[etherlab-users] Error integrating yaskawa sigma 5 with ethercat-1.5.2

[Graeme Foot]

Hi,



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.



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:

  ecrt_slave_config_pdos

  ecrt_slave_config_create_sdo_request  // (optional) I create one general usage SDO per module

  ecrt_slave_config_reg_pdo_entry       // one call per pdo entry you want to interact with

  ecrt_slave_config_sdo8                // configuration entries



My current PDO structure for the Yaskawa SGDV amp is as follows:

ec_pdo_entry_info_t yaskawaSGDV_pdoEntries[] = {

    {0x6040, 0x00, 16},   // pg 8-21  control (rw)

    {0x607a, 0x00, 32},   // pg 8-30  target position (rw) (for cyclic sync pos mode)

    {0x60b1, 0x00, 32},   // pg 8-37  velocity offset (rw) (for cyclic sync pos mode)

    {0x6072, 0x00, 16},   // pg 8-40  max torque (rw) in 0.1% increments, what is +ve torque lim and - torque lim? pdo or sdo??

    {0x60fe, 0x01, 32},   // pg 8-44  outputs (rw) (bits 17, 18, 19 control outputs 1, 2, 3)

    {0x60b8, 0x00, 16},   // pg 8-41  latchControl (rw) (bits: 0 enable latch, 1 single/continuous trigger,

                          //                             2 0=latch on S14 | 1=latch on C, 4 enable latch sampling???)

    {0x6060, 0x00, 8},    // pg 8-28  mode of operation (rw) (8=cyclic pos, 9=cyclic vel)



    {0x6041, 0x00, 16},   // pg 8-23  status (r)

    {0x6064, 0x00, 32},   // pg 8-34  actual position (r)

    {0x606c, 0x00, 32},   // pg 8-38  actual velocity (r) required??

    {0x6077, 0x00, 16},   // pg 8-39  actual torque (r)

    {0x60f4, 0x00, 32},   // pg 8-35  actual following error (r)

    {0x60fd, 0x00, 32},   // pg 8-43  inputs (r) (available inputs: 0 (rev lim), 1 (fwd lim), 2 (hm),

                          //                      16 - 22 (via CN1), 25 - 25 (via base block))

    {0x60ba, 0x00, 32},   // pg 8-42  latchPos (r) (via touch probe 1)

    {0x60b9, 0x00, 16},   // pg 8-42  latchStatus (r) (bits: 0 latch enabled, 1 latched, 7 latched toggle (for continuous mode))

    {0x6061, 0x00, 8},    // pg 8-28  current mode of operation

    {0x6098, 0x00, 8},    // pg 8-32  homing mode (rw) note: rw but we only want to read current value (setting new value by sdo)

    {0x603f, 0x00, 16},   // pg 8-21  last error code

    {0x6062, 0x00, 32},   // pg 8-34  position demand value (r)

};



ec_pdo_info_t yaskawaSGDV_pdos[] = {

    {0x1600, 7, yaskawaSGDV_pdoEntries + 0},

    {0x1a00, 8, yaskawaSGDV_pdoEntries + 7},

    {0x1a01, 4, yaskawaSGDV_pdoEntries + 15},

};



ec_sync_info_t yaskawaSGDV_syncs[] = {

    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},

    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},

    {2, EC_DIR_OUTPUT, 1, yaskawaSGDV_pdos + 0, EC_WD_ENABLE},

    {3, EC_DIR_INPUT, 2, yaskawaSGDV_pdos + 1, EC_WD_DISABLE},

    {0xff}

};



Have a look at attached email (Yaskawa Ethercat via Etherlab), that shows you how I use the above structures and config functions.





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).



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.





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.





Regards,

Graeme.







-----Original Message-----
From: Rahul Deshpande [mailto:rahulgd92 at gmail.com]
Sent: Wednesday, 2 August 2017 6:00 a.m.
To: Graeme Foot <Graeme.Foot at touchcut.com>
Subject: Error integrating yaskawa sigma 5 with ethercat-1.5.2



Hi Graeme,



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.



Looking forward to your reply.



Regards,

Rahul
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