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YASKAWA SGDV-OCA01A User Manual

YASKAWA SGDV-OCA01A User Manual (210 pages)

AC Servo Drives EtherCAT (CoE) Network Module

Brand: YASKAWA | Category: Servo Drives | Size: 2 MB

Table of Contents

About this Manual
3
Notation Used in this Manual
4
Safety Information
6
Safety Precautions
7
Installation
8
Storage and Transportation
8
Maintenance and Inspection
10
Operation
10
General Precautions
11
Warranty
12
Harmonized Standards
13
Safety Standards
14
Table of Contents
15
Chapter 1 Checking Products

18
- Checking Products on Delivery
  19
- Nameplate and Model Designation
  19
- Nameplate Example
  19
- Nameplate Location
  20
- Overview
  22
- Coe Technical Terms
  23
- Data Type
  24
- Data Units
  24
- Specifications of the Ethercat (Coe) Network Module
  25
- General Specifications
  25
- Communication Specifications
  26
- Part Names of the Ethercat (Coe) Network Module
  27
- LED Indicators
  28
Chapter 3 SERVOPACK Installation

30
- SERVOPACK Installation Environment and Applicable Standards
  31
- Installation Environment
  31
- Installation Conditions for Applicable Standards
  31
- SERVOPACK Installation
  32
- Orientation
  32
- Installation Standards
  33
- EMC Installation Conditions
  35
- Single-Phase
  35
- Three-Phase
  36
- Shield Box
  45
Chapter 4 Wiring and Connection

46
Chapter 6 Ethercat Communication

74
- Canopen over Ethercat Device Architecture
  75
- Ethercat Slave Information
  76
- Ethercat State Machine
  77
- PDO Mapping
  78
- Default PDO Mappings
  79
- Synchronization with Distributed Clocks
  80
- Emergency Messages
  82
Chapter 7 Cia402 Drive Profile

84
- Device Control
  84
- Related Objects
  85
- Modes of Operation
  86
- Position Control Modes
  87
- Profile Position Mode
  87
- Interpolated Position Mode
  89
- Cyclic Synchronous Position Mode
  93
- Homing
  94
- Velocity Control Modes
  97
- Profile Velocity Mode
  97
- Cyclic Synchronous Velocity Mode
  98
- Torque Control Modes
  99
- Profile Torque Mode
  99
- Cyclic Sync Torque Mode
  100
- Torque Limit Function
  101
- Digital Inputs and Outputs
  101
- Touch Probe Function
  102
- Fully-Closed Control
  104
- Setting Parameters
  104
- Object Dictionary List
  106
- General Objects
  108
- PDO Mapping Objects
  112
- Sync Manager Communication Objects
  116
- Manufacturer Specific Objects
  119
- Device Control
  127
- Statusword Bits
  129
- Quick Stop Option Code (605Ah)
  131
- Data Description
  131
- Halt Option Code (605Dh)
  133
- Profile Position Mode
  136
- Homing Mode
  138
- Homing Method (6098H)
  138
- Position Control Function
  140
- Interpolated Position Mode
  143
- Interpolated Position Mode
  145
- Cyclic Synchronous Position Mode
  147
- Profile Velocity/Cyclic Synchronous Velocity Mode
  148
- Profile Torque/Cyclic Synchronous Torque Mode
  149
- Torque Limit Function
  150
- Touch Probe Function
  151
- Touch Probe Status (60B9H)
  152
- Digital Inputs/Outputs
  153
- Troubleshooting
  155
- Troubleshooting
  156
- Status Display
  156
- Alarm List for Servopacks with Command Option Attachable Type
  156
- List of the Ethercat (Coe) Network Module Alarms
  160
- Troubleshooting of the Ethercat (Coe) Network Module Alarms
  160
- Warning Displays
  164
- List of Warnings
  164
- Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
  165
Chapter 10 Appendix

168
- Object List
  169
- SERVOPACK Parameters
  177
- Setting Range
  179
- SDO Abort Code List
  205
- Index
  206
- Revision History
  209

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