Programming an HMI for Writing Parameters to a New/Replacement SERVOPACK
| Version Number | Description |
|---|---|
| 1.0 | Initial version |
This application note shows detailed steps to finalize a project from the servo parameter perspective. These steps should enable the user to replace a servopack in the field.
1. Supported Components
| Component Name | Version |
|---|---|
| iC9200 series | ≥ 2024.3 |
| iCube Engineer | ≥ 2024.3 |
2. Solution Details
As we can see in the diagram, writing drive parameters to a new or replacement SERVOPACK via an HMI can be done using the "Y_WriteParameters" and "Y_VerifyParameters" function blocks. In the scenario where a technician has no access to the iCube Engineer project running on the machine or any other programming/flashing equipment, the only remaining method is through an HMI. Programmers must ensure that the "Y_WriteParameters" and "Y_VerifyParameters" function blocks are included in the execution flow of the interaction between the HMI and the machine project. Otherwise, a worker will not be able to successfully replace a SERVOPACK, since the parameters on a new servopack will be different from those on a commissioned servopack. This will cause unexpected machine behavior.
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
- Launch iCube Engineer and open your project.
- Connect to the controller Connecting vs. Attaching (Debug On).
- Open the program you wish to work in.
- Make sure that the servopack parameters from the commissioned servopack are stored in the appropriate location on the controller. A Write and Start operation always stores the servo parameters in the default location on the controller.
- Click anywhere in the code workspace, then type "Y_WriteParameters". For help , please refer to Y_WriteParameters .
- Click anywhere again in the code workspace (preferably near the "Y_WriteParameters" function block), then type "Y_VerifyParameters". For help , please refer to Y_VerifyParameters .
- Populate each input and output of the "Y_WriteParameters" and "Y_VerifyParameters" function blocks with appropriate variables or literals. The "File" input for both function blocks can be left blank. The default file location will be used by the function block.
- Click anywhere once more in the code workspace (preferably near the aforementioned function blocks) then type "Y_EC_COE_SdoWrite".
- It is recommended to verify parameters (using Y_VerifyParameters) of all configured servos when the machine is powered up. If there is a difference in the parameters between what is saved in the parameter file on the controller and the parameters on the servopack, there is a discrepancy that needs to be taken care of. If the user knows the reason for the discrepancy, and wants to send the parameters from the controller to the servo anyway, an HMI variable can be used to trigger the execution of the Y_WriteParameters function block.
- After the execution and completion of the Y_WriteParameters function block, the user can verify that the parameters match using Y_VerifyParameters. This can also be driven through a command from the HMI.