Trial Operation With Ethercat (Coe) Communications - YASKAWA SGD7S-xxxDA0 series Product Manual

8.4 Trial Operation with EtherCAT (CoE) Communications

8.4

Trial Operation with EtherCAT (CoE) Communications

A trial operation example for EtherCAT (CoE) communications is given below.
In this example, operation in Profile Position Mode is described.
Refer to the following chapter for details on operation with EtherCAT (CoE) communications.
Chapter 14 CiA402 Drive Profile
1.
Confirm that the wiring is correct, and then connect the I/O signal connector (CN1) and
EtherCAT communications connector (CN6A).
Refer to the following chapter for details on wiring.
2.
Set the EtherCAT (CoE) communications station address and PDO mappings.
3.
Turn ON the power supplies to the SERVOPACK.
If power is being supplied correctly, the CHARGE indicator on the SERVOPACK will light.
Note: If the COM indicator does not light, recheck the settings of EtherCAT setting switches (S1 and S2) and
4.
Place the EtherCAT communications in the Operational state.
Refer to the following chapter for details on the EtherCAT communications status.
5.
Set the modes of operation to Profile Position Mode.
Refer to the following section for details on modes of operation.
6.
Change the controlword to supply power to the motor.
When statusword shows the Operation Enabled state, power is supplied to the motor.
Note: Manipulate the objects that were mapped to PDOs.
7.
Set target position, profile velocity, profile acceleration, and profile deceleration, and
then manipulate controlword to start positioning.
Note: Manipulate the objects that were mapped to PDOs.
8.
While operation is in progress for step 6, confirm the following items.
Confirm that the rotational direction of the Servomotor
agrees with the forward or reverse reference. If they
do not agree, correct the rotation direction of the Ser-
vomotor.
Confirm that no abnormal vibration, noise, or tem-
perature rise occurs. If any abnormalities are found,
implement corrections.
Note: If the load machine is not sufficiently broken in before trial operation, the Servomotor may become over-
8-10
Chapter 4 Wiring and Connecting SERVOPACKs
then turn the power supply OFF and ON again.
13.2 EtherCAT State Machine on page 13-3
Modes of Operation (6060h) on page 15-27
Values will not be written if you manipulate SDOs.
Values will not be written if you manipulate SDOs.
Confirmation Item
loaded.
Reference
6.4 Motor Direction Setting on page 6-14
16.4 Troubleshooting Based on the Operation
and Conditions of the Servomotor on page 16-
55