[etherlab-users] Fwd: Problems using ethercat-1.5.2 with Yaskawa Servopack

Graeme Foot Graeme.Foot at touchcut.com
Fri Sep 25 00:14:54 CEST 2015


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.

You can confirm your current Mode of Operation using 0x6061.


From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Shu Huang
Sent: Tuesday, 22 September 2015 7:08 p.m.
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Fwd: Problems using ethercat-1.5.2 with Yaskawa Servopack

Hello everyone,
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.

System setup:
IgH ethercat master
master <---> DIO <-----> Servopack

Domain1 is used for DIO, and we have separeded a domain2 for write operation, and a domain3 for read operation for Sercopack.

After initialization, all slaves are in OP mode. The servopack should be working in the default mode (Cyclic Sync Position mode).

Test steps:
0. reading statusword=0x270
1. write controlword: 0x06
2. write controlword: 0x0f (now the servo is on, motor is locked)
3. test by reading statusword=0x237 (is this correct?)
4. actual posotion can be read==> get encoder value OK
5. write target position ==> nothing happened....????
6. servo-unlock by writing controlword: 0x06 (servo unlock)

Some questions:
1. Why writing the target position value didn't work? Other PDOs seem working?
2. statusword = 0x237, but bit12 indicates: target value ignore??? (does this mean anything?)
3. Or, there are other procedure for start-up the servopack?

Other tests: The drive can perform jogging by SigmaWin. (wiring is OK)
Is there anything missing? or what are the other testing sequence we can try?
Thank you very much.

Shu HUANG (a.k.a. Michael)

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