FAQ: Can an EtherCAT Master monitor the external encoder position of an SGD7 EtherCAT SERVOPACK with a Fully-closed Module (SGDV-OFA01A)?
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Yes, the external encoder position of the encoder connected to the Fully-closed Module may be monitored. The encoder may be an incremental encoder or an absolute encoder.
This function is available when a rotary motor is connected to the SERVOPACK. (This function is not available when a linear motor is connected to the SERVOPACK.)
The SGD7 EtherCAT SERVOPACK with a Fully-closed Module (SGDV-OFA01A) can pass on the external encoder position so it can be monitored by an EtherCAT Master.
Note: The functionality is only available when the SERVOPACK is in semi-closed operation (Pn002.3 = 0).
To enable monitoring the external encoder, perform the following steps:
- Set Pn00E.3 = 1 or 3.
- “1” to use the external encoder in forward reference.
- “3” to use the external encoder in reverse reference.
- For absolute external encoders, set PnB9C = 1 so that the Electronic Gear Ratio in Pn210 and Pn20E is 1:1. (This may be updated in the future to remove this step, but it is required as of ECAT FW 8.14 across all Sigma-7 ECAT SERVOPACKS).
- Cycle power on the SGD7.
Object 0x60E4:01 contains the external incremental encoder position.
Also note that for absolute external encoders, one of the steps sets the EGR, so the master scaling may need to be changed on the master.
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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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