Importing Parameters from a Configured SERVOPACK to a Project

In the diagram above, we can see that retrieving a parameter from a SERVOPACK can only be done through the "Read from RAM" button in iCube Engineer. Afterwards, a "Write & Start the Project" must be executed. That way, SERVOPACK parameters are identical between your project, the controller, and the SERVOPACK. Below is detailed walkthrough on parameter retrieval and their upload to a controller. 

For this document, it's assumed that:

• An iCube project is already created.
  
• There exists a properly connected controller and SERVOPACK.
  
• The iCube project in the first point has already established connection to the controller mentioned in the second point.
  
• The iCube project was created from a sample project (e.g. Yaskawa iC9226M-EC/FSoE...; seen in the image directly below).
  
  
  

Solution Steps

Note

Be sure to save your project in Step 6. Otherwise, this may cause unexpected behavior with your machine. This is due to conflicting parameter values between those on the servo and those seen in your project for the respective servo.

1. Launch iCube Engineer and open your project. 
   
2. From the project, connect to the controller Connecting vs. Attaching (Debug On).
   
3. Expand the EtherCAT item in the "PLANT" tab. Then, double-click the SERVOPACK of interest. This should open a new window.
   
   
4. Locate and click on the "Parameters" tab using the arrows to the left and right of the window. 
   
   
   Note:
   If the controller is not connected, the "Read from RAM" and alike buttons will be greyed out.
   
   
   
5. In the top-left corner of the window, click the "Read from RAM" button. 
   
   
6. Save your project once the read is complete.  This saves the parameters to the project.
7. Write and Start the project to the controller to save the parameters as a back up on the iC9200 controller.