Servos

Yaskawa Servos

Sigma 7 Series

EtherCAT Setup

Leadshine Servos

L7N

EtherCAT Setup

Parameter	Description	Value	Activation	Index
PA0.08	1st command pulse count per revolution	131072	Restart	0x2008
PA0.15	Absolute Encoder settings	1: Activate multi…	Restart	0x2015
PA4.00	Input selection DI1	0x0: [0] Invalid i…	Immediate	0x2400
PA4.01	Input selection DI2	0x0: [0] Invalid i…	Immediate	0x2401
PA4.02	Input selection DI3	0x0: [0] Invalid i…	Immediate	0x2402
PA4.03	Input selection DI4	0x0: [0] Invalid i…	Immediate	0x2403
PA4.04	Input selection DI5	0x0: [0] Invalid i…	Immediate	0x2404
PA4.05	Input selection DI6	0x0: [0] Invalid i…	Immediate	0x2405
PA4.10	Output selection DO1	0x0: [0] Invalid i…	Immediate	0x2410
PA4.11	Output selection DO2	0x0: [0] Invalid i…	Immediate	0x2411
PA4.12	Output selection DO3	0x0: [0] Invalid i…	Immediate	0x2412

If you using absolute encoders, after cycling power turn PA0.15 to 9 and power cycle again. 

PA4.10 – PA4.12 corresponds to DO1 – DO3. If all parameters are set to 0, master device
controls the outputs, object dictionary 0x60FE sub-index 01 bit 16 to bit 18 corresponds to
DO1-DO3. 

Output Name in Mach	Digital Output on Drive
DO.17	DO1
DO.18	DO2
DO.19	DO3

Here is an example of mapping outputs:

PA4.00 – PA4.05 corresponds to DI1 – DI6. External sensors can be connected if the
parameters are all set to 0. Controller will read 60FD bit 4 – bit 9 to get DI1 – DI6 actual status.

Input Name in Mach	Digital Input on Drive
DI.05	DI1
DI.06	DI2
DI.07	DI3
DI.08	DI4
DI.09	DI5
DI.10	DI6

Here is an example of mapping outputs:

Note: To manually write to parameters from the EC-Link, you can use a configuration as follows. This is for writing to P00.08 index 0x2008. 

PA0.08 is Index 2008h as shown below. 

EL7

EtherCAT Setup

Same as above. 

Weihong Servos

WSD-B1

EtherCAT Setup

Must reset absolute encoder alarm.