Thank you. After changing the mode of operation to CSP via SDO download, the target position value was accepted by servopack. :-)
Graeme Foot <[email protected]> 於 2015年9月25日週五 上午6:15 寫道： > Hi, > > > > The default Mode of operation (0x6060) is 0 (No mode change/ no mode > assigned). Unless you have changed it and saved it to the EEPROM. If not > you need to set it to 8 for Cyclic Sync Position Mode. > > > > You can confirm your current Mode of Operation using 0x6061. > > > > Regards, > > Graeme. > > > > > > *From:* etherlab-users [mailto:[email protected]] *On > Behalf Of *Shu Huang > *Sent:* Tuesday, 22 September 2015 7:08 p.m. > *To:* [email protected] > *Subject:* [etherlab-users] Fwd: Problems using ethercat-1.5.2 with > Yaskawa Servopack > > > > > > Hello everyone, > > We are trying to integrate IgH ethercat master (1.5.2) with Yaskawa > Servopack. For the moment, basic ethercat PDO communication seems working, > but after writing a desired target position to the drive, the motor didn't > more. Below are detail descriptions. > > > > System setup: > > IgH ethercat master > > master <---> DIO <-----> Servopack > > Domain1 is used for DIO, and we have separeded a domain2 for write > operation, and a domain3 for read operation for Sercopack. > > After initialization, all slaves are in OP mode. The servopack should be > working in the default mode (Cyclic Sync Position mode). > > Test steps: > > 0. reading statusword=0x270 > > 1. write controlword: 0x06 > 2. write controlword: 0x0f (now the servo is on, motor is locked) > 3. test by reading statusword=0x237 (is this correct?) > > 4. actual posotion can be read==> get encoder value OK > > 5. write target position ==> nothing happened....???? > 6. servo-unlock by writing controlword: 0x06 (servo unlock) > > > > Some questions: > > 1. Why writing the target position value didn't work? Other PDOs seem > working? > > 2. statusword = 0x237, but bit12 indicates: target value ignore??? (does > this mean anything?) > > 3. Or, there are other procedure for start-up the servopack? > > > > Other tests: The drive can perform jogging by SigmaWin. (wiring is OK) > > Is there anything missing? or what are the other testing sequence we can > try? > > Thank you very much. > > > Shu HUANG (a.k.a. Michael) > > >
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