 02: Acceleration enabled
Deceleration
3013 AD 1386 hex Overvoltage b131 RW 200-V class: 330 to 390 1 [V] Possible
hex hex Suppression Level 400-V class: 660 to 780 (TxPDO)
During Deceleration
3013 AE 1387 hex Overvoltage b132 RW 10 to 3000 0.01 [s] Possible
hex hex Suppression Parameter (TxPDO)
3013 AF 1388 hex Overvoltage b133 RW 0 to 500 0.01 Possible
hex hex Suppression
Proportional Gain
Setting
3013 B0 1389 hex Overvoltage b134 RW 0 to 1500 0.1 [s] Possible
hex hex Suppression Integral
Time Setting
3013 BB 1394 hex GS Input Operation b145 RW 00: No tripping  Possible
hex hex Selection 01: Tripping (TxPDO)
3013 C0 1399 hex Main Panel Display b150 RW 0 to 60 hex (BCD) (d001 to d060)  Possible
hex hex Selection
3013 CA 13A3 d050 Monitor Target 1 b160 RW 0 to 30 hex (BCD) (d001 to d030)  Possible
hex hex hex
3013 CB 13A4 d050 Monitor Target 2 b161 RW 0 to 30 hex (BCD) (d001 to d030)  Possible
hex hex hex
3013 CD 13A6 d001/d007 Frequency b163 RW 00: Disabled  Possible
hex hex hex Setting Mode Selection 01: Enabled
3013 CE 13A7 Initial Screen b164 RW 00: Disabled  Possible
hex hex hex Automatic Switching 01: Enabled
Function

Appendices

3013 CF 13A8 Selection of Operating b165 RW 00: Trip  Possible
hex hex hex Level on Digital 01: Trip after deceleration stop
Operator 02: Ignore
Disconnection 03: Free-run stop
04: Deceleration stop
3013 D5 13AE Inverter Mode b171 RW 00: Selection disabled  Possible
hex hex hex Selection 01: Induction motor (TxPDO)
02: High frequency induction motor
3013 DE 13B7 Perform Initialization/ b180 RW 00: Function disabled  Possible
hex hex hex Mode Selection 01: Initialization/Mode Selection (TxPDO)
Execution Execution

App

Appendices

3014 2A 1401 hex Multi-function Input 1 C001 RW 00: FW (Forward)  Possible
hex hex Selection 01: RV (Reverse) (TxPDO)
02: CF1 (Multi-step speed 1)
06: JG (Jogging)
07: DB (External DC injection
braking)
08: SET (Motor 2 control)
09: 2CH (2-step acceleration/
3014 2B 1402 hex Multi-function Input 2 C002 RW deceleration)  Possible
hex hex Selection 11: FRS (Free-run stop) (TxPDO)
12: EXT (External trip)
13: USP (USP function)
14: CS (Commercial switch)
15: SFT (Soft lock)
16: FV/FI (Analog input switch)
18: RS (Reset)
19: TH (PTC thermistor thermal
protection)
3014 2C 1403 hex Multi-function Input 3 C003 RW 20: STA (3-wire start)  Possible
hex hex Selection 21: STP (3-wire stop) (TxPDO)
22: F/R (3-wire forward/reverse)
23: PID (PID disabled)
24: PIDC (PID integral reset)
27: UP (UP/DWN function accelerated)
28: DWN (UP/DWN function decelerated)
29: UDC (UP/DWN function data clear)
31: OPE (Forced operator)
32: SF1 (Multi-step speed bit 1)
3014 2D 1404 hex Multi-function Input 4 C004 RW 34: SF3 (Multi-step speed bit 3)  Possible
hex hex Selection 35: SF4 (Multi-step speed bit 4) (TxPDO)
39: OLR (Overload limit switching)
40: TL (Torque limit enabled/disabled)
41: TRQ1 (Torque limit switching 1)
42: TRQ2 (Torque limit switching 2)
44: BOK (Brake confirmation)
46: LAC (LAD cancel)
3014 2E 1405 hex Multi-function Input 5 C005 RW 47: PCLR (Position deviation clear)  Possible
hex hex Selection 50: ADD (Frequency addition) (TxPDO)
51: F-TM (Forced terminal block)
52: ATR (Torque reference input
permission)
53: KHC (Integrated power clear)
56: Reserved.
57: Reserved.
58: Reserved.
59: Reserved.
3014 2F 1406 hex Multi-function Input 6 C006 RW 60: Reserved.  Possible
hex hex Selection 61: Reserved. (TxPDO)
62: Reserved.
65: AHD (Analog command held)
66: CP1 (Position command selection 1)
69: ORL (Zero return limit signal)
70: ORG (Zero return startup signal)
73: SPD (Speed/position switching)
77: GS1 (GS1 input (C003 only))
3014 30 1407 hex Multi-function Input 7 C007 RW 78: GS2 (GS2 input (C004 only))  Possible
hex hex Selection 81: 485 (Start co-inverter (TxPDO)
communication)
82: Reserved.
83: HLD (Retain output frequency)
84: ROK (Permission of RUN command)
85: EB (Rotation direction
detection (C007 only))
86: DISP (Display fixed)
no: NO (Not assigned)

Appendices

3014 34 140B Multi-function Input Terminal 1 C011 RW 00: NO (NO contact)  Possible
hex hex hex Operation Selection 01: NC (NC contact) (TxPDO)
3014 35 140C Multi-function Input Terminal 2 C012 RW  Possible
hex hex hex Operation Selection (TxPDO)
3014 36 140D Multi-function Input Terminal 3 C013 RW  Possible
3014 37 140E Multi-function Input Terminal 4 C014 RW  Possible
3014 38 140F hex Multi-function Input Terminal 5 C015 RW  Possible
hex hex Operation Selection (TxPDO)
3014 39 1410 hex Multi-function Input Terminal 6 C016 RW  Possible
hex hex Operation Selection (TxPDO)
3014 3A 1411 hex Multi-function Input C017 RW  Possible
hex hex Terminal 7 Operation (TxPDO)
Selection
3014 3E 1415 hex Multi-function Output C021 RW 00: RUN (During RUN)  Possible
hex hex Terminal P1/EDM 01: FA1 (Constant speed reached) (TxPDO)
Selection 02: FA2 (Set frequency min. reached)
03: OL (Overload warning)
04: OD (PID excessive deviation)
05: AL (Alarm output)
06: FA3 (Meet designated frequency
during accel./decel.)
07: OTQ (Overtorque/Undertorque)

09: UV (Signal during undervoltage)
10: TRQ (During torque limit)
11: RNT (RUN time over)
12: ONT (Power on time over)
13: THM (Thermal warning)
19: BRK (Brake release)
20: BER (Brake error)
21: ZS (0Hz)
22: DSE (Excessive speed deviation)
23: POK (Position ready)
24: FA4 (Set frequency exceeded 2)
2 during accel./decel.)
26: OL2 (Overload warning 2)
App
27: FVdc (Analog FV disconnection
detection)
28: FIdc (Analog FI disconnection
detection)
3014 3F 1416 hex Multi-function Output C022 RW 31: FBV (PID FB status output)  Possible
hex hex Terminal P2 Selection 32: NDc (Communication (TxPDO)
disconnection detection)
33: LOG1 (Logic operation output 1)
39: WAC (Capacitor life warning)
40: WAF (Cooling fan life warning
signal)
41: FR (Starting contact signal)
42: OHF (Fin overheat warning)
43: LOC (Low current signal)
44: Reserved.
45: Reserved.
46: Reserved.
50: IRDY (Operation ready)
51: FWR (During forward operation)
52: RVR (During reverse operation)
53: MJA (Fatal fault signal)
54: WCFV (Window comparator FV)
55: WCFI (Window comparator FI)
58: FREF (Frequency command
source)
59: REF (RUN command source)
60: SETM (Motor 2 selection)
62: EDM (Safety device monitor)
63: Reserved.

Appendices

3014 43 141A Multi-function Relay C026 RW 00: RUN (During RUN)  Possible
hex hex hex Output (MA, MB) 01: FA1 (Constant speed reached) (TxPDO)
Function Selection 02: FA2 (Set frequency min. reached)
03: OL (Overload warning)
04: OD (PID excessive deviation)
05: AL (Alarm output)
during accel./decel.)
07: OTQ (Overtorque/Undertorque)
09: UV (Signal during undervoltage)
10: TRQ (During torque limit)
11: RNT (RUN time over)
12: ONT (Power on time over)
13: THM (Thermal warning)
19: BRK (Brake release)
20: BER (Brake error)
21: ZS (0Hz)
22: DSE (Excessive speed deviation)
23: POK (Position ready)
24: FA4 (Set frequency exceeded 2)
2 during accel./decel.)
26: OL2 (Overload warning 2)
27: FVdc (Analog FV disconnection
detection)
28: FIdc (Analog FI disconnection
detection)
31: FBV (PID FB status output)
32: NDc (Communication
disconnection detection)
39: WAC (Capacitor life warning)
40: WAF (Cooling fan life warning
signal)
41: FR (Starting contact signal)
42: OHF (Fin overheat warning)
43: LOC (Low current signal)
44: Reserved.
45: Reserved.
46: Reserved.
50: IRDY (Operation ready)
51: FWR (During forward operation)
52: RVR (During reverse operation)
53: MJA (Fatal fault signal)
54: WCFV (Window comparator FV)
55: WCFI (Window comparator FI)
58: FREF (Frequency command
source)
59: REF (RUN command source)
60: SETM (Motor 2 selection)
62: EDM (Safety device monitor)
63: Reserved.
3014 44 141B MP Selection C027 RW 00: Output frequency  Possible
hex hex hex 01: Output current (TxPDO)
02: Output torque
03: Digital output frequency
04: Output voltage
05: Input power
06: Electronic thermal load rate
07: LAD frequency
08: Digital current monitor
10: Cooling fin temperature
12: Do not set.
15: Pulse train input monitor
16: Do not set.
3014 45 141C AM Selection C028 RW 00: Output frequency  Possible
hex hex hex 01: Output current (TxPDO)
02: Output torque
04: Output voltage
05: Input power
06: Electronic thermal load rate
07: LAD frequency
10: Cooling fin temperature
11: Output torque (signed)
13: Do not set.
16: Do not set.

Appendices

3014 47 141E Digital Current Monitor C030 RW 2000 to 20000 0.01 [%] Possible
hex hex hex Reference Value
3014 48 141F hex Multi-function Output C031 RW 00: NO (NO contact)  Possible
hex hex P1/EDM Contact 01: NC (NC contact) (TxPDO)
Selection
3014 49 1420 hex Multi-function Output C032 RW 00: NO (NO contact)  Possible
hex hex P2 Contact Selection 01: NC (NC contact) (TxPDO)
3014 4D 1424 hex Multi-function Relay C036 RW 00: NO (NO contact)  Possible
hex hex Output (MA, MB) 01: NC (NC contact) (TxPDO)
Contact Selection
3014 4F 1426 hex Low Current Signal C038 RW 00: During  Possible
hex hex Output Mode Selection acceleration/deceleration/ (TxPDO)
constant speed
01: Only during constant speed
3014 50 1427 hex Low Current Detection C039 RW 0 to 20000 0.01 [%] Possible
hex hex Level
3014 51 1428 hex Overload Warning C040 RW 00: During  Possible
hex hex Signal Output Mode acceleration/deceleration/ (TxPDO)
Selection constant speed
3014 52 1429 hex Overload Warning C041 RW 0 to 20000 0.01 [%] Possible
hex hex Level 1
4014 53 142A Arrival Frequency C042 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex During Acceleration (TxPDO)

4014 55 142C Arrival Frequency C043 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex hex During Deceleration (TxPDO)
3014 57 142E PID Deviation C044 RW 0 to 1000 0.1 [%] Possible
hex hex hex Excessive Level (TxPDO)
4014 58 142F hex Arrival Frequency C045 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex During Acceleration 2 (TxPDO)
4014 5A 1431 hex Arrival Frequency C046 RW 0 to 40000 (100000) 0.01 [Hz] Possible
hex hex During Deceleration 2 (TxPDO)
3014 5C 1433 hex Pulse Train Output C047 RW 0001 to 9999  Possible
hex hex Coefficient
3014 61 1438 hex Feedback Comparison C052 RW 0 to 1000 0.1 [%] Possible
App
hex hex Signal Off Level (TxPDO)
3014 62 1439 hex Feedback Comparison C053 RW 0 to 1000 0.1 [%] Possible
hex hex Signal On Level (TxPDO)
3014 63 143A Overtorque/Undertorq C054 RW 00: Overtorque  Possible
hex hex hex ue Selection 01: Undertorque (TxPDO)
3014 64 143B Overtorque Level C055 RW 0 to 200 1 [%] Possible
hex hex hex (Forward Power (TxPDO)
Running)
3014 65 143C Overtorque Level C056 RW 0 to 200 1 [%] Possible
hex hex hex (Reverse (TxPDO)
Regeneration)
3014 66 143D Overtorque Level C057 RW 0 to 200 1 [%] Possible
hex hex hex (Reverse Power (TxPDO)
Running)
3014 67 143E Overtorque Level C058 RW 0 to 200 1 [%] Possible
hex hex hex (Forward (TxPDO)
Regeneration)
3014 68 143F hex Overtorque/Undertorq C059 RW 00: During  Possible
hex hex ue Signal Output acceleration/deceleration/ (TxPDO)
Mode Selection constant speed
3014 6A 1441 hex Electronic Thermal C061 RW 0 to 100 1 [%] Possible
hex hex Warning Level (TxPDO)
3014 6C 1443 hex 0 Hz Detection Level C063 RW 0 to 10000 0.01 [Hz] Possible
hex hex (TxPDO)
3014 6D 1444 hex Cooling Fin Overheat C064 RW 0 to 110 1 [C] Possible
hex hex Warning Level (TxPDO)
3014 74 144B Communication Speed C071 RW 03 (2,400 bps)  Possible
hex hex hex Selection 04 (4,800 bps) (TxPDO)
05 (9,600 bps)
06 (19.2 kbps)
07 (38.4 kbps)
08 (57.6 kbps)
09 (76.8 kbps)
10 (115.2 kbps)

Appendices

3014 75 144C Communication C072 RW 1 to 247  Possible
hex hex hex Station No. Selection (TxPDO)
3014 77 144E Communication Parity C074 RW 00: Disabled  Possible
hex hex hex Selection 01: Even (TxPDO)
02: Odd
3014 78 144F hex Communication Stop C075 RW 1: 1 bit  Possible
hex hex Bit Selection 2: 2 bits (TxPDO)
3014 79 1450 hex Operation Selection on C076 RW 00: Trip  Possible
hex hex Communication Error 01: Trip after deceleration stop (TxPDO)
02: Ignore
03: Free-run stop
04: Deceleration stop
3014 7A 1451 hex Communication Error C077 RW 0: Timeout disabled 0.01 [s] Possible
hex hex Timeout Period 1 to 9999 (TxPDO)
3014 7B 1452 hex Communication Wait C078 RW 0 to 1000 1 [ms] Possible
3014 7E 1455 hex FV Adjustment C081 RW 0 to 2000 0.1 [%] Possible
hex hex
3014 7F 1456 hex FI Adjustment C082 RW 0 to 2000 0.1 [%] Possible
hex hex
3014 82 1459 hex Thermistor Adjustment C085 RW 0 to 2000 0.1 [%] Possible
hex hex
3014 88 145F hex Debug Mode Selection C091 RW For factory adjustment (Do not change.)  Possible
hex hex
3014 8D 1464 hex Communication C096 RW 00: Modbus communication  Possible
hex hex Selection (Modbus-RTU) (TxPDO)
01: Communication between
inverters
02: Communication between
inverters (management)
3014 8F 1466 hex Co-inverter C098 RW 1 to 8  Possible
hex hex Communication (TxPDO)
Starting Station
Number
3014 90 1467 hex Co-inverter C099 RW 1 to 8  Possible
hex hex Communication (TxPDO)
Ending Station
Number
3014 91 1468 hex Co-inverter C100 RW 00: 485 terminals start  Possible
hex hex Communication 01: Always started (TxPDO)
Starting Selection
3014 92 1469 hex UP/DWN Storage C101 RW 00: Do not store frequency data  Possible
hex hex Selection 01: Store frequency data (TxPDO)
3014 93 146A Reset selection C102 RW 00: Trip reset at power-ON  Possible
hex hex hex 01: Trip reset at power-OFF
02: Enabled only during trip (Reset
when the power is ON.)
03: Trip reset only
3014 94 146B Reset Restart Selection C103 RW 00: 0 Hz restart  Possible
hex hex hex 01: Frequency matching restart (TxPDO)
3014 95 146C UP/DWN Clear C104 RW 00: 0 Hz  Possible
hex hex hex Terminal Mode 01: EEPROM data at power ON (TxPDO)
3014 96 146D MP Gain Setting C105 RW 50 to 200 1 [%] Possible

hex hex hex
3014 97 146E AM Gain Setting C106 RW 50 to 200 1 [%] Possible
hex hex hex
3014 9A 1471 hex AM Bias Setting C109 RW 0 to 100 1 [%] Possible
hex hex
3014 9C 1473 hex Overload 1 Warning C111 RW 0 to 20000 0.01 [%] Possible
hex hex Signal Level 2
3014 AF 1486 hex Output P1/EDM ON C130 RW 0 to 1000 0.1 [s] Possible
3014 B0 1487 hex Output P1/EDM OFF C131 RW 0 to 1000 0.1 [s] Possible
3014 B1 1488 hex Output P2 ON Delay C132 RW 0 to 1000 0.1 [s] Possible
3014 B2 1489 hex Output P2 OFF Delay C133 RW 0 to 1000 0.1 [s] Possible

Appendices

3014 B9 1490 hex Output RY ON Delay C140 RW 0 to 1000 0.1 [s] Possible
3014 BA 1491 hex Output RY OFF Delay C141 RW 0 to 1000 0.1 [s] Possible
3014 BB 1492 hex Logic Output Signal 1 C142 RW Same as C021 and C022 (excluding  Possible
hex hex Selection 1 LOG1 to LOG3) (TxPDO)
3014 BC 1493 hex Logic Output Signal 1 C143 RW Same as C021 and C022 (excluding  Possible
3014 BD 1494 hex Logic Output Signal 1 C144 RW 00: AND  Possible
hex hex Operator Selection 01: OR (TxPDO)
02: XOR
3014 BE 1495 hex Logic Output Signal 2 C145 RW Same as C021 and C022 (excluding  Possible
3014 BF 1496 hex Logic Output Signal 2 C146 RW Same as C021 and C022 (excluding  Possible
3014 C0 1497 hex Logic Output Signal 2 C147 RW 00: AND  Possible
hex hex Operator Selection 01: OR (TxPDO)
02: XOR
3014 C1 1498 hex Logic Output Signal 3 C148 RW Same as C021 to C022 (excluding  Possible
3014 C2 1499 hex Logic Output Signal 3 C149 RW Same as C021 to C022 (excluding  Possible
3014 C3 149A Logic Output Signal 3 C150 RW 00: AND  Possible

hex hex hex Operator Selection 01: OR (TxPDO)
02: XOR
3014 CD 14A4 Input Terminal 1 C160 RW 0 to 200 1 Possible
hex hex hex Response Time (TxPDO)
3014 CE 14A5 Input Terminal 2 C161 RW 0 to 200 1 Possible
3014 CF 14A6 Input Terminal 3 C162 RW 0 to 200 1 Possible
3014 D0 14A7 Input Terminal 4 C163 R/W 0 to 200 1 Possible
3014 D1 14A8 Input Terminal 5 C164 RW 0 to 200 1 Possible
App
3014 D2 14A9 Input Terminal 6 C165 RW 0 to 200 1 Possible
3014 D3 14AA Input Terminal 7 C166 RW 0 to 200 1 Possible
3014 D6 14AD Multi-step C169 RW 0 to 200 1 Possible
hex hex hex Speed/Position (TxPDO)
Determination Time
3015 2C 1501 hex Auto-tuning Selection H001 RW 00: Disabled  Possible
hex hex 01: Enabled (motor does not rotate) (TxPDO)
02: Enabled (motor rotates)
3015 2D 1502 hex Motor Parameter 1 H002 RW 00: Standard motor parameter  Possible
hex hex 02: Auto-tuning data (TxPDO)
3015 2E 1503 hex Motor Capacity 1 H003 RW 00: 0.1  Possible
hex hex 01: 0.2 (TxPDO)
02: 0.4
03: 0.55
04: 0.75
05: 1.1
06: 1.5
07: 2.2
08: 3.0
09: 3.7
10: 4.0
11: 5.5
12: 7.5
13: 11.0
14: 15.0
15: 18.5
3015 2F 1504 hex Motor Pole Number 1 H004 RW 00: 2P  Possible
hex hex 01: 4P (TxPDO)
02: 6P
03: 8P
04: 10P
3015 31 1506 hex Speed Response H005 RW 0 to 1000 1 [%] Possible
hex hex

Appendices

3015 32 1507 hex Stabilization H006 RW 0 to 255 1 Possible
hex hex Parameter 1
3015 41 1516 hex Motor 1 Parameter R1 H020 RW 1 to 65530 0.001 [] Possible
hex hex (TxPDO)
hex hex (TxPDO)
3015 45 151A Motor 1 Parameter L H022 RW 1 to 65530 0.01 [mH] Possible
hex hex hex (TxPDO)
3015 47 151C Motor 1 Parameter Io H023 RW 1 to 65530 0.01 [A] Possible
hex hex hex (TxPDO)
4015 48 151D Motor 1 Parameter J H024 RW 1 to 9999000 0.01 Possible
hex hex hex [kgm2] (TxPDO)
hex hex (Auto-tuning Data) (TxPDO)
3015 54 1529 hex Motor 1 Parameter L H032 RW 1 to 65530 0.01 [mH] Possible
3015 56 152B Motor 1 Parameter Io H033 RW 1 to 65530 0.01 [A] Possible
hex hex hex (Auto-tuning Data) (TxPDO)
4015 57 152C Motor 1 Parameter J H034 RW 1 to 9999000 0.01 Possible
hex hex hex (Auto-tuning Data) [kgm2] (TxPDO)
3015 68 153D V/f Control With Speed H050 RW 0 to 1000 0.1 [%] Possible
hex hex hex Feedback Slip
Compensation
Proportional Gain
3015 69 153E V/f Control With Speed H051 RW 0 to 1000 0.1 [%] Possible
hex hex hex Feedback Slip
Compensation Integral
Gain
3016 30 1603 hex Pulse Train Input P003 RW 00: Frequency setting (including  Possible
hex hex Terminal RP Selection PID) (TxPDO)
01: Feedback pulse
(Enabled only when motor 1
control is selected)
02: Do not set.
3016 31 1604 hex Feedback Pulse Train P004 RW 00: Single-phase pulse input  Possible
hex hex Input Type Selection 01: 2-phase pulse 1 (TxPDO)
02: 2-phase pulse 2
03: Single-phase pulse train +
direction
3016 38 160B Number of Encoder P011 RW 32 to 1024 1 Possible
hex hex hex Pulses (TxPDO)
3016 39 160C Simple Position P012 RW 00: Simple position control disabled  Possible
hex hex hex Control Selection 02: Simple position control enabled (TxPDO)
3016 3C 160F hex Creep Speed Setting P015 RW Starting frequency to 1000 0.01 [Hz] Possible
hex hex (TxPDO)
3016 47 161A Overspeed Error P026 RW 0 to 1500 0.1 [%] Possible
hex hex hex Detection Level (TxPDO)
3016 48 161B Speed Deviation Error P027 RW 0 to 12000 0.01 [Hz] Possible
hex hex hex Detection Level (TxPDO)
3016 4C 161F hex Acceleration/ P031 RW 00: Digital Operator  Possible
hex hex Deceleration Time 03: Do not set. (TxPDO)
Input Type
3016 4E 1621 hex Torque Reference P033 RW 00: Terminal FV  Possible
hex hex Input Selection 01: Terminal FI (TxPDO)
03: Digital Operator
06: Do not set.
3016 4F 1622 hex Torque Reference P034 RW 0 to 200 1 [%] Possible
hex hex Setting
3016 51 1624 hex Torque Bias Mode P036 RW 00: Disabled  Possible
hex hex 01: Digital Operator (TxPDO)
05: Do not set.
3016 52 1625 hex Torque Bias Value P037 RW 200 to +200 1 [%] Possible
hex hex
3016 53 1626 hex Torque Bias Polarity P038 RW 00: As per sign  Possible
hex hex Selection 01: Depends on the RUN direction (TxPDO)

Appendices

3016 55 1628 hex Speed Limit Value in P039 RW 0 to 12000 0.01 [Hz] Possible
hex hex Torque Control (TxPDO)
(Forward)
3016 57 162A Speed Limit Value in P040 RW 0 to 12000 0.01 [Hz] Possible
hex hex hex Torque Control (Reverse) (TxPDO)
3016 58 162B Speed/Torque Control P041 RW 0 to 1000 1 [ms] Possible
hex hex hex Switching Time (TxPDO)
3016 66 1639 hex Pulse Train Frequency P055 RW 10 to 320 *Input frequency at 0.1 [kHz] Possible
hex hex Scale maximum frequency (TxPDO)
3016 67 163A Pulse Train Frequency P056 RW 1 to 200 0.01 [s] Possible
hex hex hex Filter Time Constant (TxPDO)
3016 68 163B Pulse Train Bias P057 RW -100 to +100 1 [%] Possible
hex hex hex Amount (TxPDO)
3016 69 163C Pulse Train Limit P058 RW 0 to 100 1 [%] Possible
hex hex hex (TxPDO)
4016 6B 163E Multi-step Position P060 RW Position range setting (reverse) to 1 Possible
hex hex hex Command 0 position range setting (forward)
(Displays MSB 4 digits including "")
4016 6D 1640 hex Multi-step Position P061 R/W Position range setting (reverse) to 1 Possible
hex hex Command 1 position range setting (forward)
4016 6F 1642 hex Multi-step Position P062 RW Position range setting (reverse) to 1 Possible

4016 71 1644 hex Multi-step Position P063 RW Position range setting (reverse) to 1 Possible
hex hex Command 5 position range v (forward) (Displays
MSB 4 digits including "")
4016 77 164A Multi-step Position P066 RW Position range setting (reverse) to 1 Possible
App
4016 79 164C Multi-step Position P067 RW Position range setting (reverse) to 1 Possible
3016 7B 164E Zero Return Mode P068 RW 00: Zero return mode 1  Possible
hex hex hex 01: Zero return mode 2
3016 7C 164F hex Zero Return Direction P069 RW 00: Forward  Possible
hex hex Selection 01: Reverse
3016 7D 1650 hex Zero Return Mode 1 P070 RW 0 to 1000 0.01 [Hz] Possible
hex hex Frequency
3016 7E 1651 hex Zero Return Mode 2 P071 RW 0 to 4000 0.01 [Hz] Possible
hex hex Frequency
4016 7F 1652 hex Position Range setting P072 RW 0 to 268435455 1 Possible
hex hex (Forward side)
4016 81 1654 hex Position Range setting P073 RW 268435455 to 0 1 Possible
hex hex (Reverse side)
3016 84 1657 hex Positioning Mode Selection P075 RW 00: Limit  Possible
hex hex 01: Do not limit (TxPDO)
3016 86 1659 hex Encoder Disconnection P077 RW 0 to 100 0.1 [s] Possible
hex hex Detection Time
3016 BB 168E Number of Send Data of P140 RW 1 to 5  Possible
hex hex hex All Stations in Co-inverter
Communication
3016 BC 168F hex Recipient Station Number P141 RW 1 to 247  Possible
hex hex of All Stations in Co-inverter
Communication 1
3016 BD 1690 hex Recipient Register of All P142 RW 0000 to FFFF hex  Possible
hex hex Stations in Co-inverter
Communication 1
3016 BE 1691 hex Sender Register of All P143 RW 0000 to FFFF hex  Possible
Communication 1

Appendices

3016 BF 1692 hex Recipient Station Number P144 RW 1 to 247  Possible
Communication 2
3016 C0 1693 hex Recipient Register of All P145 RW 0000 to FFFF hex  Possible
Communication 2
3016 C1 1694 hex Sender Register of All P146 RW 0000 to FFFF hex  Possible
Communication 2
3016 C2 1695 hex Recipient Station Number P147 RW 1 to 247  Possible
Communication 3
Communication 3
3016 C4 1697 hex Sender Register of All P149 RW 0000 to FFFF hex  Possible
Communication 3
3016 C5 1698 hex Recipient Station Number P150 RW 1 to 247  Possible
Communication 4
Communication 4
3016 C7 169A Sender Register of All P152 RW 0000 to FFFF hex  Possible
hex hex hex Stations in Co-inverter
Communication 4
3016 C8 169B Recipient Station Number P153 RW 1 to 247  Possible
hex hex hex of All Stations in Co-inverter
Communication 5
3016 C9 169C Recipient Register of All P154 RW 0000 to FFFF hex  Possible
Communication 5
3016 CA 169D Sender Register of All P155 RW 0000 to FFFF hex  Possible
Communication 5
301E 3E 1E01 Coil Data 1*  RO 20: Coil No. 0010 hex to  Possible
hex hex hex (TxPDO)
215: Coil No. 001F hex
301E 3F 1E02 Coil Data 2*  RO 20: Coil No. 0020 hex to  Possible
hex hex hex (TxPDO)
301E 40 1E03 Coil Data 3*  RO 20: Coil No. 0030 hex to  Possible
hex hex hex (TxPDO)
hex hex hex (TxPDO)
hex hex hex (TxPDO)
28: Coil No. 0058 hex
301F 40 1F01 hex Coil Data 0*  RW 21: Coil No. 0001 hex to  Possible
hex hex
* Each of the above holding registers (Coil Data 0 to 5) consists of 16 sets of coil data. Since coils are not supported in communication between
inverters (only holding registers are supported), use the above holding registers if you want to access the coil.

Appendices
 Holding register number list (2nd setting F group)

4021 46 2103 hex Acceleration Time 2 F202 RW 1 to 360000 0.01 [s] Possible
hex hex Setting
4021 48 2105 hex Deceleration Time 2 F203 RW 1 to 360000 0.01 [s] Possible
hex hex Setting
 Holding register number list (2nd setting, Group A, b, C, H, and P)

3022 46 2201 hex Frequency Reference A201 RW 00: Volume  Possible

hex hex Selection 2 01: Control circuit terminal block (TxPDO)
02: Digital Operator
(Modbus-RTU)
04: Optional boad

07: Do not set.
3022 47 2202 hex RUN Command A202 RW 01: Control circuit terminal block  Possible
hex hex Selection 2* 02: Digital operator (TxPDO)
(Modbus-RTU)
04: Optional boad
3022 48 2203 hex Base Frequency 2 A203 RW 300 to Maximum Frequency 2 0.1 [Hz] Possible
hex hex (TxPDO)
3022 49 2204 hex Maximum Frequency 2 A204 RW 300 to 4000 (10000) 0.1 [Hz] Possible
hex hex (TxPDO)
App
3022 80 223B Torque Boost A241 RW 00: Manual torque boost  Possible
hex hex hex Selection 2 01: Automatic torque boost (TxPDO)
3022 81 223C Manual Torque Boost A242 RW 0 to 200 0.1 [%] Possible
hex hex hex Voltage 2
3022 82 223D Manual Torque Boost A243 RW 0 to 500 0.1 [%] Possible
hex hex hex Frequency 2
* If the RUN Command 2 Selection has been changed, wait for at least 40 ms before an actual RUN command is issued.

Appendices

3022 83 223E Control Method 2 A244 RW 00: Constant torque characteristics  Possible
hex hex hex 01: Reduced torque characteristics (TxPDO)
02: Free V/f setting
03: Sensorless vector control
3022 84 223F hex Output Voltage Gain 2 A245 RW 20 to 100 1 [%] Possible
hex hex

hex hex Boost Voltage
Compensation Gain 2

hex hex Boost Slip
Compensation Gain 2
4022 94 224F hex Frequency Upper A261 RW 0 0.01 [Hz] Possible

hex hex Limit 2 Frequency Lower Limit 2 to (TxPDO)
Maximum Frequency 2
4022 96 2251 hex Frequency Lower A262 RW 0 0.01 [Hz] Possible

hex hex Limit 2 Starting Frequency to Frequency (TxPDO)
Upper Limit 2
3022 AE 2269 hex AVR Selection 2 A281 RW 00: Always ON  Possible

hex hex 01: Always OFF (TxPDO)
02: OFF during deceleration
3022 AF 226A Motor Incoming A282 RW 200-V class: 00 (200)  Possible

hex hex hex Voltage Selection 2 01 (215) (TxPDO)
02 (220)
03 (230)
04 (240)
400-V class: 05 (380)
06 (400)
07 (415)
4022 B4 226F hex 2nd Acceleration Time A292 RW 1 to 360000 0.01 [s] Possible
hex hex 2
4022 B6 2271 hex 2nd Deceleration Time A293 RW 1 to 360000 0.01 [s] Possible
hex hex 2
3022 B8 2273 hex 2-step A294 RW 00: Switched by 2 word terminal  Possible
hex hex Acceleration/Decelerat 01: Switched by setting (TxPDO)
ion Selection 2 02: Switched only when switching
forward/reverse
4022 B9 2274 hex 2-step Acceleration A295 RW 0 to 40000 (100000) 0.01 [Hz] Possible
4022 BB 2276 hex 2-step Deceleration A296 RW 0 to 40000 (100000) 0.01 [Hz] Possible
3023 53 230C Electronic Thermal b212 RW 2000 to 10000 0.01 [%] Possible
3023 54 230D Electronic Thermal b213 RW 00: Reduced torque characteristics  Possible
hex hex hex Characteristics 01: Constant torque characteristics (TxPDO)
Selection 2 02: Free setting
3023 5D 2316 hex Overload Limit 2 b221 RW 00: Disabled  Possible

hex hex Selection 01: Enabled during (TxPDO)
03: Enabled during
(accelerated during
regeneration)
3023 5E 2317 hex Overload Limit Level 2 b222 RW 100 to 2000 0.1 [%] Possible
hex hex (TxPDO)
3023 5F 2318 hex Overload Limit 2 b223 RW 1 to 30000 0.1 [s] Possible
hex hex Parameter (TxPDO)
3024 72 2429 hex Overload Warning C241 RW 0 to 2000 0.1 [%] Possible
hex hex Level 2
3025 4D 2502 hex Motor Parameter 2 H202 RW 00: Standard motor parameter  Possible
hex hex 02: Auto-tuning data (TxPDO)

Appendices

3025 4E 2503 hex Motor Capacity 2 H203 RW 00: 0.1 - Possible

hex hex 01: 0.2 (TxPDO)
02: 0.4
03: 0.55
04: 0.75
05: 1.1
06: 1.5
07: 2.2
08: 3.0
09: 3.7
10: 4.0
11: 5.5
3025 4F 2504 hex Motor Pole Number 2 H204 RW 00: 2P  Possible

hex hex 01: 4P (TxPDO)
02: 6P
03: 8P
04: 10P
3025 51 2506 hex Speed Response 2 H205 RW 1 to 1000 1 [%] Possible

hex hex
3025 52 2507 hex Stabilization H206 RW 0 to 255 1 Possible

hex hex Parameter 2
hex hex (TxPDO)

hex hex (TxPDO)
3025 65 251A Motor 2 Parameter L H222 RW 1 to 65530 0.01 [mH] Possible

hex hex hex (TxPDO)
3025 67 251C Motor 2 Parameter Io H223 RW 1 to 65530 0.01 [A] Possible

hex hex hex (TxPDO)
4025 68 251D Motor 2 Parameter J H224 RW 1 to 9999000 0.01 Possible

hex hex hex (TxPDO)
App
3025 74 2529 hex Motor 2 Parameter L H232 RW 1 to 65530 0.01 [mH] Possible
3025 76 252B Motor 2 Parameter Io H233 RW 1 to 65530 0.01 [A] Possible
A-3-1 Object List

4025 77 252C Motor 2 Parameter J H234 RW 1 to 9999000 0.01 Possible


Appendices
A-5 Sysmac Error Status Codes

A list and descriptions of the error event codes that display in Sysmac Studio are provided.
A-5-1 Error Table

The errors that may occur for this Unit are listed below. Event levels are given in the table as follows:
Abbreviation Name
Maj Major fault level
Prt Partial fault level
Min Minor fault level
Obs Observation
Info Information
Level
Event code Event name Meaning Assumed cause Reference
Maj Prt Min Obs Info
04A10000 hex Non-volatile An error occurred in • Non-volatile memory failure 
Memory non-volatile mem-
Hardware ory.
Error
04BA0000 hex Connection An error occurred in • Contact failure between the 
Error the connection Inverter and the EtherCAT
between between the Communications Unit for the
Inverter and Inverter and the Inverter.
Communica- EtherCAT Commu- • Inverter trip was reset.
tions Unit nications Unit for • The Inverter was initialized or
the Inverter.
the mode was changed.
• The EtherCAT Communications
Unit for the Inverter failed.
04BB0000 hex Inverter An Inverter warn- • An Inverter warning was 
Warning ing was detected. detected.
04BC0000 hex Inverter Trip An Inverter trip was • An Inverter trip was detected. 
detected.
34F00000 hex PDO Setting There is an illegal • The PDO mapping or Sync- 
Error setting value in the Manager settings are incorrect.
PDO mapping.

Appendices
A-5-2 Error Descriptions
Controller Error Descriptions

The items that are used to describe individual errors (events) are described in the following copy of an
error table.
Event name Gives the name of the error. Event code Gives the code of the error.
Meaning Gives a short description of the error.
Source Gives the source of the error. Source details Gives details on Detection Tells when the
the source of the timing error is detected.
error.
Error attributes Level Tells the level of Recovery Gives the recov- Log category Tells which log
influence on con- ery method.*2 the error is saved
trol.*1 in.*3
Effects User program Tells what will happen Operation Provides special information on the operation that results
to execution of the from the error.

user program.*4
Indicators Gives the status of the built-in EtherNet/IP port and built-in EtherCAT port indicators. Indicator status is given only for
errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.
System-defined Variable Data type Name
variables
Lists the variable names, data types, and meanings for system-defined variables that provide direct error notification,
that are directly affected by the error, or that contain settings that cause the error.
Cause and cor- Assumed cause Correction Prevention
rection
Lists the possible causes, corrections, and preventive measures for the error.
Attached This is the attached information that is displayed by the Sysmac Studio or an NS-series PT.
information
Precautions/ Provides precautions, restrictions, and supplemental information.
App
Remarks
*1 One of the following:

Major fault: Major fault level

Partial fault: Partial fault level
Minor fault: Minor fault level
Observation
Information
Automatic recovery: Normal status is restored automatically when the cause of the error is removed.
Error reset: Normal status is restored when the error is reset after the cause of the error is removed.
Cycle the power supply: Normal status is restored when the power supply to the Controller is turned OFF and then back
ON after the cause of the error is removed.
Controller reset: Normal status is restored when the Controller is reset after the cause of the error is removed.
Depends on cause: The recovery method depends on the cause of the error.
System: System event log
Access: Access event log
Continues: Execution of the user program will continue.
Stops: Execution of the user program stops.
Starts: Execution of the user program starts.

Appendices
Error Descriptions
Event name Non-volatile Memory Hardware Error Event code 04A10000 hex
Meaning An error occurred in non-volatile memory.
Source EtherCAT Master Function Module Source details Slave Detection When establish-
timing ing communica-
tions after turning
ON power to the
slave
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling slave
power)
Effects User program Continues. Operation Non-volatile memory cannot be written.
Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- --- ---
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction Non-volatile memory failure Replace the EtherCAT Communica- None
tions Unit or the EtherCAT slave.
Attached None
information
Precautions/ This error is not recorded in the error log of the slave.
Remarks
Event name Connection Error between Inverter and Communications Event code 04BA0000 hex
Unit
Meaning An error occurred in the connection between the Inverter and the EtherCAT Communications Unit for the Inverter.
Source EtherCAT Master Function Module Source details Slave Detection Continuously
timing
cycling slave
power)
Effects User program Continues. Operation Inverter communications will not operate.
--- --- ---
variables
None --- ---
correction Contact failure between the Inverter Securely install the EtherCAT Com- Securely install the EtherCAT Com-
and the EtherCAT Communications munications Unit for the Inverter. munications Unit for the Inverter.
Unit for the Inverter.
Inverter trip was reset. Turn ON the Inverter’s power supply None
The Inverter was initialized or the again.
mode was changed.
The EtherCAT Communications Unit Replace the EtherCAT Communica- None
for the Inverter failed. tions Unit for the Inverter.
Attached None
information
Precautions/ None
Remarks

Appendices
Event name Inverter Warning Event code 04BB0000 hex

Meaning An Inverter warning was detected.
timing
resetting slave
errors)
Effects User program Continues. Operation Not affected.
--- --- ---
variables None --- ---
correction
An Inverter warning was detected. Read the value in slave object 3000 Depends on the nature of the error.
hex sub-index 4F hex and check the
warning details. Remove the cause of
the warning accordingly. Then exe-
cute an error reset with slave object
5000 hex or a fault reset with 6040

hex.
Attached None
information
Precautions/ None
Remarks
Event name Inverter Trip Event code 04BC0000 hex

Meaning An Inverter trip was detected.
timing
App
resetting slave
errors)
Effects User program Continues. Operation Motor stops.

--- --- ---
variables
None --- ---
correction
An Inverter trip was detected. Read slave object 3000 hex sub-index Depends on the nature of the error.
13 hex (cause) and 3000 hex sub-
index 14 hex (inverter status) values
and check the details. Remove the
cause of the trip accordingly. Then
execute an error reset with slave
object 5000 hex or a fault reset with
6040 hex.
Attached None
information
Precautions/ None
Remarks

Appendices
Event name PDO Setting Error Event code 34F00000 hex

Meaning There is an illegal setting value in the PDO mapping.
Source EtherCAT Master Function Module Source details Slave Detection At transfer of
timing EtherCAT Config-
uration Setup
resetting slave
errors)
Effects User program Continues. Operation The slave can enter the Pre-operational state.
--- --- ---
variables
None --- ---
correction
The PDO mapping or SyncManager Read and check the ALStatus code Check that there are no mistakes in
settings are incorrect. and the value in 5200 hex. Correct the settings for the PDO mapping and
settings. SyncManager.
Attached None
information
Precautions/ None
Remarks

Index
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) Index-1

Index
Index
A P
Abort Codes .................................................................. 3-6 Parameter list ................................................................A-9

PDO ............................................................................... 3-4
C PDO free format .................................................4-14, 4-17
PDO mapping ................................................................ 3-4
Cable length .................................................................. 2-6 PDO Mapping Objects ................................................. 5-11
CANopen ....................................................................... 3-2 Position Control Unit ...................................................... 4-4
Cause code list ............................................................ 5-21 Process data objects ..................................................... 3-4
CiA402 profile .............................................................. 4-12
CoE Communications area ........................................... 5-8 R
Communications cable .................................................. 1-7
Communications Connector .......................................... 2-5 RxPDO .......................................................................... 4-2
Configuration tool .......................................................... 1-7
S
D
SDO ............................................................................... 3-6
Device Profile area ...................................................... 5-22 Service data objects ...................................................... 3-6
Specifications ................................................................A-2
E Status indicators .....................................................2-3, 6-2
Sync Manager ............................................................... 4-3
Emergency Messages ............................................3-7, 3-8 Sync Manager channel .................................................. 3-5
Error Code List .............................................................. 6-6 Sync Manager Communication Objects ...................... 5-13
ESI file ........................................................................... 1-7
Ethernet frame ............................................................... 1-4 T
EtherCAT master ........................................................... 1-7
EtherCAT slave .............................................................. 1-7 TxPDO ........................................................................... 4-2
EtherCAT telegram ........................................................ 1-4
V
F
Velocity mode .......................................................4-12, 5-5
Fixed PDO Mapping ...................................................... 3-5
W
I
Wiring standards ........................................................... 2-7
Independent profile ...................................................... 4-10
Independent Profile Objects ........................................ 5-19
Inverter Parameter Objects ......................................... 5-17
Manufacturer Specific Objects ..................................... 5-16
Node address ................................................................ 2-4
Object Dictionary ........................................................... 5-6

Object List .....................................................................A-5
Index-2 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

OMRON Corporation Industrial Automation Company Authorized Distributor:
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Contact: www.ia.omron.com
Regional Headquarters
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No. 438A Alexandra Road # 05-05/08 (Lobby 2), Room 2211, Bank of China Tower, In the interest of product improvement,
Alexandra Technopark, 200 Yin Cheng Zhong Road, specifications are subject to change without notice.
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Tel: (65) 6835-3011/Fax: (65) 6835-2711 Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. I574-E1-02 1107

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Inverter

EtherCAT Communication Unit

• Introducing the control equipment

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 1

Read and Understand this Manual

Warranty and Limitations of Liability

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS

2 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

DIMENSIONS AND WEIGHTS

ERRORS AND OMISSIONS

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 3

Indications and Meanings of Safety Information

Meanings of Signal Words

Indicates a potentially hazardous situation which, if not avoided, may result in

Precautions for Safe Use

Precautions for Correct Use

Additional information to increase understanding or make operation easier.

4 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

The specific instruction is indicated using an illustration or text inside or near .

The specific instruction is indicated using an illustration or text inside or near .

The specific instruction is indicated using an illustration or text inside or near .

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 5

6 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

Precautions for Safe Use

Installation and Storage

Transportation, Installation, and Wiring

Operation and Adjustment

Maintenance and Inspection

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 7

Precautions for Correct Use

Warning Label Location

SYSDRIVE RUN PWR

8 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 9

EtherCAT Conformance Test

10 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 11

Checking Before Unpacking

Checking the Product

Checking the Nameplate

Checking the Model

For 3G3MX2 series only

Checking the Accessories

12 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

Revision code Revision date Changes and revision pages

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 13

Model/Name Manual number

Multi-function Compact Inverter SYSDRIVE MX2 SERIES USER’S MANUAL I570

EtherCAT Master manual

Position Control Units CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 OPERATION MANUAL W487

NJ-series CPU Unit Software User's Manual W501

14 EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

About This Manual

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT) 15

Read and Understand this Manual .......................................................................... 2

Safety Precautions .................................................................................................... 4

Precautions for Safe Use.......................................................................................... 7

Precautions for Correct Use..................................................................................... 8