Setup EtherCAT VFD and Run Motion with PLCopen library

1. Supported Components

2. Solution details

• Start a new project
• Make sure the project contains the following library
• PLCopenPart1_Toolbox_XXXX_XX_XX
• Add the VFD to the project
• For the SMP3 Card (Multi-Protocol)

• Download the ESI file from Yaskawa.com
• Follow this link:https://www.yaskawa.com/products/drives/industrial-ac-drives/industrial-network-communication-protocols
• Under the EtherCAT/EtherCAT ESI files section, download the latest ESI file or search for " ESI Files for EtherCAT Option on JOHB-SMP3"
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• Import the ESI file for the Drive that will be used.
• Go to iCube Engineer File --> Import --> Import ESI File(s)...

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• Load the modified ESI file from the computer.
• Select the Drive model that should be added to the project.
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• Banner will appear when file is imported
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• In the Plant add the Drive/VFD to the EtherCAT network
• EtherCAT bus scan can be used to add the EtherCAT VFD to the project
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• Go to the PDO Data tab and select Objects 0x1A05 and 0x1605
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• PDO Items are available for the VFD by double-clicking on the VFD in the Plant and going to the Data List tab
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• Add an "AXIS" component, for each VFD, from the Components/Network window to the Motion Axes section in the plant.
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• In the PLC variable list initialize the AXIS'x' variable
• AxisNum.UINT#x
• AxisNum.DriverType = EtherCAT
• Create Variables for the newly created axis and map them to the Process Data Items in the PLC data list.
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• Create a variable named ' g_PE_VFD_AxisData' of type 'Yt_PE_VFD_AxisStructure' in the PLC data list.
  

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• Initialize the following data in the "g_PE_VFD_AxisData" structure in the PLC Variable list
• AxisArray[1].AxisInfo.Number = 1
• AxisArray[1].AxisInfo.Node = 1
  
• AxisArray[1].AxisInfo.AxisType = VFD
  
• AxisArray[1].AxisInfo.DriveConversion.PosScale = 2 (Rotations per second)
  
• AxisArray[1].AxisInfo.SoftLimit.Velocity.Enabled = TRUE
  
• AxisArray[1].AxisInfo.SoftLimit.Velocity.Maximum = 100.0
  
• AxisArray[1].AxisInfo.SoftLimit.Acceleration.Enabled = TRUE
  
• AxisArray[1].AxisInfo.SoftLimit.Acceleration.Maximum = 100.0
  
• AxisArray[1].AxisInfo.SoftLimit.Deceleration.Enabled = TRUE
  
• AxisArray[1].AxisInfo.SoftLimit.Deceleration.Maximum = 100.0
  
• AxisArray[1].PE_VFD_AxisInfo.NodeID = 1
  
• AxisArray[1].PE_VFD_AxisInfo.MaxOutputFrequency = 60.0
  
• AxisArray[1].PE_VFD_AxisInfo.MaxMotorVelocity = 1800.0
• Create 3 Cyclic POUs in a 8ms or less task, (Create links between the VFD global variable and the PDO variable)
• VFD_Inputs.
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• VFD_Outputs.
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• VFD_Operation
• Need to Enable the Y_MotionAxisDriver to interact with any other EtherCAT VFD FB.
• Run Motion
• Add the following function blocks to the VFD_Operation POU
• Y_MotionAxisDriver
• MC_Power
• MC_MoveVelocity
• MC_Stop
• MC_ReadActualVelocity
• MC_Reset
• MC_ReadAxisError
• MC_ReadStatus
• Connect the above blocks to the VFD motion Axis
• Download the project to the controller
• Enable the Driver FB
• Takes a second or two to become active
• Enable the MC_ReadStatus and MC_Power FB
• Disabled output on the MC_ReadStatus FB turns on
• MC_Power becomes active, run light starts to blink on the VFD
• Set the Velocity, Acceleration and Deceleration on the MC_MoveVelocity block
• Execute the MoveVelocity function block
• Enable the MC_ReadActualVelocity block to verify motion
• Set the Deceleration input on the MC_Stop FB
• Execute the MC_Stop FB.
• VFD velocity will slow down to 0.