Firmware update for YASKAWA EtherCAT Sigma-7 SERVOPACKs (FoE)

Version Number	Description
1.0	How to perform a firmware update on an EtherCAT SERVOPACK using the File access over EtherCAT (FoE) functionality of iCube Engineer.

This application note shows how to update the firmware of an EtherCAT Sigma-7 SERVOPACK through the File access over EtherCAT (FoE) functionality included in iCube Engineer.

1. Supported Components

Component Name	Version
iC922x series	≥ 2023.9
iCube Engineer	≥ 2023.9
Sigma-7 SERVOPACK	≥ Version 14

2. Solution details

NOTE: This procedure will restore the SERVOPACK's parameters list to its default settings. A parameter backup is desired before taking any action.

Software and Hardware components

To update the firmware of a SERVOPACK the following software and hardware components, and files are needed:

iCube Engineer
iCube controller
EtherCAT SERVOPACK (only tested for Sigma-7 SERVOPACKs)
SigmaWin+ (optional)
Firmware file (refer to https://www.yaskawa.com/, login needed to access the firmware files. DO NOT SHARE THIS FILE).

Setup Equipment

In order to do a firmware update on a SERVOPACK (or several) connect the EtherCAT port of the iCube controller to the SERVOPACK’s EtherCAT IN port with an Ethernet cable (RJ45). Connecting several SERVOPACKs to the network to update the firmware of multiple SERVOPACKs is possible.

Examine the current firmware of the SERVOPACK to make sure that the current version and the new version are different. Checking the current firmware version of the SERVOPACK can be done in three different ways, listed here:

Examine Firmware version using iCube Engineer and CoE Data of the SERVOPACK

Download an iCube Engineer project that contains the same SERVOPACK type in the EtherCAT configuration as the one connected to the iCube controller. If more than one is present, make sure that the type and the order matches between Offline and Online configuration. After the project is downloaded to the controller stay connected to the project (Debug mode can be turned off if desired).
Double-click on the EtherCAT section of the PLANT and go to Online Functions. The EtherCAT Master and the connected device(s) should be in Op state (indicated by a green circle to the left of the device).
Select the SERVOPACK whose firmware is to be examined and go to the CoE Data of the device. CoE objects 0x100A (Manufacturer Software Version) and 0x1018.3 (Revision Number) show the firmware version of the SERVOPACK. Object 0x100A shows the firmware following the format <Major_Revision>.<Minor_Revision> and object 0x1018.3 shows it in xxxxyyyy format, where xxxx is the major revision and yyyy the minor revision. In the example image the major revision is 8 and the minor revision is 19. Object 0x100A might not be available for old firmware versions.

Examine Firmware version using the Web-Based Management (WBM)

Download an iCube Engineer project that contains the same SERVOPACK type in the EtherCAT configuration as the one connected to the iCube controller. If more than one is present, make sure that the type and the order matches between Offline and Online configuration.
Go to the WBM and enter the login data.
Go to Diagnostic -> EtherCAT and the firmware version should be shown under Revision Number using the xxxxyyyy format, where xxxx is the major revision and yyyy the minor revision. In the example image the major revision is 8 and the minor revision is 19.

Examine Firmware version using SigmaWin+

Connect to the SERVOPACK using a USB connection. Once connected go to Basic Functions -> Product Information.
The firmware version should mentioned under the Remarks of the SERVOPACK with a [I/F Ver] : tag and using the <Major_Revision>-<Minor_Revision> format. In the example image the major revision is 8 and the minor revision is 19.

Firmware Update

The following steps need to be followed to do the firmware update. Notice that the first two steps are the same as the ones used to examine the firmware version using iCube Engineer, so they can be skipped if said method was used.

Download an iCube Engineer project that contains the same SERVOPACK type in the EtherCAT configuration as the one connected to the iCube controller. If more than one is present, make sure that the type and the order matches between Offline and Online configuration. After the project is downloaded to the controller stay connected to the project (Debug mode can be turned off if desired).
Double-click on the EtherCAT section of the PLANT and go to Online Functions. The EtherCAT Master and the connected device(s) should be in Op state (indicated by a green circle to the left of the device).
Select the SERVOPACK from the list of slaves. Under the General section click on Bootstrap to set the device to Boot/Bootstrap state. This should change the green circle to the left of the device to a red circle.
Go to the FoE tab and fill the information under 'FoE download':
1. Local Filename: Path to where the firmware file (firmware.sfw) is located, including the full filename.
2. Slave Filename: Keep same filename (firmware.sfw).
3. Password: No password for Sigma7, leave the default 0x00000000.
4. Timeout: A time of 300 s should be enough as a timeout, but it can be increased if necessary.
Once all the fields are filled, click on Download to Slave.
The download process will take a while, but at some point iCube Engineer will inform that the download process was successful.
If changing the SERVOPACK FW fails, then perform the Initialize function in SigmaWin. For example, when the user receives the following error message:
Go back to the General tab and click on Init to set the SERVOPACK to Init state. This process will take some minutes and the SERVOPACK will reboot automatically. After rebooting the SERVOPACK should have the new firmware!

Confirm the Firmware update was successful

To verify that the firmware update was successful follow the same procedure explained in the "Setup Equipment" section. Beware that in SigmaWin+ a reconnection might be needed to update the firmware version shown in the software.

3. Related Documents

Other details about SERVOPACKs firmware update and other procedures to do so can be found in document TN.SGD7.01.EtherCAT (available in https://www.yaskawa.com/ after login).

4. Troubleshooting notes

FW update may fail if there are USB comms (SigmaWin) or if DigiOp is connected.
FW update will fail if the firmware file does not follow the 8.3 filename format. We distribute firmware images publicly that follows the 8.3 filename format (i.e. "firmware.sfw"). However, a user might decide to rename it and the result may cause FoE FW update to fail if the renamed file doesn't follow the 8.3 filename format.
FW update alarms and troubleshooting are described in document TN.SGD7.01.EtherCAT (available in https://www.yaskawa.com/ after login).