Yaskawa Sigma-5 with CANopen over EtherCAT - Manual (Page 17)

Product: TwinCAT, Sigma-5 with CANopen over EtherCAT option Doc#: TM.SGDV.01
Title: Sigma-5 EtherCAT Function Blocks for TwinCAT
Doc#: TM.SGDV.01 Yaskawa America, Inc. Drives & Motion Division
©2011
January 6, 2011 Page 17 of 22
8. Function Blocks – Required Objects
This section exists in order to inform the user about objects which function blocks depend on in order to
operate.
For example, Y_AbsoluteEncoderReset depends on object 0x2710. So if the user has object 0x2710 as
a PDO in cyclic data, then the Y_AbsoluteEncoderReset might not operate properly. This improper
operation may be due to the data for object 0x2710 being sent by the Function Block, but the PDO
cyclic data is writing over the data, so the EtherCAT option amplifier never receives the data from the
Function Block.
• Y_StoreParameters: Does not depend on any object
• Y_WriteParameters: Depends on every RW object. If an RW object is in PDO cyclic data, then the
Function Block might not be able to write to that object.
• Y_AbsoluteEncoderReset: Depends on object 0x2710. Do not use object 0x2710 in PDO cyclic
data.