[etherlab-users] Yaskawa Sigma-5 no Vendor ID or Product Code Failed to read SII size of slave 0.

[takeshi ikeya]

Hi Henry !
I'm trying to drive Yasukawa Sigma-5.
I can get reply from "ethercay sii_read -p 0 -v".
Those are...

SII Area:
06 00 01 ee e8 03 00 00 00 00 00 00 00 00 3d 00
39 05 00 00 01 00 20 02 01 00 03 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 10 80 00 80 10 80 00 04 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 01 00 01 00
SII Category 0x0028 (FMMU), 2 words
01 02 03 00
SII Category 0x001e (General), 16 words
00 00 00 00 05 0f 00 00 00 01 00 02 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
SII Category 0x0029 (SyncM), 16 words
00 10 80 00 36 00 01 00 80 10 80 00 32 00 01 00
00 11 06 00 74 00 01 00 00 14 06 00 30 00 01 00

Of course, "ethercat slaves" command do works.. reply is

0 0:0 OP + 0x00000539:0x02200001

The EtherLab master seems work correctly.
But Yaskawa Sigma-5 doesn't move.
My test applicatio is as follows.

Wait ONLINE.
Wait state changes to OP.
Read StatusWord(0x6041)..get 0.
Read ModeOfOperation(0x6060)...get 0
Write ModeOfOperation 1
Read ModeOfOperation (for coformation)...get1..seems to all right.
Write ModeOfOperation 0.
Read ModeOdOperation ... get 0 ... OK
Wrie ModeOfOperation 1
Read ModeOfOperation ... get 1 ... OK
Read StatusWord (0x6041) ... get 0 ... ??
Read StatusWord (0x6041) ... get 0 ... and it nevet come to be
ReadyToSwitcon.

I read your mail that tells the EtherCAT module of your Sigma-5 is
'Hirscher'.
But my module seems not to be 'Hirscher', it's made in Japan.

By now, I can't drive Sigma-5

Regards
    Takeshi.ikeya at gmail.com
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