Third Party Motor Setup on EtherCAT servos: Semi Closed Loop (CN12)

2. Solution details

• The following Hardware is required for semi-closed loop operation.
• OFA
• OFB card Type 1
• OFB card Type 3
• Plug the Motor leads into UVW on the SERVOPACK and the encoder will plug into the option card on the SERVOPACK
• Open a project in iCube Engineer
• Add a servo to the EtherCat node in the plant , or perform an EtherCAT bus scan to bring in EtherCAT hardware
• In the PLANT window double click on the servo, and go to the module list tab
• Add the SGDV Feedback Option Card to the module slot

• Open the settings section for the "Feedback Option Card module" in the PLANT
• Under the Feedback section set the Operation mode to "Semi-closed loop via CN12"

1. Notification will appear in iCube signifying that Pn00B was adjusted.
• Open the parameter window of the SERVOPACK with the option card.
• Verify the following parameter settings
• Pn002.3 = 0
• Pn00B.3 = 1
• Pn00E.3 = 0
• Adjust usability parameters per the system setup (i.e. POT, NOT, Pn00B.2)
  
• Pn205 = 4096 (If connecting to a Elwood Motor)

• Write the parameters to ROM and then power cycle the system.
  
• Use the following link to setup the feedback option card. Please contact yaskawa or your sales representative to create the mgf file for your motor/encoder in use.
• https://www.yaskawa.com/downloads/search-index/details?showType=details&docnum=eLM.Sigma7.04.SetupExtEncoder
• Send the mgf file (setup file for external ecoder) using 'Motor parameter scale write' in sigma win+.

• Once the file is written reboot the Servopack and then perform polarity detection in SigmaWin+
• Polarity detection is explained in the following video.Polarity Detection
• Open a 20ms or less POU and add the following FBs
• MC_Power
• MC_MoveRelative
• MC_Reset

• Write and Start the Project on the Controller.
• Enable MC_Power
• Motor will enable
• Execute a single rotation move on the MC_MoveRelative block
• Motor moves 1 rev