[etherlab-users] Yaskawa sigma 5 application

[Graeme Foot]

> -----Original Message-----
> From: Rahul Deshpande [mailto:rahulgd92 at gmail.com] 
> Sent: Friday, 4 August 2017 4:17 a.m.
> To: Graeme Foot <Graeme.Foot at touchcut.com>
> Subject: Yaskawa sigma 5 application
> 
> Hi Graeme,
> 
> Building up on the previous mail. I made a few changes to my application. 
> I am still an amateur at this and have just been introduced to motion 
> control last month. I have modified the example/xenomai/main.c file to 
> suit my needs. I have attached the file. I am setting the PDOs as you had 
> mentioned. I read on some of the etherlab group archive mails that I need 
> to set the sdo's as well.
> 
> My understanding is that the SDO's consist of the data that needs to be 
> processed and the PDO's are just a way to communicate this data from slave 
> to master and vice versa. Is there any specific way to configure these ?. 
> I just intend to write a simple application.
> 
> Thank you,
> Rahul
>


Hi,

Note: Remember to always post to the etherlab forum.


1) From you attached file it looks like you have a sigma 7 rather than sigma 5 amp.  I haven't got my hands on one yet (in the pipeline) but should be similar to the sigma 5.  To make sure you have the correct PDO structures use the "ethercat struct" command.  It will output the currently configured (or default if not changed) structures to work with the device.  (The items below are for sigma 5, but should be similar.)


2) PDO's vs SDO's:
- PDO's are the workhorse of EtherCAT.  The PDO data is communicated every cycle.  PDO's are realtime.  
- SDO's are generally just used to set up initial configuration parameters.  They can be used to read/write non-PDO parameters while running, but they are not realtime and take multiple cycles to be sent and be returned.  They should also only be used for values that do not change often. 


3) You don't need to call these:
ecrt_slave_config_sdo8( sc_dig_out_01, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C12, 1, 0x1601 ); /* download pdo 1C12 index */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C12, 2, 0x1602 ); /* download pdo 1C12 index */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C12, 3, 0x1606 ); /* download pdo 1C12 index */
ecrt_slave_config_sdo8( sc_dig_out_01, 0x1C12, 0, 3 ); /* set number of RxPDO */
ecrt_slave_config_sdo8( sc_dig_out_01, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C13, 1, 0x1A01 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C13, 2, 0x1A03 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo16( sc_dig_out_01, 0x1C13, 3, 0x1A06 ); /* download pdo 1C13 index */
ecrt_slave_config_sdo8( sc_dig_out_01, 0x1C13, 0, 3 ); /* set number of TxPDO */

That’s what ecrt_slave_config_pdos() does.


4) There are some settings that you need to set and flash before running the drive (and repower the drive after flashing them).
- If it's an absolute motor that you will be running in incremental mode, you need to (0x2002.1 = 1)
- If you do not have limit switches you will need to disable them (in 0x250a.3 and 0x250b.0)
- If you have external regen resistors, you need to set 0x2600
- possibly some others I forget


5) You are blinking the first 8 bits of 0x6040.  That won't be doing much of anything that you can see.
- First thing is, is the slave in Operational mode when you go to realtime?
- Second, to enable the drive you need to go through a state machine of setting control bits and confirming each state with status bits

set: Control.EnableVoltage & Control.QuickStop
wait until: Status.ReadyToSwitchOn
set: Control.SwitchOn
wait until: Status.SwitchedOn
set: Control.EnableOperation
wait until: Status.OperationEnabled

You will need to set 0x6060:00 (Mode of operation) to the mode you want to run with (e.g. 8=cyclic position)

You should now be good to send target position values (0x607a:00).  I you don't have a position generator they you could try velocity mode (Mode of operation 9) and ramp up and down the value (for acceleration / deceleration).


Regards,
Graeme.





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