1. Confirm that the wiring is correct, and then connect the I/O signal connector (CN1)
and PROFINET communications connector (CN6A).
Refer to the following chapter for details on wiring.
Ä
Chap. 5 ‘Wiring and Connecting SERVOPACKs’ page 84
2. Turn ON the power supplies to the SERVOPACK.
If power is being supplied correctly, the CHARGE indicator on the SERVOPACK will
light.
3. Assign the same Device Name as configured in the PLC.
4. Set the PLC to RUN state.
Refer to the following chapter for details on the PROFINET communications status.
Ä
Chap. 14.1 ‘Device Control’ page 499
5. Set the Telegram Selection (PNU 922) to Telegram 100. The parameter is only
accepted after a restart.
Ä
Chap. 13.6.6 ‘YASKAWA Telegram (Telegram 100)’ page 493
6. Set the Modes of Operation (6060h) to PROFIdrive Position Mode.
Refer to the following section for details on modes of operation.
Ä
‘Modes of Operation’ page 552
Note that Modes of Operation is mapped into the cyclic data.
Change the values of the objects in the cyclic data (PZDs). Param-
eter requests to objects mapped in cyclic data will not have the
expected result because these are overwritten by the cyclic data
(PZDs).
7. Change the Controlword (STW1) (6040h) to supply power to the motor.
Ä
‘Controlword (STW1)’ page 543
When the Statusword (ZSW1) (6041h) shows the Operation state, power is sup-
plied to the motor.
Ä
‘Statusword (ZSW1)’ page 546
Change the values of the objects in the cyclic data (PZDs). Param-
eter requests to objects mapped in cyclic data will not have the
expected result because these are overwritten by the cyclic data
(PZDs).
8. Set Traversing Block Selection (2532h) to MDI submode.
Ä
‘Traversing Block Selection (SATZANW)’ page 556
Change the values of the objects in the cyclic data (PZDs). Param-
eter requests to objects mapped in cyclic data will not have the
expected result because these are overwritten by the cyclic data
(PZDs).
Sigma-7 Series SERVOPACKs
Trial Operation and Actual Operation
Trial Operation with PROFINET Communications
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 273
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