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

[Shu Huang]

Thank you. After changing the mode of operation to CSP via SDO download,
the target position value was accepted by servopack. :-)

Graeme Foot <Graeme.Foot at touchcut.com> 於 2015年9月25日週五 上午6:15 寫道：

> Hi,
>
>
>
> 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.
>
>
>
> Regards,
>
> Graeme.
>
>
>
>
>
> *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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