This article introduces how to set up additional information (e.g. Error Code, rotation layer) in the EtherCAT Telegram when communicating with DELTA MOTION’s ECAT module and Yaskawa Electric’s Servopack SigmaX via EtherCAT.
Now, let’s enjoy FA.
Reference Link
http://soup01.com/en/category/deltamotioncontrol_en/
http://soup01.com/en/category/yaskawa/
Foreword
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Implementation
In this case, we are using Delta Motion’s RMC200 controller + ECAT EtherCAT master module. In the figure below, the ECAT module and EtherCAT communication with Yaskawa’s Servopack are already set up.
PDO Mapping
Click on the Servopack of the EtherCAT Slave to open the corresponding Slave’s configuration screen.
In this case, we want to add Yaskawa Servopack’s RPM to the EtherCAT Frame, so we click on PDO Mapping.
In fact, we have already added the Error Code to the EtherCAT Frame for this project.
Inserting a new entry in PDO
To add a new Element to the EtherCAT Frame, select the PDO Mapping currently in use and click >Edit.
The Edit PDO screen appears.
Add new Entries with the Add button.
The CoE Object-Dictionary list appears.
In this case, we want to add the motor speed of the Yaskawa Servopack to the EtherCAT Frame, so select 0x606C.
Done!Velocity Actual Value is added and finally OK to apply the settings.
Done!
Download EtherCAT Configuration
Finally, download the EtherCAT configuration to the ECAT module.
result
Start the SigmaWIN tool and connect to Yaskawa Servopack. Then check if the EtherCAT parameters you wrote in Delta Motion are reflected in Servopack.
Click on Basic Functions>Edit Parameters.
Click on EtherCAT in the catalog.
PnC70 is stored in 606C0020, which is the motor rotation speed of Servopack.
The error code is also stored in the error codeEntry that was just added.
When the Servopack motor is rotating, its rotation speed can also be sent to the ECAT module via EtherCAT for confirmation.
