SMC-3010 LEGEND-MC

DriveWizard Industrial has a project conversion program that can quickly and easily convert your V1000 parameters for use in a GA500. 

DriveWizard Industrial has a project conversion program that can quickly and easily convert your P1000 parameters for use in a FP605.

Refer to the attached document or the text below.

PRELIMINARY:

 - Start with Yaskawa.com SRV-E17E47.
 - Proceed with AN.MTN.01 “EtherCAT Master Architecture”.
 - Additional topics pertaining to EtherCAT master development are below:

ESI File Usage:

- By reading the Yaskawa ESI file, the Yaskawa drive’s manufacturer specific objects may be visible to be read and written (example: Yaskawa drive parameters).
- For SGDV, if reading the ESI file, only 1 PDO map assignment per Sync Manager assignment is allowed (due to the “exclude” tag), when in fact 2 are possible if reading the PDO information from the EEPROM.
- Therefore, the recommendation is to read the ESI file for CoE objects, and then read the EEPROM for the PDO info.

Network Trace Tool:

- Obtain a network trace tool if a Wireshark trace can provide useful information for development.
- Product: Beckhoff ET2000.  A nanosecond timestamp is added to the packet.
- Search ethercat.org for additional information about Wireshark usage.

Known Working EtherCAT Master For Comparison:

- Refer to AN.MTN.03 “EtherCAT Servo Drive Quick Start Guide” for instructions to set up a known working EtherCAT Master for comparison for EtherCAT master development.

COMMUNICATIONS:
Enabling Distributed Clocks:

- Some stack vendors distribute the Distributed Clock (DC) mechanism as a separate package (example: acontis).  Yaskawa requires using DC when using Cyclic motion modes as indicated in AN.MTN.01.
- The DC mechanism is possible to be implemented independent of using the DC mechanism package from the master stack vendor, but support from Yaskawa to implement a successful DC mechanism may be limited, as Yaskawa recommends obtaining the developed DC mechanism package from the master stack vendor.  Implementation of the DC mechanism may require additional documentation from Yaskawa regarding ESC registers.  This may be available upon request.
- Refer to AN.MTN.01 for a process to determine usage and settings of DC.

Supported EtherCAT Commands:

- For SGDV, as mentioned in the Yaskawa EtherCAT drive’s user’s manual SIEPC72082904, the Yaskawa drive supports: APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW.
- The Yaskawa drive does not support APRW, FPRW, BRW, LRW.

EtherCAT State Machine:

- The state transition diagram is available in the user’s manual (for SGDV, SIEPC72082904).  However, one alarm, A.A12 “Synchronization Error” will cause the EtherCAT state to drop to Safe-Operational, as described in the Yaskawa EtherCAT drive’s user’s manual (for SGDV, SIEPC72082904).

File Over EtherCAT (FoE):

- The Yaskawa drive supports FoE.  Therefore, implementing FoE in the master may be desirable to utilize future features of the Yaskawa drive that utilize FoE.

ENI File:

- When using a non-Beckhoff ENI file generator, and issues occur such as initialization failure, generate an ENI file using the Beckhoff EtherCAT Configuration Tool (ET9000), and re-test.
- Example: The drive may need to be instructed to transition to INIT, even though the assumed first state is INIT.  The ENI file generated by Beckhoff’s EtherCAT Configuration Tool (ET9000) include this.

No. 

Yaskawa Drive Cloud accounts are unique and not associated with any other accounts you may have with www.yaskawa.com.

Please see the attached document for steps on importing POU's within MotionWorks IEC.

Please see attached application note for detailed steps on converting a MotionWorks IEC Version 2 Project into Version 3.

For voltage inputs: terminals 3,16, and 14 should remain unconnected. This is true for the corresponding channels i.e. terminals 6,19,&17 remain unconnected on ch.2.

Ground is connected the same for both Voltage and Current inputs.

The maximum resolution can only be achieved using -10V to +10V.

The DriveWizard^® Mobile App and Yaskawa Drive Cloud^TM services are free of charge.

You can log up to twelve monitors if your sampling time is 100 ms or greater. If your sampling time is less than 100 ms, you can log up to four monitors.

You can log up to twelve monitors if your sampling time is 100 ms or greater.
If your sampling time is less than 100 ms, you can log up to four monitors.

The 400VAC Sigma-7W Mechatrolink-III Dual Axis Servopack has a total of 4 high speed latch inputs, EXT 1 and EXT 2 for Axis A, and EXT 1 and EXT 2 for Axis B. For simultaneous-latching, two latches per axis may be used.

See the user's manual SIEP_S800002_20, Sections 4.2 for a Basic Wiring Diagram and Section 4.5.1 for the I/O Signal Connections.

Example:

Setting EXT 1 and 2 for Axis A, and EXT 1 and 2 for Axis B.

Method 1: Pn50A.0 on both Axes: (default) 1. [Use the Sigma-7S interchangeable I/O signal allocation (Sets the amplifier to use Pn50A-Pn518 for signal allocation)]

• Pn511.1 [/EXT1] on both Axes: (default) 4. [CN1-10 is /EXT1 for Axis A. CN1-19 is /EXT1 for Axis B]
• Pn511.2 [/EXT2] on both Axes: (default) 5. [CN1-11 is /EXT2 for Axis A. CN1-20 is /EXT2 for Axis B]

Method 2:  Pn50A.0 on both Axes: 2. [Use the multi axis I/O signal allocation (Sets the amplifier to use Pn590-Pn5BF for signal allocation)]

• Pn593.0-2 [/EXT1] on Axis A: (default) 010 [Allocate the signal to CN1-10] 
• Pn593.0-2 [/EXT1] on Axis B: (default) 019 [Allocate the signal to CN1-19]
• Pn594.0-2 [/EXT2] on Axis A: (default) 011 [Allocate the signal to CN1-11]
• Pn594.0-2 [/EXT2] on Axis B: (default) 020 [Allocate the signal to CN1-20]

The 400VAC Sigma-7W EtherCAT Dual Axis Servopack, there are a total of 4 high speed latch inputs, Probe1 and Probe2 for Axis A, and Probe1 and Probe2 for Axis B.  For simultaneous latching, two latches per axis may be used.

See the user's manual SIEPS80000219, Sections 4.2 for a Basic Wiring Diagram and Section 4.5.1 for the I/O Signal Connections.

Example:  

Setting Probe1 and 2 for Axis A, and Probe1 and 2 for Axis B.

Method 1:  Pn50A.0 on both Axes: (default) 1. [Use the Sigma-7S interchangeable I/O signal allocation (Sets the amplifier to use Pn50A-Pn518 for signal allocation)]

• Pn511.1 [/Probe1] on both Axes: (default) 3. [CN1-9 is /Probe1 for Axis A. CN1-18 is /Probe1 for Axis B]

• Pn511.2 [/Probe2] on both Axes: (default) 4. [CN1-10 is /Probe2 for Axis A. CN1-19 is /Probe2 for Axis B]

Method 2:  Pn50A.0 on both Axes: 2. [Use the multi axis I/O signal allocation (Sets the amplifier to use Pn590-Pn5BF for signal allocation)]

• Pn593.0-2 [/Probe1] on Axis A: (default) 009 [Allocate the signal to CN1-9]

• Pn593.0-2 [/Probe1] on Axis B: (default) 018 [Allocate the signal to CN1-18]

• Pn594.0-2 [/Probe2] on Axis A: (default) 010 [Allocate the signal to CN1-10]  

• Pn594.0-2 [/Probe2] on Axis B: (default) 019 [Allocate the signal to CN1-19]

For the 200VAC Sigma-7W Mechatrolink-III Dual Axis Servopack, there are a total of 6 high speed latch inputs, EXT 1, EXT 2 and EXT 3 for Axis A, and EXT 1, EXT 2 and EXT 3 for Axis B.   This means a user can have up to 6 separate high speed sensors wired to the servopack.

** Please note: While each axis has 3 latch inputs, only 2 high speed inputs may be used for simultaneous latching, while the 3rd would be allocated for another sensor.  

See user's manual SIEP_S800001_63, Sections 4.2 for a Basic Wiring Diagram and Section 4.5.1 for the I/O Signal Connections.

Example: Wiring 3 high speed sensors for Axis A and 3 high speed sensors for Axis B

Setting EXT 1, 2 and 3 for Axis A, and EXT 1, 2 and 3 for Axis B

Method 1:  Pn50A.0 on both Axes: (default) 1. [Use the Sigma-7S interchangeable I/O signal allocation (Sets the amplifier to use Pn50A-Pn518 for signal allocation)]

• Pn511.1 [/EXT1] on both Axes: (default) 3. [CN1-6 is /EXT1 for Axis A. CN1-12 is /EXT1 for Axis B]
• Pn511.2 [/EXT2] on both Axes: (default) 4. [CN1-7 is /EXT2 for Axis A. CN1-13 is /EXT2 for Axis B]
• Pn511.3 [/EXT3] on both Axes: (default) 5. [CN1-8 is /EXT3 for Axis A. CN1-14 is /EXT3 for Axis B]

Method 2:  Pn50A.0 on both Axes: 2. [Use the multi axis I/O signal allocation (Sets the amplifier to use Pn590-Pn5BC for signal allocation)]

• Pn593.0-2 [/EXT1] on Axis A: (default) 006 [Allocate the signal to CN1-6]
• Pn593.0-2 [/EXT1] on Axis B: (default) 012 [Allocate the signal to CN1-12]
• Pn594.0-2 [/EXT2] on Axis A: (default) 007 [Allocate the signal to CN1-7]
• Pn594.0-2 [/EXT2] on Axis B: (default) 013 [Allocate the signal to CN1-13]
• Pn595.0-2 [/EXT3] on Axis A: (default) 008 [Allocate the signal to CN1-8]
• Pn595.0-2 [/EXT3] on Axis B: (default) 014 [Allocate the signal to CN1-14]

The FP605 configured drive may support one network option card and one of the two analog output option cards. If a network option card is not used, then both analog output option cards may be used.

The FP605 configured packages also support the input option cards. Input option cards must be ordered separately and installed in the field. Only one input option card is supported if a network option card is used.

We expect a two-year transition to completely replace the Z1000. During that transition period, the Z1000 price will increase as production quantities diminish.

The answer depends on the usage of the system.  Please see attached document for details.

This usually occurs when firmware is downgraded. To view the normal web page the cache needs to be cleared and the page reloaded.

If the browser is not in incognito mode Use the menu (the 3 dots at the upper right) to select More tools and then Clear browsing data, or use  Ctrl+Shift+Del. In the Clear browsing data dialog select Cached images and files and press the Clear data button.
Click on refresh and the normal web page is displayed.

If the browser is in incognito mode Press F12 to open Developer tools, A window will appear at the bottom of the screen.Right click on the Refresh button and select Empty Cache and Hard Reload. The normal web page is displayed.

See attached document for screen shots.

When the resource dialog is opened, this error is shown if the project was compiled with build settings that are greater than the firmware build on the controller, and a function block is included in the project that is newer or has newer behavior than the firmware. For example if the program was compiled with build settings of MP3300iec 3.5.0 and the controller firmware is 3.3.0, and the project contains a function block that was added or modified since version 3.3.0. To correct the issue, recompile with equal (recommended) or lower build settings. Build settings are found by right clicking on the “Resource” node in the “Physical Hardware” section of the tree and selecting “Settings”.

This error is usually generated when retained variables are included in a project and the controller does not support them. The Sigma-7Siec controller does not support retained variables, and the user cannot add them directly; however, retained variables can be added inadvertently by including a user library which employs retain variables.

This error is most commonly caused by including the AbsolutePositionManager function block (from the PLCopen_Toolbox) in the project. To clear the error:
1. Remove the AbsolutePositionManager function block.
2. Delete the variable of Data Type AbsolutePositionManager that was created when the function block was added.
3. Recompile the project.

Note: This error can also be caused by any user library that is included and contains retained variables.