Setup SigmaV (MD) Multi-Axis drive and run motion using CiA-402
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
1. Supported Components
| Component Name | Version |
|---|---|
| iC92xx series | ≥ 2024.3.1 |
| iCube Engineer | ≥ 2024.3.1 |
2. Solution details
The steps below will walk through setting up a SGDV MDA01 Multi-Axis EtherCAT servo amplifier using CiA-402.
2.1 ESI file
Contact Product Engineering to get the ESI file (Yaskawa SGDV-MDA01.xml)
3. iCube Engineer
- Start a new project
- Add the SGDV-MD01A to the project
- Import the ESI file for the SGDV-MD01A.
- Go to iCube Engineer File --> Import --> Import ESI File(s)...
- Load the correct ESI file from the computer.
- Banner will appear when file is imported
- In the Plant, add the SGDV-MDA01 to the EtherCAT network
- Perform a EtherCAT bus scan
- Create variables for the Sigma-mini Module-1 Process Data Items in the PLC data list.
- Right click to auto-Generate a Variable "Add Variable"
- May need to shorten the auto-generated variable names
- Run Motion
- Rebuild and Download the Project Nodeto the Controller
- In Debug Mode add the PLC variables created from the PDO data to the watch Window
- The following tables from the manual show the Control Word and Status Word bits.
- Right click on the Control Word and Status Word in the watch window and set the display to binary
- Perform the following sequence on the Control Word to "Enable" the 1st axis of the servopack
- Set ControlWord.X1 and ControlWord.X2 = 1 (Shutdown)
- StatusWord.X0 and StatusWord.X5 should turn on and StatusWord.X6 should turn off (Ready To Switch on)
- Set ControlWord.X0 = 1 (Switch On)
-
StatusWord.X1 should turn on (Switch on)
- Set the Target Position = Actual Position
- Set ControlWord.X3 = 1 (Enable Operation)
- StatusWord.X2 should turn on (Operation Enabled)
- When enabled the target position can be adjusted by setting the "Target Position" variable
- The Default operation mode of the amplifier is "Cyclic Sync Position Mode"
- To disable the servo set ControlWord Bit 3 to 0.