SGD7S EtherCAT

If the position error reported by your EtherCAT master is greater than what is reported in SigmaWin+ (for example through the Trace tool) this may be due to how the EtherCAT master is calculating position error. Position error reported in SigmaWin+ is calculated according to the motor's commanded position in a given servo cycle minus its actual position for the same servo cycle.

In some EtherCAT masters, the position error is calculated using the Target Position (0x607A) and Position Actual Value (0x6065) objects, where Position Error = Target Position - Position Actual Value. The drive's execution of the Target Position and reporting of the Position Actual Value occur at different network cycles, so the position error calculated by the EtherCAT master includes those cyclic delays. In short, if the EtherCAT master's position error is greater than the position error seen in SigmaWin+, it may be due to a position error calculation that is affected by network delays.

To avoid a position error calculation which is affected by network timing delays, the EtherCAT object Following Error Actual Value (0x60F4) is available in Sigma 7 and Sigma 5 and is mapped, by default, to TPDO1 (0x1A00). This object reports the same position error value as seen in SigmaWin and is the recommended means of obtaining position error in an EtherCAT system.

See attached document

See attached document.

The Yaskawa EtherCAT SERVOPACK controls the electronic gear parameters Pn20E and Pn210.  Changes made by the user have no effect. After a power cycle they are overwritten by the SERVOPACK.

For the SGDV EtherCAT SERVOPACK, Pn20E and Pn210 are always set to 1.

For the SGD7S EtherCAT SERVOPACK, Pn20E and Pn210 are set so that the resolution is 1,048,576 increments per rotation. When using motors with 24-bit encoders (SGM7J, SGM7A, or SGM7G) Pn20E will be set to 16 and Pn210 will be set to 1.

To adjust the reference units seen by the EtherCAT Master use objects 2701:01h and 2702:02h (PnB02 and PnB04).

1.  The feedback position is correct; however, for firmware version 8.03 and earlier, the low four bits of position data are not available.

2.  Future firmware versions will not allow writing to Pn20E and Pn210, but instead will enable a full-single-turn resolution mode via a new CoE object.

For Sigma-5 (SGDV) and Sigma-7 100/200V (SGD7S-***F, SGD7S-***A):

There should be nothing connected to the CN8 connection when using the Safety Option Module (SGDV-OSA01A).

If the safety function jumper is plugged into the CN8, alarms (A.E74 or A.EB3) will occur. Please remove it before commissioning the SERVOPACK.

For more information, please refer to the Sigma-5 & Sigma-7 Safety Module User Manual (SIEPC72082906).

Note: When using the Sigma-7 400V FT900 Safety Option Module (SGDV-OSA01A000FT900) the CN8 connection is active and can be used for STO. See SRV-E7PQJT

For Sigma-7 400V (SGD7*-***D):

The safety function jumper must remain in CN8 (in the case of dual-axis, in CN8A).

If the safety function jumper is removed from CN8, or if the safety jumper does not exist when the SERVOPACK is powered on, A.EB3 occurs. Please insert the safety function jumper before commissioning the SERVOPACK.

For more information, please refer to the Sigma-5 & Sigma-7 Safety Module User Manual (SIEPC72082906).

Note: When using the Sigma-7 400V FT900 Safety Option Module (SGDV-OSA01A000FT900) the CN8 connection is active and can be used for STO. See SRV-E7PQJT

Pn001 must be set.  See attached document for details.

First, decide if the drive should be in "Operation Enabled" state or "Switch On Disabled" state after the stop is commanded.

If the drive should be in "Operation Enabled" (servo enabled), then use the Halt command (described below, option A).

If the drive should be in "Switch On Disabled" (servo disabled), then use the Quick Stop command (option B).

Option A:

To use the Halt command:

• First, set up the halt method, in object 605Dh, as "3".
• Second, set the torque limit to maximum for the application.
• Then, issue Halt (bit 8) of the Controlword for the stop.

Note: Higher values for torque limit will produce faster stopping.

Option B:

To use the Quick Stop Command:

• First, set up the stop method, in object 605Ah, as "3".
• Second, set the torque limit to maximum for the application.
• Then, issue the Quick Stop command (with the Controlword) for the stop.

Note: Higher values for torque limit will produce faster stopping.

Another method other than stopping, is to command motion in the opposite direction before commanding Quick Stop or Halt.

Refer to Yaskawa.com FAQ# SRV-76V18C for torque limit options.

As described in the user's manual (Doc# SIEPS80000155), The PDO mapping objects (indexes 1600h to 1603h and 1A00h to 1A03h) and the Sync Manager PDO assignment objects (index 1C12h and 1C13h) can be written only in Pre-Operational state.

To set the SERVOPACK in Pre-Operational state, refer to the documentation of the EtherCAT master that is communicating to the EtherCAT SERVOPACK.

The color code documentation can be found in the Sigma-5 Series Product Catalog (YEA-KAEPS80000042) or the Sigma-7 Peripheral Device Selection Manual (SIEPS80000132).

The attached PDF has an image of the color code for the cable as shown in the Sigma-5 Series Product Catalog. 

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The attached PDF.

Please see attached document for details.

No. See attached document for futher details.

Position error is the difference between the position reference value and the actual position.

Position amplifier error is the difference between the position reference value and the actual position after electronic gear conversion.

Motor-load position error is the difference between the feedback position of the motor encoder and the feedback load position of the external encoder for fully-closed loop control.

See attachement for more details.

The answer depends on the usage of the system.  Please see attached document for details.

Yes. The EtherCAT Master can control all the physical outputs on the SERVOPACK. However, the SERVOPACK masks output SO1 by default. SO1 is the default output for motor brake (/BK).

In order to control the motor brake output on the EtherCAT SERVOPACK (if using the default parameter for brake assignment Pn50F.2 = 1), the Digital Output Bit Mask (60FE:02) needs to be set to allow writing to that output.

Example: Set 60FE:02 from old value 0x000C0000, to new value 0x000E0000.

After doing that, you will be able to control the brake output with 60FE:01.

If the SERVOPACK status output functions in Pn50E, Pn50F, and Pn510 are assigned, the status will be output using the set value of this function as well as OR logic from the EtherCAT Master value of 60FE:01.

For output mapping, refer to the Digital Outputs (60FEh) section of the user’s manual (Sigma-5 SIEPC72082904 / Sigma-7 SIEPS80000155). The attached PDF shows the Digital Outputs (60FEh) section.

Yes. The CN8 connection is active and can be used for STO when using the Sigma-7 400V Safety Option Module (SGDV-OSA01A000FT900).

Note: The Sigma-5 400V / Sigma-7 200V Safety Option Module (SGDV-OSA01A) must not have anything connected to CN8.  See SRV-O82XI4

Yes. SigmaWin+ v5.75 (or higher) or v7.23 (or higher) can be used to find the EtherCAT firmware version of an SGD7 EtherCAT SERVOPACK. It can be found under “Product Information”.

The attached PDF shows where to find the “Product Information” in both versions of SigmaWin+.