FAQ: Why is the position error reported by my EtherCAT master much greater than what is reported in SigmaWin+?
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If the position error reported by your EtherCAT master is greater than what is reported in SigmaWin+ (for example through the Trace tool) this may be due to how the EtherCAT master is calculating position error. Position error reported in SigmaWin+ is calculated according to the motor's commanded position in a given servo cycle minus its actual position for the same servo cycle.
In some EtherCAT masters, the position error is calculated using the Target Position (0x607A) and Position Actual Value (0x6065) objects, where Position Error = Target Position - Position Actual Value. The drive's execution of the Target Position and reporting of the Position Actual Value occur at different network cycles, so the position error calculated by the EtherCAT master includes those cyclic delays. In short, if the EtherCAT master's position error is greater than the position error seen in SigmaWin+, it may be due to a position error calculation that is affected by network delays.
To avoid a position error calculation which is affected by network timing delays, the EtherCAT object Following Error Actual Value (0x60F4) is available in Sigma 7 and Sigma 5 and is mapped, by default, to TPDO1 (0x1A00). This object reports the same position error value as seen in SigmaWin and is the recommended means of obtaining position error in an EtherCAT system.
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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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