FAQ: Is the C-phase marker pulse visible though EtherCAT on the SGDV EtherCAT amplifier?
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Please refer to Sigma-5 user manual with EtherCAT (CoE) Network Module, Yaskawa.com document number SIEPC72082904 in order to follow this FAQ.
The C-phase marker on the Yaskawa drive is not visible through the EtherCAT network. There are 2 options for C-phase homing:
1. Use EtherCAT CoE's "drive-based homing" functionality. Refer to the following sections for details: Section 7.4 for the available homing modes, including the C-channel; Section 8.6 for utilization; and Section 8.8 for additional details.
2. Use the Touch Probe Fucntion (60B8h) to latch the C-phase, and then read the Touch Probe Position value that was captured. Refer to the Yaskawa.com document number SIEPC72082904 for usage details.
Due to EtherCAT network delays, it is not possible to report the C-Phase marker pulse and the Position Actual Value over the network in a way that allows accurate registration of the position to the pulse. The only way to guarantee that the Position Actual Value reported corresponds to the exact C-Phase marker pulse is to perform the drive based homing function that utilizes the C-Phase, or use Touch Probe to capture the C-phase position. Yaskawa prefers the homing to be drive-based (items 1 and 2 above are considered drive-based) in order to guarantee an accurate Position Actual Value that corresponds to the C-Phase marker pulse.
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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