Yaskawa Sigma-5 with CANopen over EtherCAT - Manual (Page 4)

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 4 of 22
1. Summary of Function Block Usage
(See section “Function Blocks – Required Objects” of this document for information about objects which these function blocks utilize.)
A. Y_StoreParameters & Y_WriteParameters:
• The purpose of these function blocks is to copy & store the parameters that are on an
amplifier, to the computer.
• These function blocks can also copy the parameters from a computer onto an amplifier.
• Y_StoreParameters will output a data file that can only be read by Y_WriteParameters.
• In order for Y_WriteParameters to execute completely, the following must be true:
1. The drive’s FSA state must be set to “Switch On Disabled” (Statusword x1xx_0000).
See ErrorID 4107 of this document for an example of how to make this setting.
Reference Sigma-5 EtherCAT User’s Manual (SIEP C720829 04A) Section 8.5
subsection (2), and Section 8.2 subsection (5) for more details.
2. The drive’s EtherCAT Device State must be set to PRE-OP Device State. See ErrorID
4108 of this document for an example of how to make this setting. Reference Sigma-5
EtherCAT User’s Manual (SIEP C720829 04A) Section 8.3, and Section 8.4 subsection
(2) for more details.
B. Y_AbsoluteEncoderReset:
• The purpose of this function block is to perform Fn008: Absolute encoder reset. For
functionality details of Fn008, please see the Sigma-5 Series User’s Manual for Command
Option Attachable Type (Manual No. SIEP S800000 60A) Section 4.5.4: Absolute Encoder
Setup.
• This function block does not perform a soft reset, which is required to clear the A.810 alarm.