Linear Motor Configuration for SigmaTrac/SigmaTrac II
| Version Number | Description |
|---|---|
| 1.0 | Initial version, Explains how to configure a linear motor axis in iCE |
This section details how to configure a linear motor axis within iCube Engineer.
1. Hardware and Software Components
| Component Name | Version |
|---|---|
| iCube Engineer | ≥ 2023.9 |
| SGD7S | ≥ 002F |
| iC922xM-EC | ≥ 2023.9 |
2. Solution details
An A.070 alarm may be displayed on the servopack, if the servopack has default parameters or if a rotary motor was connected to that servopack in the past. Use SigmaWin to Reset the motor type alarm.
Start a new iC922x template project in iCube Engineer. In the Plant window either perform a EtherCAT bus scan or add a Sigma7/X servopack to the EtherCAT device section.
For motors that do not make use of a serial converter unit:
- In Sigma Win+ or on the 7 segment display of the Amplifier the following alarm is shown (A.C21)
- Set Pn080.0 to 1 (Do not use Polarity sensor) in the Parameters tab in iCube Engineer. SigmaTrac II does not use a Hall Effect Sensor
- Write the Parameter to ROM and Save the Project
- Rebuild the Project and write and start the project on the controller
- Reboot the Amplifier for Pn080.0 takes effect
- Polarity Detection needs to be performed using SigmaWin+. Open and Connect to the Amplifier in SigmaWin+
- Set the Force limits to 100% (Pn483, Pn484)
- Run Polarity Detection
- Under Encoder Setting select Polarity detection
- A warning will appear, Press Continue...
- Make sure the linear motor is in the middle of its stroke and press the Start button.
- When finished, the Polarity detection window will show that it has been completed. Close out of the Polarity detection window and reboot the amplifier.
For all Linear motors:
- Open the Configuration section for the motion axis that is linked to the linear motor Amplifier
- Set the "Motor type" to be linear
- Make sure that the position scale is set to 1.
- In the parameter page, ensure that Pn000.3 is 1 (start as linear encoder).
- For linear motors that use serial converter (SigmaTrac I), Parameter Pn282 should be set by the user.
- The Linear Scale pitch can be found in the Technical supplement document for the SERVOPACKs
- For linear motors that do not use a serial converter (for example SigmaTrac II), any value of Pn282 set by the user is ignored by the servopack.
- Change any other parameters that need to be set for operation (POT, NOT)
- Perform a ROM write to the Servopack and Save the Project
- Rebuild the project and then write and start the project on the Controller
- Power Cycle the Amplifier
- Warm Start and the Controller to re-establish connection to the Amplifier
- The Linear Motor can now be powered on using an MC_Power block and used for motion.
- Motion can be performed with mm as user units.