sgdv, oca01a, twincat, beckhoff ipc c6330 subject: sigma
Contents
1. YASKAWA The Drive for Quaflity 7 Section 2 1 Using a Digital Operator to Reset Absolute Encoder The below information is from Section 4 5 4 of the 2 V Series User s Manual Design and Maintenance Command Option Attachable Type Manual number SIEP S800000 60A 4 5 4 Absolute Encoder Setup Initialization N CAUTION ifthe absolute value encoder is initialized rotational serial data will be set to 0 and the reference position of the machine system will change lf the machine is operated in this state the machine may move unexpectedly and injury death or machine damage may result Be sufficiently careful when initializing the absolute encoder Setting up the absolute encoder is necessary in the following cases When starting the machine for the first time When an encoder backup error A 810 is generated When an encoder checksum error 4 820 is generated To set the absolute encoder rotational serial data to 0 Setup the absolute encoder with Fn008 1 Precautions on Setup Setup the encoder when the servomotor power is OFF The encoder backup error 4 810 and the encoder checksum error 4 820 cannot be reset by using the SERVOPACK alarm reset Be sure to perform setup using Fn0068 Any other alarms that monitor the inside of the encoder 4 800 should be canceled by turning OFF the power then canceling the alarm 2 Procedure for Setup Follow the steps below to setup the absolu2. When the cursor is on a numeric character on the left side parameter number side press the or V Key to change the parameter number and display respective setting rein cen tas th tt necks sin ontan ti Function selection application switch 2 Pro 02 nooodd Et ya Function selection application switch 6 Pon 0o06 n 0002 It tla ti Remi mec When the cursor is on the right side the setting side press the or v Key to imcrease or decrease the numerical value of the cursor position Pno00 n0000 Pn000 n0001 Key Press this key to switch the cursor position between the parameter number and the setting PnoOoo n 0000 Pn000 n 0000 After having changed the setting press the om Key to write the new setting in the SERVOPACK 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 16 of 27 YASKAWA The Drive for Quality APPENDIX Section 3 2 Using SigmaWin to Disable Overtravels The below information provides resources to assist in changing Pn50A 8xxx and 50B xxxs The below information is from multiple sources e Section 4 2 Part 3 of the 2 V Series User s Manual Design and Maintenance Command Option Attachable Type Manual number SIEP S800000 60A e Section 4 1 2 of the SigmaWin 2 V Component Online Manual The document is installed with SigmaWin with the file name SigmaWinFV pdf 42 Settings
3. S800000 55A 42 Settings for Common Basic Functions 3 Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function If the overtravel function 1s not used no wiring for overtravel input signals will be required Inputs the Forward Run Prohibited P OT signal from CN1 7 Pn504A Factory setting Disables the Forward Run Prohibited P OT signal Allows constant forward rotation After restart Setup Inputs the Reverse Run Prohibited N OT signal from CN1 8 Pn50B Factory setting Disables the Reverse Run Prohibited N OT signal Allows constant reverse rotation A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 3 1 Input Signal Allocations and gt Keys When the cursor 1s on the left side parameter number side press the or Key to move the cursor as follows L lt a PnO00 z gt Pn000 2 Pn0002 When the cursor 1s on the right side setting side press the or Key to move the cursor as follows n 0010 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 15 of 27 YASKAWA The Drive for Quality and Keys When the cursor is on Un or Pn on the left side parameter number side press the A or v Key to switch the monitor mode number Un to from the parameter number Pn LA
4. System Manager Tiol File Edit Actions wiew Options Help O ae oF 2a se eeel JOERA EI E IERTA ale let aj B SYSTEM Configuration MA uc Configuration H E FLC Configuration ag IO Configuration LO Devices Device 1 EthercAT General EthercaT DC Process Data Startup CoE Online Online Operation Mode DC for synchronization z DC for synchronization i mim Device 1 Image wa Device 1 Image Info E t Inputs E l Outputs H InfoData GFL Drive 1 SGD CoE Drive R F DM Local 134 237 100 101 1 1 5 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 4 of 27 YASKAWA The Drive for Quaflity 10 Manual Axis Addressing Automatic axis addressing is enabled by default If a condition requires manual axis addressing changes to TwinCAT and the SGDV amplifier must be made The manual axis address is also known as secondary address and station alias a Change made to the amplifier The hardware rotary DIP switches must be set to the desired station alias The hardware rotary DIP switches are labeled S11 and S12 on the EtherCAT card See the below image for reference 11 12 The equation to determine the station alias is Station Alias S11 setting X 16 S12 setting b Change made to TwinCAT The System Manager must be run in Admin mode in order to make the following chan
5. into effect From the Actions menu choose Activate Configuration Untitled TwinCAT System Manager Tiol File Edit Actions view Options Help CL G ga Generate Mappings Crem e et ai oe Bey ag e Q ler elg E2 ER sve wf Check Configuration Ctrl H CHR nc ai Reece TEME EtherCAT Online CoE Onine EVE g Set Reset TwinCAT to Run Mode Ctrl F4 Device 1 Etherl4T 3 Gh SetjReset TwinCAT to Config Mode Shift F4 EtherCAT Adapter Direct Mode i gt Reload Devices F4 El m Choose Target System F E PLE Read Target Server Versions i ey Update Bus Coupler IF Link Firmware Access Bus CouplerfiP Link Register EP Update EtherCAT FPGA via LPTX E l Disabled Create symbols Export ML Description Ctrl E Import SML Description Ctrl I Check variable Links lf Drive 1 SGDY E1 CoE Drive Fae Mappings eg NC Task 1 S4F Device 1 EtherCaTy Activate configuration Local 134 257 100 101 1 1 aii 9 Click OK Untitled TwinCAT System Manager Mel File Edit Actions View Options Help H SYSTEM Configuration SA NC Configuration General Adapter EtherCAT Online CoE Online E23 NC Task 1 SAF Name Device 1 EtherCAT Id f Type EtherCAT Adapter Direct Mode Comment lila Axis 1 fi PLC Configuration SE TO Configuration fia 1 0 Devices 2 Activate Configuration ES Device 1 EtherCari Old Configurations
6. will be overwritten Create symbols 7 Device 1 Image af Device 1 Image Info l i Cancel F T Inputs fe l outputs fl InFoData fl Drive 1 5GDV E1 CoE Drive G ga Mappings ig NC Task 1 SAF Device 1 EtherCAT Local 134 237 100 101 1 1 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 26 of 27 10 Start Real Time EtherCAT communications Click OK Untitled TwinCAT System Manager Y YASKAWA The Drive for Quality File Edit Actions View Options Help Pilelzs m SYSTEM Configuration e NC Configuration B E NC Task 1 SAF NC Task 1 SVB i AXES ide Axis 1 A PLC Configuration ABR Cam Configuration a8 RO Configuration agi LO Devices ES Device 1 EtherCaT a Device 1 Image aie Device 1 Image Info H t Inputs cl ii Outputs H InfoData i fl Drive 1 5GDV E1 CoE Drive Set Mappings ogg NC Task 1 SAF Device 1 EtherCAT 2121 Norman Drive South Waukegan IL 60085 847 887 7000 General Adapter EtherCAT Online CoE Online Name Device 1 EtherCAT Id f Type EtherlAT Adapter Direct Mode Comment TwinCatT System Manager zl 2 Restart TwincAT System in Run Mode Create symbols Cancel Local 134 237 100 101 1 1 Config M Publication eng 09 126 MTN Date 7 15 09 Page 27 of 27 Rev 1
7. 19 of 27 YASKAWA The Drive for Quality APPENDIX Section 3 3 Using CoE to Disable Overtravels The below information provides resources to assist in changing Pn50A 8xxx and 50B xxx The below information is from multiple sources e Section 4 2 Part 3 of the 2 V Series User s Manual Design and Maintenance Command Option Attachable Type Manual number SIEP S800000 60A e Section 8 5 Part 1 of the 2 V Series User s Manual EtherCAT CoE Network Module Manual number SIEP C720829 04A e Section 8 2 Part 5 of the 2 V Series User s Manual EtherCAT CoE Network Module Manual number SIEP C720829 04A 42 Settings for Common Basic Functions 3 Overtravel Function Setting Parameters PnoOA and Pn50B can be set to enable or disable the overtravel function If the overtravel function is not used no wiring for overtravel input signals will be required Parameter Meaning When Enabled Classification Inputs the Forward Run Prohibited P OT signal from CN1 7 Pn50A Factory setting Disables the Forward Run Prohibited P OT signal Allows constant forward rotation After restart Setup Inputs the Reverse Run Prohibited N OT signal from CN1 8 Pn50B Factory setting Disables the Reverse Run Prohibited N OT signal Allows constant reverse rotation A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 3 I Input Signal Allocations 8 5 Man
8. Description 0 Status As Subimdex 2 1 Reserved 2 RCMD Echo back of CCMD 3 RSIZE R_DATA length in byte RADDRESS Echo back of CADDRESS RDATA Read data ERROCODE 4 to 7 8 to 15 Publication eng 09 126 MTN Date 7 15 09 Rev 1 YASKAWA The Drive for Quality E Executable Adjustments Soe Request Preparation Processing p Adj ustment Code before execution Time Execution Conditions l n 2A When using an mcremental encoder impossible Absolute encoder reset 1008H Required 5 max amat he eade aiie ties cong N Adjustment is disabled While the main circuit power supply is OFF While the servo is ON While the servomotor is runmng Automatic offset adjustment of motor current detection signals Multiturm limit setting 1013H E How to Send an Command for Adjustment 100EH None When using an incremental encoder the setting is disabled unless A CCO Multiturm limit disagree ment occurs 1 Send the following data and set the request code of the adjustment to be executed CCMD 0001H CADDREESS 2000H CSIZE 0002H CDATA Request code of the adjustment to be executed When the slave station receives the command normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution 2 For adjustment that requires a preparation process send the following data lf the preparation before execution is not required carry out the o
9. Include State W Include Ads Address T Include AoE Netld W Include Drive Channels No Autolnc Use 2 Address must have a solid check mark in order to use the second address of the nodes on the network A greyed check mark or marking other than a check or blank indicates that the second address of the nodes on the network will be used if specified by the device Otherwise an automatic address will be used 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 6 of 27 YASKAWA The Drive for Quality APPENDIX Section 1 Setting up the Ethernet Adapter for Real Time Communications 1 Start TwinCAT From the desktop right click on the TwinCAT icon in the system tray Choose System Manager My Documents My Network Places B properties l vfs cr We rA E ee lt A AA start F A Dm 7 TA soam The icon should be blue Otherwise change TwinCAT to Config mode This can be done by P choosing the System menu choice instead of System Manager then choosing the Config mode 2121 Norman Drive South Waukegan IL 60085 847 887 7000 Publication eng 09 126 MTN Date 7 15 09 Rev 1 Page 7 of 27 YASKAWA The Drive for Quaflity 2 Show Real Time Ethernet Compatible Devices If this is the first time using TwinCAT on the system the Ethernet device must be set to be used with TwinCAT From the Options menu
10. Pea ices Sy Sherr al gaio a paston deta arsam ditengmi TOM threat Laar LITE ri TOOT Rr eS ee Click Cancel to return to the previous window without resetting the absolute encoder 4 Click Continue to set up the encoder lt lf Setup is Unsuccessful gt If setting up 1s attempted with the servo ON a reset conditions error occurs and the processing is aborted Seo OM ror i Tum the Servo OFF when resetting the sberalute encoder Click OK to return to the main window 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 11 of 27 YASKAWA The Drive for Quality lt lf Setup Completes Normally gt If the encoder is set up successfully a warning message will appear reminding you that the coordinate system has changed and must also be reset Loaompbhetvon h aming Mies sage A CAUTION Aksoe Encoder rera processing has been performed The muti burn amoan in lhe skhsokde encoder has bsen ba O Be sure io resell he mechanical syetem bo 0 etter restarting Hirra 5 Click OK to return to the main window Restart the servo and perform an origin search for the upper level controller 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 12 of 27 APPENDIX Section 2 3 Using CoE to Reset Absolute Encoder YASKAWA The Drive for Quality y The below information i
11. SB asci e v a s hex 65h 76h 61h 73h By writing save to Sub Index 1 all parameters are stored By writing save to Sub Index 2 the communication parameters Object 1000h to 1FFFh are stored By writing save to Sub Index 3 the application parameters Object 27xxh and 6xxxh are stored By writing save to Sub Index 4 the SERVOPACK parameters Object 2000h to 26FFh are stored Note L Ifa wrong signature is written the SGDV SERVOPACK refuses to store and responds with Abort SDO Transfer If the storing parameters are executing 0 will be returned by read this object Sub Index 1 and Sub Index 4 can be written only in Switch on Disabled state Servo off state After the stormg parameters by Sub Index 1 or Sub Index 4 power on reset or executing the parameter configu ration Object 2700h is necessary to transit into the Operation Enabled state ee at fd 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 21 of 27 YASKAWA The Drive for Quality APPENDIX Section 4 Establishing EtherCAT Communications 1 Start TwinCAT From the desktop right click on the TwinCAT icon in the system tray Choose System Manager E My Documents My Network Places A A E Recycle Bin K Internet Explorer P About TwinCAT y System Manager BB Pic control Router System ey Properties
12. YASKAWA The Drive for Quality ENGINEERING PUBLICATION MOTION CONTROL DIVISION PRODUCT SGDV OCA01A TWINCAT BECKHOFF IPC C6330 SUBJECT SIGMA 5 ETHERCAT WITH TWINCAT CATEGORY APPLICATION NOTE ENGINEER DEREK LEE DISTRIBUTION PUBLIC Abstract This document details the setup procedure used to run a Sigma 5 CANopen over EtherCAT CoE Amplifier using TwinCAT on a Beckhoff Industrial PC Yaskawa SGDV with Computer TwinCAT EtherCAT option module Ex Beckhoff IPC C6330 Ex v 2 10 Build 1335 Table of Contents 1 Prerequisites Part I Configuring TwinCAT 2 Obtain XML File 3 Relocate XML File 4 Update XML Library 5 Setup Ethernet Adapter for Real Time Communications Part Il Configuring amp Wiring the Sigma 5 CoE Amplifier 6 SERVOPACK Alarms amp Warnings 7 Tune Motor 8 Wire Connections Part Ill EtherCAT Settings 9 Distributed Clocks 10 Manual Axis Addressing 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 1 of 27 YASKAWA The Drive for Quality 1 Prerequisites e TwinCAT must be installed on the computer TwinCAT NC PTP is recommended e The Yaskawa SGDV Amplifier must be wired for power Asupported network controller is recommended The full list can be found in the Beckhoff Information System in the following location Beckhoff Information System gt TwinCAT gt TwinCAT System Manager gt Reference
13. choose Show Real Time Ethernet Compatible Devices Untitled TwinCAT System Manager File Edit Actions View Options Help joe og Language EAB SYSTEM Configurat I Nc Configuration BA PLC Configuration 1 0 Configuration Load User Types Add Variable Type Save User Types IJO Devices 8 Mappings v Check PLC Project Changes V Open Logger Automatically V Open Last Used File v Select Last Tree Element V Generate BAK File v Auto Save to Target Show Full document path Show Real Time Ethernet Compatible Devices Ghange PGMGI4 Base Address Edit Terminal Types Server Port Timestamp Message o O Local 134 237 100 101 1 1 ECUEUTE 3 Enable the Ethernet port to be used with TwinCAT This screen shows that the Ethernet device is already installed to be used with TwinCAT If running TwinCAT for the first time the Ethernet device will appear under either Compatible or Incompatible devices Select the device and click the Install button Installation of TwinCAT RT Ethernet Adapters Update List Install Bind Unbind Show Bindings Ethernet Adapters Note Incompatible devices can be used with TwinCAT Real time commands might cause errors Use Incompatible devices with caution 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 8 of 27 APPENDIX
14. engerousiin ihe Worst Gate my lead io inure to person or damage io machine Be Sure to Fagel ihe zar pam or Fe machine etar completing lhe wocess Continue absolute emooder seiup processing Click Cancel to return to the main window without resetting the absolute encoder 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 10 of 27 y ORNA 2 Click Continue and the Absolute encoder Setup box appears Perionm ebote encoder setup under tie following crum emis 1 At firs start up of the machine 2 hen an encoder bachus slant has been generadedd 3 Ate he Sereopeck power has been turned OFF and the encoder cable removed AR SOW encoder Seip Can anty be perioed with the Restart power ater seki OF OG e iG ie Completa Heim Carte 8 570 gt Encodar Beckie Error mm om oat ee om ms em om em ae om z Execute seting The Alarm Name box displays the code and name of the alarm that is occurring now Click the button to display details concerning a specific alarm and its corrective measures Click the X button to return to the main window without resetting the absolute encoder 3 Click Execute setting and a verification message appears confirming if you want to continue although the coordinate system will change Sebue Yenhicalion CAUTION Laon exaction Of processing lhe mu0 iltn dita win thie ARS OITE SmI Ger ig pesi ho 0 erd iha Tec
15. for Common Basic Functions 3 Overtravel Function Setting Parameters PnoOA and Pn50B can be set to enable or disable the overtravel function If the overtravel function is not used no wiring for overtravel input signals will be required Parameter Meaning When Enabled Classification Inputs the Forward Run Prohibited P OT signal from CN1 7 Pn50A Factory setting Disables the Forward Run Prohibited P OT signal Allows constant forward rotation i After restart Setup Inputs the Reverse Run Prohibited N OT signal from CN1 8 Pn50B Factory setting Disables the Reverse Run Prohibited N OT signal Allows constant reverse rotation A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 3 1 Input Signal Allocations 4 1 2 Editing Parameters Online Parameters can be viewed or edited in the Online Parameter Editing window Noreg Values edited in the Online Parameter Editing box are also immediately changed in the SERVOPACK Ifthe power to the SERVOPACKE is turned off or the communication between the SERVO PACK and the SigmaWin is interrupted while editing parameters online the edited val ues will not be saved in the SERVOPACK 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 17 of 27 YASKAWA The Drive for Quality Y 1 Inthe SigmaWin 2 V component main window click Parameter
16. ges contact Beckhoff to request details about running TwinCAT in Admin mode Untitled TwinCAT System Manager File Edit Actions view Options Help me a A SR SPOR A FA eAenrelelaQe EE ai ee ea General Adapter EtherCAT Online CoE Online B PLC Configuration oe 10 Configuration Metld f a34 237 100 101 2 1 LO Devices Device 1 EtherCAT Export Configuration File Device 1 Image 2 Device 1 Image Info Sync Unit Assignment E gt Inputs Fe i Outputs Topology El InfoData i m ah Drive 1 SGDV E1 CoE Drive Te ge Mappings 7 habes 000071 0000 defaults 2 000 ga MC Task 1 SAF Device 1 Ether CAT 000010800 defsults 2000 O 0000 003900 2 000 Bk E FAILA Ox0000 00910 2 000 OxOO080000 2 000 Ox0000 00130 2 000 2121 Norman Drive South Waukegan IL 60085 847 887 7000 Publication eng 09 126 MTN Date 7 15 09 Rev 1 Page 5 of 27 YASKAWA The Drive for Quality Y Advanced Settings E State Machine z Master Settings o i Slave Settings E Cyclic Frames E Distributed Clocks e EoE Support H Redundancy E Emergency H Diagnosis Slave Settings Startup Checking IY Check Vendor Ids W Check Product Codes Check Revision Numbers State Machine W Auto Restore States W Relnit after Comm Error Check Serial Numbers l SAFEOP only in Config Mode Info Data W
17. gt I O Devices gt EtherCAT Direct Mode gt Supported network controller e SigmaWin v 5 31 recommended At minimum SigmaWin v 5 21 required for tuning PART I Configuring TwinCAT 2 Obtain XML File The XML File can be downloaded from Yaskawa s Web Page Yaskawa s Web Page hitp www yaskawa com The file is named ata ae a i a Save the file to the computer 3 Relocate XML File Relocate the XML file into the TwinCAT IO EtherCAT directory TwinCAT s default path is C TwinCAT IO EtherCAT l See image below for reference C TwinCAT Io EtherCAT Fie Edit View Favorites Tools Help Back Address IS CATwinCATIIo EtherCAT Pa 1 Beckhoff Axes xml Beckhoff ELS xml Beckhoff BExxxx xml Beckhoff EMF xxx xml 2 Beckhoff Esc xml 4 Beckhoff EL15xx 2ml 4 Beckhoff EL 1x ml 3 Beckhoff EL2xxx 2ml a Beckhoff EL3F xx xml 1 Beckhoff ELS xml Beckhoff EL4 xx xml 2 Beckhoff EL4xxx eml 4 Beckhoff EL5xxx 2ml Beckhoff EL xxx xml Beckhoff EthercAT EvaBoard xml 7 Beckhoff EtherCAT Terminals xml Beckhoff FB1 xm a EtherC4TBase xsd EtherCATDict xsd E EtherCATInfo xsd tt Suen Type AML Document Size 119 KB f 19 KB 3 My Computer 2121 Norman Drive South Waukegan IL 60085 847 887 7000 Publication eng 09 126 MTN Date 7 15 09 Rev 1 Page 2 of 27 YASKAWA The Drive for Quality 4 Update XML Library To guarantee that TwinCAT wi
18. inlaT System Manager E bd EthercAT drives found Add drives to WC Configuration Create symbols Type EtherlAT Adapter Direct Mode NC Configuration is the numeric control section of TwinCAT This allows control of basic drive functions via the TwinCAT GUI which is the NC 7 Click No Untitled TwinCAT System Manager Pilelzs File Edit Actions View Options Help PETET O P a Slay sO OSX 1S 29 Pller lel SO H A SYSTEM Configuration EX NC Configuration General Adapter EtherCAT Online CoE Online BI Ne Task 1 SAF e Hame Device 1 EtherCAT Id f af NC Task 1 Image Tupe EtherCAT Adapter Direct Mode E i Axes Comment Fim Axis 1 BA PLC Configuration Erir Cam Configuration TwinCaT System Manager 6 A 1 2 Configuration I 3 IO Devices 2 Activate Free Run Ss Device 1 EtherCat Create symbols Device 1 Image aie Device 1 Image Info E St Inputs el ii Outputs H InfoData i fl Drive 1 5GDV E1 CoE Drive Set Mappings ogg NC Task 1 SAF Device 1 EtherCAT Local 134 237 100 101 1 1 mnim iu nE Free Run is a mode that is used to control I O which is not necessary for motion control Clicking Yes will not cause any problems 2121 Norman Drive South Waukegan IL 60085 847 887 7000 Publication eng 09 126 MTN Date 7 15 09 Rev 1 Page 25 of 27 YASKAWA Y The Drive for Quality 8 Put the settings
19. itled TwinCAT System Manager Mel File Edit Actions View Options Help m SYSTEM Configuration Device Type E NC Configuration J PLE Configuration S E 10 Configur EEPE ET x aE i NO Devici Pasa HH Mappings Device 1 AT Etheret Local Area Connec winC amp T Inte emnet ox Device 2 FC 5ss Cancel Select All Unselect All Local 134 237 100 101 1 1 Pegi 5 Add the devices connected to the Ethernet device Click Yes Untitled TwinCAT System Manager Mel File Edit Actions View Options Help G SYSTEM Configuration Device T oo NC Configuration FLC Configuration e Tf Configuration 8 I O Devices SS Device 1 EtherCaT rae HH Mappings TwinCaT System Manager 2 Scan For boxes Local 134 237 100 101 1 1 egies Boxes refer the devices that are on the Ethernet device Most likely only TwinCAT compatible devices 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 24 of 27 YASKAWA The Drive for Quality 6 Click Yes Untitled TwinCAT System Manager File Edit Actions View Options Help Pilelzs GB SYSTEM Configuration ABR WC Configuration General Adapter EtherCAT Online CoE Online JA FLC Configuration B EM 1 0 Configuration oe Dla se 1 0 Devices o E Device 1 EtherCAT uu BH Mappings Comment Tw
20. ll update the XML Library restart the computer 5 Set up Ethernet Adapter for Real Time Communications If the Ethernet Adapter has not been installed to be used with TwinCAT for instance if this is the first time the Ethernet Adapter will be used for EtherCAT communications through TwinCAT on the computer refer to Appendix Section 1 Setting up the Ethernet Adapter for Real Time Communications PART 1 Summary TwinCAT is now configured to be able to detect the Sigma 5 CoE Amplifier PART Il Configuring amp Wiring the Sigma 5 CoE Amplifier 6 SERVOPACK Alarms amp Warnings The most common startup alarms and warnings are addressed below Alarm A 810 Encoder Backup Error 4 Solutions 1 Use encoder as Incremental instead of Absolute Set Pn002 2 1 can be accomplished using a digital operator SigmaWin or through EtherCAT 2 Use a digital operator JUSP OPO05A 1 E to reset the absolute encoder See Appendix Section 2 1 Using a Digital Operator to Reset Absolute Encoder 3 Use SigmaWin to reset the absolute encoder See Appendix Section 2 2 Using SigmaWin to Reset Absolute Encoder 4 Use CoE to reset the absolute encoder See Appendix Section 2 3 Using CoE to Reset Absolute Encoder Warning P n Forward reverse run prohibited 4 Solutions 1 Recommended Connect the inputs to a switch that changes state 2 Use with caution Use a digital operator to disable the inputs See Appendix Section 3 1 U
21. peration in step 3 CCMD 0001H CADDRESS 2001H CSIZE 0002H CDATA 0002H When the slave station receives the command normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution 3 Send the following data to execute adjustment CCMD 0001H CADDRESS 2001H CSIZE 0002H CDATA 0001H When the slave station receives the command normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution 4 Send the following data to abort the execution CCMD 0001H CADDRESS 7000H CSIZE 0002H CDATA 0000H When the slave station receives the command normally status field will be returned to 1 Note If no command can be received in 10 seconds after stepl adjustment operation will be automatically aborted 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 14 of 27 YASKAWA The Drive for Quality APPENDIX Section 3 1 Using a Digital Operator to Disable Overtravels The below information provides resources to assist in changing Pn50A 8xxx and 50B xxxs The below information is from multiple sources e Section 4 2 Part 3 of the 2 V Series User s Manual Design and Maintenance Command Option Attachable Type Manual number SIEP S800000 60A e Section 2 2 3 Part 2 of the 2 V Series User s Manual Operation of Digital Operator Manual number SIEP
22. rameters Select parameters tobe displayed in the Online Parameter Editor Dialog Poog 1st Notch Fiter Frequency Hz Eat Del Poito Speed Loop Gain 01Hz _set_ Cel Poid Speed Loop Integral Time Constant 0 01 ms 5 Ifthere are still parameters to be edited click Set for a second or third time and set these in the same manner as the first parameter Set Parameters E 5 Salect parameters bo be deped in the Online Parameter Editor Cislag Paia Tat Motes Fier Frequency HZ o H pel Pode et obch Fiber Cepith 0 00 EPL Del Poi Sgaed Looe integral Time Constant Liima i 4 Deletes the parameter ce Ta displayed at left To view other parameters click Del to delete the currently displayed parameter and then click Set 6 Click OK when parameter display 1s complete wid Online Parameter Editing AXIS 41 Pott pei Loop integral Time Constant lale ala Yjrjr rir Uni Oime imin mez 15 81 200 7 To change the values of the settings click the setting arrows to raise or lower the value If an upper or lower limit is displayed make sure that the setting 1s within the limit Modified values are also immediately changed in the SERVOPACK Note The drive must be reset Fn030 or cycle power for the settings in Pn50A and Pn50B to take effect 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page
23. s and then click Edit parameters online using the following procedure Edit Online Parameters The Online Parameter Editing box appears The previously saved parameter settings will be displayed aF Online Parameter Editing AXIS 41 Pott oo Momertofinetin Roio rit Linn fe Din me 0 200 Pot 00 peed Loop Gan A ja a Uri 01Hz frinemecty 119 20000 Pritt SpeeciLoop btegrsl Time Constant a ajaja Ur Oime min max 1715 81200 Online Parameter Editing Box 2 To change the values of the settings click the setting arrows to raise or lower the value If an upper or lower limit is displayed make sure that the setting 1s within the limit Modified values are also immediately changed in the SERVOPACKE Click Setup to view different parameters Set Paramebers 4 PDI Moment of Inertia Raio oh 5e Pri Speed Loge Gan 0iHz _sei_ _ Del Pili Speed Loop ntegrali Time coretant D ii ma Da 4 Select a paranneler Select the currendy highlighted parameter Torque Related Function Syvitch Pra det Motch Fitter Frequency H Pri44 qat Motch Fitter Wa ue 0 Frn4 0S Tat Motch Fitar Depth and Motch Fiter Frequency 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 18 of 27 YASKAWA The Drive for Quality Y 4 Select the parameter to be edited and click OK Sek Pa
24. s from Section 8 5 Part 7 of the 2 V Series User s Manual EtherCAT CoE Network Module Manual number SIEP C720829 04A 7 SERVOPACK Adjusting Command 2710h 6 5 Manufacturer Specific Objects This object should be used for SERVOPACK adjusting services e 2 Encoder setup Multi turn reset and so on Writes the data into the Sub Index 1 to start the command execution Also reads the Sub Index 3 to accept the response If the response is not available when reading Sub Index 3 the first byte of the reply data could give information about the progress UST E Command Reply data format Command data Service Request data Byte Description 0 Reserved 1 Reserved CCMD Command code 2 00 Read request 01 Write request 3 CSIZE CDATA length in byte 4to7 CADDRESS Address 8 to 15 CDATA Writing data 2121 Norman Drive South Waukegan IL 60085 847 887 7000 Page 13 of 27 EAL CEEE last command completed no errors no reply last command completed no errors reply there p 2 last command Status USINT No No completed error no reply 3 last command completed error reply there 2537 command 15 executing gt fom me fos PDO Value EEPROM Mapping 0 to n Service Request Data A write access to the No command data will exe cute the command Byte 0 as Subindex 2 Byte 1 unused 2 tom Service Response Data No Reply data Service Response data Byte
25. s the multi tum counter and the encoder alarms for a connected serial absolute encoder If the absolute encoder s multi turn counter is reset to zero the previously defined mechanical system will change to a different coordinate system Operating the machine in this state is extremely dangerous Failure to observe this warning may result in personal injury and or damage to the machine Be sure to reset the zero point for the mechanical system after the encoder has been successfully set up Set up the absolute encoder in the following cases e At initial machine startup When an Encoder Backup Alarm has occurred When the SERVOPACK power has been turned off and the encoder cable removed The absolute encoder can only be set up while the servo is off Turn the power back on after the encoder has been successfully set up Set up the absolute encoder using the following procedure l Inthe SigmaWin V component main window click Setup point to Set Absolute Encoder and click Reset Absolute Encoder A warning message appears confirming if you want to continue the processing 4bentute Encoder W aminn A WARNING The AEesiie Emed Seip recon pets he muar amount oi iha connaciad sadeHypa abeolde eredet as wall BS encoder alams from ie PE Upon resetting ths sheds encoder mut iurn io SU the mechanical system ill goio a positien date System difering tram hel ugad unii mor Qe ating the machine inthis stabs is extremely G
26. sing a Digital Operator to Disable Overtravels 3 Use with caution Use SigmaWin to disable the inputs See Appendix Section 3 2 Using SigmaWin to Disable Overtravels 4 Use with caution Use CoE to disable the inputs See Appendix Section 3 3 Using CoE to Disable Overtravels 7 Tune Motor The motor can be tuned using SigmaWin v 5 21 or above For tuning procedures refer to Chapter 5 of the 2 V Series User s Manual Design and Maintenance Command Option Attachable Type Manual number SIEP S800000 60A 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 3 of 27 YASKAWA The Drive for Quality 8 Wire Connections Connect an Ethernet cable from the SGDV CoE option card s IN port to the computer s designated port for EtherCAT communications The EtherCAT IN port of the EtherCAT card is the upper most Ethernet port available The EtherCAT OUT port is the port just below the IN Port See image for reference PART 2 Summary The SGDV Amplifier is now prepared to begin receiving EtherCAT communications and operate a motor PART Ill EtherCAT Settings Note For this part communication with the amplifier must be established See Appendix Section 4 Establishing EtherCAT Communications for an example 9 Distributed Clocks The settings for the Distributed Clock on the amplifier can be modified See the below image for reference Untitled TwinCaT
27. start Yo 7 ww l The icon should be blue Otherwise change TwinCAT to Config mode This can be done by choosing the System menu choice instead of System Manager then choosing the Config mode 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 22 of 27 YASKAWA The Drive for Quality 2 Add the Ethernet device Right click I O Devices Choose Scan Devices Untitled TwinCAT System Manager OI File Edit Actions View Options Help FEA SYSTEM Configuration Device ABR Nec Configuration gA FLC Configuration B A 1 0 Configuration Heb a Append Device Gin Import Device oy Scan Devices HA Paste Ctrl GA Paste with Links Alt Ctri Local 134 237 100 101 1 1 mnim iu tE 3 Click OK Untitled TwinlaAT System Manager Mie File Edit Actions wiew Options Help m SYSTEM Configuration i Nc Configuration Number Device D a JA FLE Configuration SE TO Configuration ben E 1 0 Devices an HH Mappings TwinCaT System Manager Ea AN HINT Mot all types of devices can be Found automatically E Cancel Local 134 237 100 101 1 1 egies 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 23 of 27 YASKAWA The Drive for Quality 4 Deselect all but the Ethernet device Click OK Unt
28. te encoder Step Display after Operation Description FUNCTION MOCEISET AlmHiast Clr cp 1 Mturn Cir Press the Pes key and select Fn008 Ref Adj Vel Ad j A Vv Press the key to view the execution display of BB Fn008 3 sa E DATA Note If the display is not switched and NO_OP 13 displayed in the status display the Write Fro PGOLld hibited Setting Fn010 0001 is set Check the status and reset BB 3 eae A 4 Keep pressing the a Key until PGCL1 is changed to PGCL3 PGCLS DONE Press the Key to setup the absolute encoder 4 Multiturn ii After completing the setup BB in the status display changes to DONE PGCLS FUNCTION A imA iat Cir MOET ress tl Sir vy II y pf aTr 5 a se Pres the t Key to retum to the display of the pro Frnoo0g Raf Adj cedure 1 Vel Adj 6 Tum OFF the power and then turn it ON again to make the setting valid 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 9 of 27 YASKAWA The Drive for Quaflity APPENDIX Section 2 2 Using SigmaWin to Reset Absolute Encoder The below information is from Section 4 4 2 of the SigmaWin 2 V Component Online Manual The document is installed with SigmaWin with the file name SigmaWinFV pdf 4 4 2 Setting the Absolute Encoder mE Initializing the Absolute Encoder WARNING The absolute encoder setup function reset
29. ufacturer Specific Objects 1 SERVOPACK Parameters 2000h 26FFh Object 2000h to 26FFh are mapped to SGDV SERVOPACK parameters Pnxxx An object index xxxh 1s corresponding to a Poxxx in SGDV SERVOPACK parameter e g Object 2100h is same as Pn100 2121 Norman Drive South Publication eng 09 126 MTN Waukegan IL 60085 Date 7 15 09 847 887 7000 Rev 1 Page 20 of 27 YASKAWA The Drive for Quality 8 2 General Objects Y 5 Store Parameters 1010h With this object the setting value of parameters can be stored in the non volatile memory aes n Largest subindex supported USINT No Ox00000000 to Save all parameters UDINT RW es Na 0x00000001 Ox00000000 to Save communication parameters UDINT RW erty Na 1010h 0x00000001 Ox00000000 to wa OxFFFFFFFF Save application parameters RW Default No 0x00000001 Ox00000000 to Save manufacturer defined RW OxFFFFFFFF No parameters Default j 0x00000001 By reading data of an object entry the SERVOPACK provides its capability to save parameters Bit Meaning 0 The SGDYV SERVOPACE does not save parameters autonomously 0 The SGDV SERVOPACE does not save parameters on command i 1 The SGDV SERVOPACE saves parameters on command In order to avoid storage of parameters by mistake storage is only executed when a specific signature is writ ten to the appropriate sub index The signature that shall be written is save signature MSB L
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