YASKAWA VIPA SPEED7 - Usage Sigma-5;7 Ethercat

13.2 Usage Sigma-5/7 EtherCAT
13.2.1 Usage Sigma-5 EtherCAT
13.2.1.1 Overview
n SPEED7 Studio from V1.6.1
or
n Siemens SIMATIC Manager from V 5.5, SP2 & SPEED7 EtherCAT Manager & Simple
Motion Control Library
n CPU with EtherCAT master, e.g. CPU 015-CEFNR00
n Sigma-5 drive with EtherCAT option card
1. Set the parameters on the drive
n The setting of the parameters happens by means of the software tool Sigma
Win+.
2. Hardware configuration in VIPA SPEED7 Studio or Siemens SIMATIC Manager
n Configuring a CPU with EtherCAT master functionality.
n Configuration of a Sigma-5 EtherCAT drive.
n Configuring the EtherCAT connection via SPEED7 EtherCAT Manager.
3. Programming in VIPA SPEED7 Studio or Siemens SIMATIC Manager
n Connecting the Init block to configure the axis.
n Connecting the Kernel block to communicate with the axis.
n Connecting the blocks for the motion sequences.
13.2.1.2 Set the parameters on the drive
CAUTION!
Before the commissioning, you have to adapt your drive to your applica-
tion with the Sigma Win+ software tool! More may be found in the manual
of your drive.
The following parameters must be set via Sigma Win+ to match the Simple Motion Con-
trol Library:
Sigma-5 (20bit encoder)
Servopack
Parameter
Address:digit Name Value
Pn205 (2205h) Multiturn Limit Setting 65535
Pn20E (220Eh) Electronic Gear Ratio (Numerator) 1
Pn210 (2210h) Electronic Gear Ratio (Denominator) 1
PnB02 (2701h:01) Position User Unit (Numerator) 1
PnB04 (2701h:02) Position User Unit (Denominator) 1
PnB06 (2702h:01) Velocity User Unit (Numerator) 1
PnB08 (2702h:02) Velocity User Unit (Denominator) 1
Precondition
Steps of configuration
Parameter digits
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
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