How to add an external encoder to servo option card SGDV-OFBxxx

2. Solution details

• Open a project in iCube Engineer
• Add the servo to which the option card is attached.
• In the Components window search for the SGDV Feedback Option Card and drag it to the Servopack in the plant that has the option card attached.

1. An external servonet axis will appear in the Motion Axis section

•  Open the settings section for the "Feedback Option Card module" in the PLANT
• Under the Feedback section set the Operation mode to "Semi-closed loop + external encoder monitoring"

1. Notification will appear in iCube signifying that Pn00E.3 was adjusted.
• Open the parameter window of the SERVOPACK with the option card.
• Verify and write Pn00E to the ROM of the SERVOPACK, then power cycle the system
  1. Disconnect the encoder cable from the OFB option card before power cycle 
  2. If the motor rotation for the forward direction needs to be changed, corresponding bits of Pn00E may need to be changed as well

• Open SigmaSelect to add the Encoder file to the OFB option card. Contact the Yaskawa representative to generate the option card configuration file for the encoder being used.
• Connect to the SERVOPACK

• Open the ServoPack Menu and Select "Motor parameter scale write"

• Load the .mgf file for the connected encoder

• Select next and write the file to the option card
• Select complete when finished, plug in the encoder and reboot the servo.
• Set the resolution of the external encoder in the Axis options page.

• User units for the External Encoder can be defined in the "Motion Axis" configuration menu.

• Motion on the external encoder axis can be verified using PLCopenPart1 FBs.