EtherCAT Servo Parameters with XPM_SVPRD and XPM_SVPWR

  • The XPM_SVPRD function block is used to read servo parameter information from an axis.

  • The XPM_SVPWR function block is used to write servo parameter information to an axis.

  • The XPM_SVSAVE function block is used to save servo parameters from an axis to the EEPROM of the servo driver.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set 0 to the Base number.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis to read servo parameter information.
INDEX Input Servo Parameter index number. 0x1000 ~ 0x1FFF set value range for Communication Profile Area. 0x2000 ~ 0x5FFF set value range for Manufacturer specific profile area. 0x6000 ~ 0x9FFF set value range for Standardized device profile area.
SUBINDEX Input Servo Parameter sub-index number. 0x0 ~ 0xFF Set value range.
LENGTH Input Servo parameter object size. Set value 1~4 for Object Byte length.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.
DATA Output Servo error information.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set 0 to the Base Number.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis to command with function block
INDEX Input Servo parameter index number. 0x2000 ~ 0x5FFF set value for Manufacturer specific profile area. 0x6000 ~ 0x9FFF set value for Standardized device profile area.
SUBINDEX Input Servo parameter sub-index number. 0x0 ~ 0xFF set value for Servo parameter Object subindex.
LENGTH Input Servo parameter Object Byte Length with value between 1 ~ 4.
DATA Input Servo parameter value.
RAM/ROM Input

Where to save parameter.

  • 0 = RAM

  • 1 = ROM
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

The following examples can be found in OnlineHelp_ECAT_Example.

  • XPM_ECON needs to be executed first so EtherCAT servo drives are connected to receive commands.

This example shows using the XPM_SVPRD function block to read the Encoder Pulse per Revolution parameter from Axis 1.

The Parameter index and sub-index in the SDO parameter file have hex values.

XPM_SVPRD Example Results

This example shows using the XPM_SVPWR function block writing to Home Offset parameter of Axis 1.

The Parameter index and sub-index in the SDO parameter file have hex values.

XPM_SVPWR Example Results

 

 

 

 

 

 

LP613