Yaskawa Sigma-5 with CANopen over EtherCAT - Manual (Page 5)

Product: TwinCAT, Sigma-5 with CANopen over EtherCAT option Doc#: TM.SGDV.01
Title: Sigma-5 EtherCAT Function Blocks for TwinCAT
Doc#: TM.SGDV.01 Yaskawa America, Inc. Drives & Motion Division
©2011
January 6, 2011 Page 5 of 22
2. Version Notes
The current Function Block library supports the following Sigma-5 EtherCAT Revisions:
(see value in object 1018:03):
0x00010000
(Version
1.00)
0x00020000
(Version
2.00)
0x00030001
(Version
3.01)
Y_StoreParameters &
Y_WriteParameters
OK OK
Not
developed
*
Y_AbsoluteEncoderReset OK OK OK
*This function block does not support this EtherCAT revision. The function block can be modified to utilize some features. See Section 9, “Modifying
Function Blocks” for details.
Note:
For Version 2.00, there are 3 new objects compared to Version 1.00:
•
10F1:0 (Sync Error Settings)
•
10F1:01 (Reserved)
•
10F1:02 (Sync Error Count Limit)
These 3 objects are coupled to the objects 1F01:0, 1F01:01, 1F01:02, respectively.
If one object changes, the object that it is coupled to will also change.
Since these objects operate in this manner, the function block does not store values of the following objects for Version 2.00: 10F1:0, 10F1:01, 10F1:02.