Ethercat PDO Comms Fail on Power-up with Yaskawa Sigma 7
MC6N, 2 machines behave the same.
They came up with Unit error, System error and axis status errors.
Yaskawa Sigma 7 shjows A12 error.
Set AUTO_ETHERCAT = 0 and start from the MAIN program after a time delay with ETHERCAT(0, 0)
WA(20000) ' 20 seconds
There were CO_WRITE_AXIS in the startup that were autocreated from Intelligent drives. Writing to 6060, 6040, 6502 etc. Those are completely unnessary and should be removed.
Note that for smooth running, the Sigma 7 needs a Sync0 Offset. Use NODE_SYNC_OFFSET(slot, node) = 150000 for 150000 nanoseconds offset.
AN-381 EtherCAT Drive SYNC0 Offset
EtherCAT uses a synchronization system with distributed clocks that keep all slaves very precisely in synchronization with the Distributed Clock (DC) master. In a Trio EtherCAT network, the DC master is the Motion Coordinator. After initialization, ...
What does SERVO_OFFSET do?
SERVO_OFFSET is a system parameter that is usually set by the operating system. The value depends on the SERVO_PERIOD, the modules fitted (to a MC664X) and the model of Motion Coordinator. It should not be necessary to set this in a system. Only ...
Fast EtherCAT start up.
The fast startup is done with ETHERCAT(0,0,5). It means the master does not wait for the drives to be in sync before going operational. The drives will still take the same amount of time to get in sync so you should delay doing any actual moves until ...
EtherCAT start - diagnostic information
When reporting an EtherCAT startup error, please send the following information to Trio technical support. 1) The text shown on the terminal after ETHERCAT(0, 0) For example: >>ETHERCAT(0,0) Warning - EtherCAT cable or network not detected (slot 0). ...
Ethercat axis trajectory error
Check the Target Position that is sent over EtherCAT. DAC_OUT is the value the controller puts on the telegram. Every cycle, DPOS --> DPOS * UNITS + offset --> DAC_OUT Compare DAC_OUT to the Target Position object value in the drive. Over SDO on ...