Control With The Pdo Free Format - Omron 3G3AX-MX2-ECT User Manual

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.
4-5-1 Inverter Setting
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.
4-5-2 Object Mapping
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
1600 hex
(1st receive PDO Mapping)
1601 hex
(2nd receive PDO Mapping)
1A00 hex
(1st transmit PDO Mapping)
 Sync Manager assignment
Sync Manager PDO assignment
1C12 hex
1C13 hex
Following from the above allocations, the IO format is as follows.
 Control information (master to slave)
Word
n
n + 1
n + 2
n + 3
n + 4
n + 5
4 - 14
4011.26 (F002 Acceleration time setting 1)
4011.28 (F003 Deceleration time setting 1)
3010.24 (d002 Output current monitor)
1701 hex (Fixed allocation of the independent profile)
1600 hex (Setting as above)
1601 hex (Setting as above)
1B01 hex (Fixed allocation of the independent profile)
1A00 hex (Setting as above)
Command
Frequency reference
Acceleration time setting 1 (LSW)
Acceleration time setting 1 (MSW)
Deceleration time setting 1 (LSW)
Deceleration time setting 1 (MSW)
EtherCAT Communication Unit USER'S MANUAL (3G3AX-MX2-ECT)
Description
Description
Meaning