Servos

Yaskawa Servos

Sigma 7 Series

EtherCAT Setup

Leadshine Servos

L7N

EtherCAT Setup

NumberParameter	LabelDescription	Axis1Value	Activation	Index
P00.PA0.08	1st command pulse count per revolution	131072	Re-enableRestart	0x2008
P00.PA0.15	Absolute Encoder settings	1: Activate multi…	Restart	0x2015
P04.PA4.00	Input selection DI1	0x0: [0] Invalid i…	Immediate	0x2400
P04.PA4.01	Input selection DI2	0x0: [0] Invalid i…	Immediate	0x2401
P04.PA4.02	Input selection DI3	0x0: [0] Invalid i…	Immediate	0x2402
P04.PA4.03	Input selection DI4	0x0: [0] Invalid i…	Immediate	0x2403
P04.PA4.04	Input selection DI5	0x0: [0] Invalid i…	Immediate	0x2404
P04.PA4.05	Input selection DI6	0x0: [0] Invalid i…	Immediate	0x2405
P04.PA4.10	Output selection DO1	0x0: [0] Invalid i…	Immediate	0x2410
P04.PA4.11	Output selection DO2	0x0: [0] Invalid i…	Immediate	0x2411
P04.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 bit16-18 corresponds to
DO1-DO3.

PA4.00 – PA4.05corresponds to DI1 – DI6. External sensors can be connected if the
parameters are all set to 0. Controller will read 60FD bit4 – 11 to get DI1 – DI6 actual status

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.