Servo Parameter Management
This section details the servo parameter page for EtherCAT servopacks.
Servo parameters are maintained in three locations.
- The servo
- The controller
- The project
Various scenarios related to servo parameter management:
- First time connection (First time connection using iCube Engineer to a CoE servopack )
- Servo has default parameters
- Project has default parameters
- Servo has desired parameters. (Importing Parameters from a Configured SERVOPACK to a Project )
- Servo on a machine was tuned before the new project was written. The parameters on the servo need to be incorporated into the new project.
- Project has desired parameters.
- Project contains desired servo parameters (setup and tuning). These need to be sent to the servo on a new machine.
- A few servo parameters are desired and a few project parameters are desired. (Merging Parameters From A Project and a SERVOPACK )
- On performing a parameter comparison between the servo and the project, it was decided that the user wants to keep some parameters currently on the servo and some parameters currently in the project. A merge of parameters will need to take place.
- Save parameters from the project to the controller only : Write and Start project to the controller.
- Save parameters to the servo only.
- Save to ROM
- Finalize a project
- Programmer sets some parameters offline in the project (overtravel, servo direction etc) and sends it to the servo upon connection to the hardware. During project development, the servos are tuned to desired levels. These parameters need to be pulled into the project. The finalized servo parameters will need to be saved in the project, in the controller and in the ROM of the servo. This will ensure that drive replacement can be performed.
- Field replacement of a servo from an HMI
- Parameters need to be in the controller.
- Y_VerifyParameters
- Y_WriteParameters
- Field replacement of a servo from the WBM. (Not supported currently)
- Parameters need to be in the controller.
- WBM features to verify/write parameters to the servo.
- Function Blocks for parameter management
