First time connection using iCube Engineer to a CoE servopack
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
This application note guides a user through the steps of connecting to CoE servopacks using iCubeEngineer
1. Supported Components
| Component Name | Version |
|---|---|
| iC9200 series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
2. Solution details
As highlighted in the diagram above, this detailed walkthrough will display how to use iCube Engineer to transfer SERVOPACK parameters between an iCube Engineer project, a controller, and a SERVOPACK for the first time. The items used to do this are the "Compare", "Read from RAM", and "Write to ROM" buttons. Below is a detailed walkthrough regarding how to find the prior mentioned buttons, manipulate SERVOPACK parameters, and send them to a controller and/or SERVOPACK.
Note
- Ensuring to "Save" the project will guarantee that the parameters in the project are saved to the parameter file of the project. The "Write to ROM" button on the parameter page makes sure that the values in the project are sent to the SERVOPACK EEPROM. "Write and Start Project" will make sure that the parameter file is backed up in the iC9200 controller as well. This ensures that parameters across all three components are identical.
- All SERVOPACK functionality pivots on the value of the EC_TOPOLOGY_OK global variable. If the value is "FALSE", the SERVOPACK will not function at all. A "FALSE" value may be due to an incorrectly setup EtherCAT configuration. If this is the case for you, read the note under Step 7 in this document regarding the hot-connect feature.
Solution Steps
- Install iCube Engineer on your computer. Follow installation instructions completely before proceeding.
- Once installed, launch iCube Engineer. On the landing page, create a new project by clicking the "Yaskawa iC9226M-EC motion 2024.3" option on the left (as seen in the image below).
- Ensure that you are not connected to the controller.
- Perform an EtherCAT bus scan.
- If prompted to choose the version of the FDCML file, select the version that is closest but lower than the version of the servo detected in the bus scan.
- Connect to the controller Connecting vs. Attaching (Debug On), then "Write and Start the Project".
- Double-click the SERVOPACK of interest. Use the arrows to find the "Parameters" page.
Note
Verify the state of hot-connect. You can do this by exiting debug mode, double clicking the "EtherCAT" item in the "PLANT" tab. Then, click the "Settings" tab. In the "All" sub-tab, check if the "Create HC Group for Slaves" checkbox is checked or unchecked. Then, see the rest of the note (continued below this image) for instructions on how to proceed.
If the box is checked:
Verify that the "Station Address" for each axis/SERVOPACK in your "Motion Axis" drop-down matches the addresses/numbers pointed to on the SERVOPACK themselves (depicted in the diagram below).
If the box is not checked:
Verify that the order of the EtherCAT devices in the project matches the network order of EtherCAT devices on the network.
- Parameter values between the project and SERVOPACK can be compared using the "Compare drive parameters" button. Differences will be highlighted in the "Drive Value" column.
- Click the "Read from RAM" button. This action ensures that the project gets the current parameters from the SERVOPACK.
Note:
If the controller is not connected, the "Read from RAM" and alike buttons will be greyed out.
- Parameter values can be manipulated in the "Value" column. User can choose to edit the parameters from this column.
- Parameter value changes can be sent to the SERVOPACK using the "Write to ROM" button.
- Reboot the SERVOPACK to make sure EEPROMM parameters take effect.
- "Write and Start the Project" once again.
- SERVOPACK alarms can also be viewed on the controller's "Motion Alarm" tab. To get to it, double-click on the controller (e.g. "ic9226...") in the "PLANT" tab.
The steps above will ensure that the parameters match across the controller, project, and SERVOPACK.