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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">The default Mode of operation (0x6060) is 0 (No mode change/ no mode assigned). Unless you have changed it and saved it to the EEPROM. If not you need to
set it to 8 for Cyclic Sync Position Mode.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">You can confirm your current Mode of Operation using 0x6061.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">From:</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif""> etherlab-users [mailto:etherlab-users-bounces@etherlab.org]
<b>On Behalf Of </b>Shu Huang<br>
<b>Sent:</b> Tuesday, 22 September 2015 7:08 p.m.<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [etherlab-users] Fwd: Problems using ethercat-1.5.2 with Yaskawa Servopack<o:p></o:p></span></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Hello everyone,<o:p></o:p></p>
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<p class="MsoNormal">We are trying to integrate IgH ethercat master (1.5.2) with Yaskawa Servopack. For the moment, basic ethercat PDO communication seems working, but after writing a desired target position to the drive, the motor didn't more. Below are detail
descriptions.<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">System setup:<o:p></o:p></p>
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<p class="MsoNormal">IgH ethercat master<o:p></o:p></p>
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<p class="MsoNormal">master <---> DIO <-----> Servopack<br>
<br>
Domain1 is used for DIO, and we have separeded a domain2 for write operation, and a domain3 for read operation for Sercopack.<br>
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After initialization, all slaves are in OP mode. The servopack should be working in the default mode (Cyclic Sync Position mode).
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Test steps:<o:p></o:p></p>
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<p class="MsoNormal">0. reading statusword=0x270<o:p></o:p></p>
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<p class="MsoNormal">1. write controlword: 0x06<br>
2. write controlword: 0x0f (now the servo is on, motor is locked)<br>
3. test by reading statusword=0x237 (is this correct?)<o:p></o:p></p>
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<p class="MsoNormal">4. actual posotion can be read==> get encoder value OK<o:p></o:p></p>
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<p class="MsoNormal">5. write target position ==> nothing happened....????<br>
6. servo-unlock by writing controlword: 0x06 (servo unlock)<br clear="all">
<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">Some questions:<o:p></o:p></p>
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<p class="MsoNormal">1. Why writing the target position value didn't work? Other PDOs seem working?<o:p></o:p></p>
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<p class="MsoNormal">2. statusword = 0x237, but bit12 indicates: target value ignore??? (does this mean anything?)<o:p></o:p></p>
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<p class="MsoNormal">3. Or, there are other procedure for start-up the servopack?<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">Other tests: The drive can perform jogging by SigmaWin. (wiring is OK)<o:p></o:p></p>
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<p class="MsoNormal">Is there anything missing? or what are the other testing sequence we can try?<o:p></o:p></p>
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<p class="MsoNormal">Thank you very much.<o:p></o:p></p>
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<p class="MsoNormal"><br>
Shu HUANG (a.k.a. Michael)<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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