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<p class="MsoPlainText">Hi,<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">One problem is that you are getting quite a lot of datagram timeouts. You will need to look into that. It may be due to your realtime loop not being stable. I have attached an email (Distributed Clock new flow) re the sequence of
all the ethercat function calls.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Second, It doesn't look like you are configuring the yaskawa amp. Make sure you have your PDO structures set up and you are calling the following functions per amp:<o:p></o:p></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> ecrt_slave_config_pdos<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> ecrt_slave_config_create_sdo_request // (optional) I create one general usage SDO per module<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> ecrt_slave_config_reg_pdo_entry // one call per pdo entry you want to interact with<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> ecrt_slave_config_sdo8 // configuration entries<o:p></o:p></span></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">My current PDO structure for the Yaskawa SGDV amp is as follows:<o:p></o:p></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">ec_pdo_entry_info_t yaskawaSGDV_pdoEntries[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6040, 0x00, 16}, // pg 8-21 control (rw)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x607a, 0x00, 32}, // pg 8-30 target position (rw) (for cyclic sync pos mode)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60b1, 0x00, 32}, // pg 8-37 velocity offset (rw) (for cyclic sync pos mode)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6072, 0x00, 16}, // pg 8-40 max torque (rw) in 0.1% increments, what is +ve torque lim and - torque lim? pdo or sdo??<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60fe, 0x01, 32}, // pg 8-44 outputs (rw) (bits 17, 18, 19 control outputs 1, 2, 3)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60b8, 0x00, 16}, // pg 8-41 latchControl (rw) (bits: 0 enable latch, 1 single/continuous trigger,<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> // 2 0=latch on S14 | 1=latch on C, 4 enable latch sampling???)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6060, 0x00, 8}, // pg 8-28 mode of operation (rw) (8=cyclic pos, 9=cyclic vel)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6041, 0x00, 16}, // pg 8-23 status (r)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6064, 0x00, 32}, // pg 8-34 actual position (r)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x606c, 0x00, 32}, // pg 8-38 actual velocity (r) required??<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6077, 0x00, 16}, // pg 8-39 actual torque (r)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60f4, 0x00, 32}, // pg 8-35 actual following error (r)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60fd, 0x00, 32}, // pg 8-43 inputs (r) (available inputs: 0 (rev lim), 1 (fwd lim), 2 (hm),
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> // 16 - 22 (via CN1), 25 - 25 (via base block))<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60ba, 0x00, 32}, // pg 8-42 latchPos (r) (via touch probe 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x60b9, 0x00, 16}, // pg 8-42 latchStatus (r) (bits: 0 latch enabled, 1 latched, 7 latched toggle (for continuous mode))<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6061, 0x00, 8}, // pg 8-28 current mode of operation<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6098, 0x00, 8}, // pg 8-32 homing mode (rw) note: rw but we only want to read current value (setting new value by sdo)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x603f, 0x00, 16}, // pg 8-21 last error code<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x6062, 0x00, 32}, // pg 8-34 position demand value (r)<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">};<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">ec_pdo_info_t yaskawaSGDV_pdos[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x1600, 7, yaskawaSGDV_pdoEntries + 0},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x1a00, 8, yaskawaSGDV_pdoEntries + 7},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0x1a01, 4, yaskawaSGDV_pdoEntries + 15},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">};<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">ec_sync_info_t yaskawaSGDV_syncs[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {2, EC_DIR_OUTPUT, 1, yaskawaSGDV_pdos + 0, EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {3, EC_DIR_INPUT, 2, yaskawaSGDV_pdos + 1, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New""> {0xff}<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier New"">};<o:p></o:p></span></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Have a look at attached email (Yaskawa Ethercat via Etherlab), that shows you how I use the above structures and config functions.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Once you are configured and running and the amp is in Operational mode you need to decide you to use it. I use it in Mode of Operation 8 (cyclic position).<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">You need to take care how you enable the amp, following the startup sequence from the manual. You need to calculate your own trajectory and kinematics for the axis, and once the amp is enabled you need to set the amps target position
every cycle.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">There should be quite a few old posts on the forum that can help. You may also want to look into some of the patches around (either mine or Gavin Lamberts) from the dev forum.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Regards,<o:p></o:p></p>
<p class="MsoPlainText">Graeme.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:EN-NZ">-----Original Message-----<br>
From: Rahul Deshpande [mailto:rahulgd92@gmail.com] <br>
Sent: Wednesday, 2 August 2017 6:00 a.m.<br>
To: Graeme Foot <Graeme.Foot@touchcut.com><br>
Subject: Error integrating yaskawa sigma 5 with ethercat-1.5.2</span></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Hi Graeme,<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">I saw your post on the ethercat group and had a few questions with respect to that. I am also integrating the yaskawa sigma 5 drive with the ethercat-1.5.2. At this point I am unable to get past the pre-op state [logs attached]. Is there
anyway you can guide as to how you were able to interface the ethercat with the yaskawa ?. It would be really great since I am stuck at this point since a couple of weeks.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Looking forward to your reply.<o:p></o:p></p>
<p class="MsoPlainText"><o:p> </o:p></p>
<p class="MsoPlainText">Regards,<o:p></o:p></p>
<p class="MsoPlainText">Rahul<o:p></o:p></p>
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