SGD7W 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.

Pn001 must be set.  See attached document for details.

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.

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 400VAC Sigma-7W EtherCAT Dual Axis Servopack, there are a total of 4 high speed latch inputs, Probe1 and Probe2 for Axis A, and Probe1 and Probe2 for Axis B.  For simultaneous latching, two latches per axis may be used.

See the user's manual SIEPS80000219, Sections 4.2 for a Basic Wiring Diagram and Section 4.5.1 for the I/O Signal Connections.

Example:  

Setting Probe1 and 2 for Axis A, and Probe1 and 2 for Axis B.

Method 1:  Pn50A.0 on both Axes: (default) 1. [Use the Sigma-7S interchangeable I/O signal allocation (Sets the amplifier to use Pn50A-Pn518 for signal allocation)]

• Pn511.1 [/Probe1] on both Axes: (default) 3. [CN1-9 is /Probe1 for Axis A. CN1-18 is /Probe1 for Axis B]

• Pn511.2 [/Probe2] on both Axes: (default) 4. [CN1-10 is /Probe2 for Axis A. CN1-19 is /Probe2 for Axis B]

Method 2:  Pn50A.0 on both Axes: 2. [Use the multi axis I/O signal allocation (Sets the amplifier to use Pn590-Pn5BF for signal allocation)]

• Pn593.0-2 [/Probe1] on Axis A: (default) 009 [Allocate the signal to CN1-9]

• Pn593.0-2 [/Probe1] on Axis B: (default) 018 [Allocate the signal to CN1-18]

• Pn594.0-2 [/Probe2] on Axis A: (default) 010 [Allocate the signal to CN1-10]  

• Pn594.0-2 [/Probe2] on Axis B: (default) 019 [Allocate the signal to CN1-19]

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