Feedback Option Cards and Encoder Configuration
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
| 1.1 | Added details about user configuration |
The various feedback option cards and their modes supported on Sigma-5, Sigma-7 and Sigma-X in the iCube platform are described here.
1. Supported Components
| Component Name | Version |
|---|---|
| iC9200 series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
| Feedback Option Card | SGDV-OFxxxx |
2. Solution details
2.1. Sigma Servo Motor/Encoder - Semi-closed loop via CN2 ("Config A")
Motor encoder connected via the CN2 SigmaLink serial data connector. There is no feedback option card in this setup.
The user should verify that the configuration in the Axis/Options page matches the expected mapping. Encoder configuration does not have to input by the user. The encoder configuration of the connected motor is determined by the firmware itself.
2.2. Sigma Servo Motor/Encoder Configuration - Semi-closed-loop via CN12 ("Config B")
Motor encoder connected via feedback option card connected to the CN12 feedback option card connector
- third-party rotary motors (e.g., the Elwood food-grade motor lineup) (Third Party Motor Setup on EtherCAT servos: Semi Closed Loop (CN12) )
- linear motors with non-SigmaLink encoders
Set up the Axis/Options page as shown below. User does not have to set the encoder details on this page because the encoder details are set up in the motor configuration file in the option card. See steps in Third Party Motor Setup on EtherCAT servos: Semi Closed Loop (CN12) for details.
2.3. Sigma Servo Motor/Encoder Configuration: Fully-closed-loop ("Config C")
- Motor encoder connected via the CN2 SigmaLink serial data connector
- Fully-closed-loop encoder connected via feedback option card connected to the CN12 feedback option card connector
Position loop is closed using the external encoder feedback into the feedback option card. Velocity loop can be closed using either CN12 or CN2. For applications that need to run the motor without running the external encoder, the velocity loop will have to be closed using the motor feedback to CN2. Please refer to How to set up a servo in full closed loop mode for steps to set up a system in full closed loop mode.
User input in the Axis/Options page is required to set up the encoder resolution of the external encoder connected to the option card. (shown below)
2.4. Sigma Servo Motor/Encoder Configuration: Semi-closed-loop + external encoder monitoring ("Config D")
- Motor encoder connected via the CN2 SigmaLink serial data connector
- External encoder (unrelated to motor control) connected via any feedback option card connected to the CN12 feedback option card connector . Please refer to How to add an external encoder to a servo option card (SGDV-OFA01A) and How to add an external encoder to servo option card SGDV-OFBxxx for details on this topic.
In this configuration iCubeEngineer configures two axes. One for the motor and one for the independent external encoder. It should be noted that the Axis connected to the CN2 port does not interact with the external encoder connected to the feedback option card port CN12. The two axes are independent entities as shown in the figure below. The External Axis will have to be configured in the external axis/ options page as shown below.
2.5. Supported modes for each feedback Option Card
| Encoder Config Mode | Config B | Config C | Config D | ||||||
| Drive Model | Sigma V | Sigma 7 | Sigma X | Sigma V | Sigma 7 | Sigma X | Sigma V | Sigma 7 | Sigma X |
SGDV-OFA | Not Supported | Not Supported | Not Supported | Supported | Supported | Supported | Not Supported | Supported | Supported |
SGDV-OFB (Serial Type)(Type1) | Supported | Supported | Not Supported*1 | Supported | Supported | Not Supported*1 | Not Supported | Supported | Not Supported*1 |
SGDV-OFB (A Quad B Type)(Type3) | Supported | Supported | Supported | Supported | Supported | Not Supported | Not Supported | Supported | Not Supported |
2.6. Pns Affected by usage of Connection of Feedback Option Cards (SGDV-OFBxxx)
Pns Affected by OFBxxx Cards | ||
Pn # | Parameter Name ID | Parameter Name |
Pn00B | 1004 | Application Function Select Switch B |
Pn080 | 1006 | Application Function Select Switch 80 |
Pn081 | 10065 | Application Function Select Switch 81 |
Pn2D0 | 328170001 | Position Resolution |
Pn481 | 1019 | Polarity Detection Speed Loop Gain |
Pn482 | 1021 | Polarity Detection Speed Loop Integral Time |
Pn486 | 1074 | Polarity Detection Command Accel/Decel Time |
Pn487 | 1024 | Polarity Detection Constant Speed Time |
Pn488 | 1025 | Polarity Detection Command Waiting Time |
Pn490 | 1032 | Polarity Detection Load Level |
Pn493 | 1022 | Polarity Detection Command Speed |
Pn494 | 1036 | Polarity Detection Range |
Pn495 | 1037 | Polarity Detection Confirmation Torque Command |
Pn498 | 1101 | Polarity Detection Allowable Error Range |
Pn50D | 64 | Input Signal Selection 4 |
Pn587 | 1096 | Polarity Detection for Absolute Scale Selection |