Sending Parameter Changes From a Project to the SERVOPACK

Version Number	Description
1.0	Initial version

This application note shows how to edit and send parameters from the iCube Engineer project to the servopack.

1. Supported Components

Component Name	Version
iC9200 series	≥ 2024.3
iCube Engineer	≥ 2024.3

2. Solution details

In the diagram above, we can see that sending a parameter to a SERVOPACK can be done either through the "Write to ROM" button, the "Y_WriteDriveParameter" function block, or the "Y_WriteParameters" function block in iCube Engineer. Below is a detailed walkthrough on sending parameters from your iCube Engineer project to a SERVOPACK.

For this document, it is assumed that:

An iCube Engineer 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).

Sending Parameters to the SERVOPACK Using the "Write to ROM" Button

Launch iCube Engineer and open your project.
Connect to the controller Connecting vs. Attaching (Debug On).
Expand the EtherCAT item in the "PLANT" tab. Then, double-click the SERVOPACK of interest. This should open a new window.
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.
In the top-left corner of the window, click the "Write to ROM" button.
Reboot the SERVOPACK to make sure that the EEPROM parameters take effect.
Save your project.

Sending a Single Parameter to the SERVOPACK Using the "Y_WriteDriveParameter" Function Block

Launch iCube Engineer and open your project.
Connect to the controller Connecting vs. Attaching (Debug On).
Open the program you wish to work in.
Click anywhere in the code workspace, then type "Y_WriteDriveParameter".
Populate each input and output of the Y_WriteDriveParameter function block with appropriate variables or literals (Note: The values for the "Parameter Number" and "Value" inputs should be hexadecimal values, such as "16#B" or "16#0100") Y_WriteDriveParameter.

Note
The "DataTypeOverride" input can be fed the value "0" (its default value). If you encounter an error with the function block, please visit the block's help page for specifics Y_WriteDriveParameter

Note
To write to a specific bit/value (as seen with the ".2" portion of a parameter like "Pn00B.2"), use the following value format with the function block's "Value" input — "16#0000". Each "0" represents a bit/value ( i.e. 16#[.3][.2][.1][.0] ). The left-most "0" represents "PnXXX.3" while the right-most "0" represents "PnXXX.0". To set the value of a single parameter like Pn00B.2 to "1", you would feed the value "16#0100" into the "Value" input of the function block.
Save your project.
Execute a "Write & Start the Project".
After the execution of the "Y_WriteDriveParameter" function block in your code, exit debug mode.
Click the "Compare drive parameters" button and ensure that the parameter used in Step 4 was written with the value intended. Also, verify that no other parameters were unintentionally changed during the execution of the "Y_WriteDriveParameter" function block.
Reboot the SERVOPACK if necessary.
Execute a "Read from RAM" on the SERVOPACK that was just written to.
Save your project again.

Sending all parameters to the SERVOPACK with the "Y_WriteParameters" Function Block in a LD/FBD Code Worksheet

Launch iCube Engineer and open your project.
Connect to the controller Connecting vs. Attaching (Debug On).
Open the program you wish to work in.
Click anywhere in the code workspace, then type "Y_WriteParameters".
Populate each input and output of the "Y_WriteParameters" function block with appropriate variables or literals.

Note
If your controller has any alarms, the "Y_WriteParameters" function block will not be able to write to the controller. This will result in a "4915" Error ID. Make sure to clear/resolve all alarms (in addition to power cycling the controller AND SERVOPACK if necessary) before executing this function block.
Save your project.
Execute a "Write & Start the Project".
After the execution of the "Y_WriteParameters" function block in your code, exit debug mode.
Click the "Compare drive parameters" and ensure that the parameters on the SERVOPACK's RAM are correct. Also, verify that no other parameters were unintentionally changed during the execution of the "Y_WriteParameters" function block. Differences in parameter values between the controller and the SERVOPACK will be highlighted in red (as seen in the image below).
Execute a "Read from RAM" on the SERVOPACK that was just written to.
Reboot your controller and SERVOPACK if necessary.
Save your project again.