Control With The Cia402 Profile; Inverter Setting; Profile Allocation - Omron M1 Series User Manual

4-3

Control with the CiA402 Profile

This section describes how to use the Velocity mode of the CiA402 drive profile to control the inverter.
4-3-1

Inverter Setting

The inverter parameters must be set to match the profile.
With the CiA402 profile, set as follows.
Index-Subindex
3004-02 hex
3004-03 hex
3007-02 hex
4-3-2

Profile Allocation

Assign the PDOs of the CiA402 profile to Sync Manager.
Sync Manager PDO assignment
1C12 hex
1C13 hex
The values below are the fixed mapping for the PDOs.
PDO
1700 hex
1B00 hex
Bit and Data Information
 Controlword
The 16-bit data is as shown below.
− −
Bit
0
1
2
3
7
−
M1 Series EtherCAT Type User's Manual (I670)
Parameter
1st Frequency Reference Selection 15: EtherCAT (Default setting)
1st RUN Command Selection
1st Motor Pole Number
1700 hex (Fixed allocation conforming to the CiA402 drive profile)
1B00 hex (Fixed allocation conforming to the CiA402 drive profile)
6040 hex (Controlword)
6042 hex (vl target velocity)
6041 hex (Statusword)
6043 hex (vl velocity demand)
− − − − −
Name
Switch on
Enable voltage
Quick stop
Enable operation
Fault reset
Reserved
Description
5: EtherCAT (Default setting)
2 to 128 (Default setting: 4)
(Set to match the system.)
Description
Description
− 7 − −
Meaning
The state is controlled by these bits.
For details, refer to State Control Commands on page A-4.
Faults and warnings are cleared when this bit turns ON.
Set 0.
4 Inverter Control
− 3 2 1 0
4-7
4