FAQ: Is there a list of FAQs covering Sigma-5 CoE?
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What is the Sigma-5 CoE?
It is the Sigma-5 "option" style servo amplifier with the CoE option card factory installed. It communicates to a 3rd party master controller over EtherCAT using the CANopen protocol. It connects to this controller using Ethernet cables, possibly along with other EtherCAT devices
At the amplifier level, tuning and configuration options are nearly identical to that of the Sigma-5 AP or ML servos. Yaskawa offers a complete in-house training program on Sigma-5 servo theory, configuration, tuning, and installation, all of which applies to the Sigma-5 CoE.
Do I have to set any Pn or user units or anything in order to connect to the master?
NO. But still consider the usual options to mask OT inputs and to reset absolute encoder or set Pn002 to use as incremental, holding brake configuration, etc. These configuration options apply to all Sigma-5 servos.
Does the card change any parameters from default?
Yes, EGR pns are set to 1. Position mode is set.
What do I use to tune the motor?
SigmaWin+ gives you access to the advanced autotuning functions. These functions are not available over the network. A hand-held digital operator may also be used.
Can the EtherCAT controller set/read servo parameters?
Yes, all parameters. Once the parameter set is established, these parameters may be stored and set by the controller, including tuning parameters (for servo replacement, etc).
Can the EtherCAT controller execute Functions, such as Fn030 to force a power cycle?
Only Abs Enc functions. Other functions are available only via external operator and SigmaWin, not over EtherCAT
Can the controller access the built-in monitors "Un"?
No, not by number, but there is a subset of monitors that are available such as motor toque, feedback speed, actual position, etc as defined by CANopen.
What else do I need?
Need a master controller, for example, TwinCat on a PC (beckoff), LabView for (National Instruments) "compact RIO". A standard PC may be used for testing purposes.
Need the Sigma-5 XML file for device configuration (like EDS). From Yaskawa.com for the master.
Need an ethernet cable for each Sigma-5
What functionality do I have/ don't have compared to AP and ML and controllers ?
26pin IO connector as ML
Controller can command torque, speed, position, indexing, homing, camming, gearing, interpolation.
Drive supports high-speed latch (continuous and single shot)
For right now Sigma-5 CoE does not support home to "touch probe"
How is motion programmed?
Depends on the controller. Does not depend on the drive. Motion on the Sigma-5 will be programmed the same as any other vendor's CoE amplifier once it is connected. We do have some extra features such as servopack-controlled homing and Servopack IO that may not be fully integrated as controller commands and also may not be implemented by the competition. These features can be accessed directly through the controller by manipulating the "Control Word" at the CANopen protocol level.
How can I get some hands-on with the Sigma-5 CoE?
An existing demo kit can be retrofitted with the Sigma-5 CoE hardware. But the learning experience will be with the controller and not the amplifier for those already familiar with Sigma-5. A laptop PC can be used as the controller running Beckoff's "TwinCAT" software. Free 30-day trial is available online from the Beckoff website. Results may vary based on the ethernet adapter models supported by TwinCAT software.
At the amplifier level, tuning and configuration options are nearly identical to that of the Sigma-5 AP or ML servos. Yaskawa offers a complete in-house training program on Sigma-5 servo theory, configuration, tuning, and installation, all of which applies to the Sigma-5 CoE.
SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!
Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.
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Waukegan, IL 60085