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YASKAWA G7 Technical Manual
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YASKAWA G7 Technical Manual

YASKAWA G7 Technical Manual

Drive software motion control
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See also: Instruction Manual , User Manual
Motion Control
G7 Drive Software
Technical Manual
Software Number: VSG13306X, Drive Models: CIMR-G7UXXXXX-117
Document Number: TM.G7SW.117, Date: 05/16/08, Rev: 08-05

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Summary of Contents for YASKAWA G7

  • Page 1 Motion Control G7 Drive Software Technical Manual Software Number: VSG13306X, Drive Models: CIMR-G7UXXXXX-117 Document Number: TM.G7SW.117, Date: 05/16/08, Rev: 08-05...

  • Page 2: Table Of Contents

    Function Descriptions ............14 Appendices ................35 This document is intended to provide proper installation and use of the Yaskawa drive with custom software. This document is a supplement to the standard drive technical manual. It describes the effects on the drive parameters and functions with the software installed.

  • Page 3: Overview

    The drive becomes a simple position regulator. The software does this by internally taking control of the drive’s frequency reference. All time-critical calculations are completed in a scan that is 2.5 ms or faster. This software gives the G7 simple position control capability. •...

  • Page 4: Changes From Standard Product

    Changes from Standard Product • Due to parameter limitations, the “User” access level and all of the associated “A2” parameters are deleted. • 3-Wire control is not allowed when the motion software is enabled. • Parameter b1-01 (Reference Source) is only effective when motion control is disabled (P1-01 = 0). When motion control is enabled, parameter b1-01 is ignored, and the frequency reference originates from the motion control routine.

  • Page 5: Related Parameters And Functions

    Related Parameters and Functions Function P1 – Motion Setup Function P2 – Homing Setup Function P3 – Advanced Motion Setup Function P4 – Preset Position Setup Parameters Parameter Control Mode Name Description Digital Operator Display 0: Disabled Motion Type 1: Linear Absolute P1-01 600h 2: Rotary Absolute...
  • Page 6 Parameters (Continued) Parameter Control Mode Name Description Digital Operator Display Controls when the “Move In Position Window Complete” digital output turns on. 0 ~ 65,535 P1-08 607h Also determines when another 200.0 In Posit. Window edge-triggered move will be accepted. Counts Per Unit This parameter is multiplied by the 1 ~ 65,535...
  • Page 7 Parameters (Continued) Parameter Control Mode Name Description Digital Operator Display Positioning Encoder Pulses Per Encoder pulses per revolution 60 ~ Revolution P3-02 615h when P3-01 = 1, encoder counts 10,000 1024 per revolution when P1-01 = 2. Second Encoder Positioning Encoder Machine mounted encoder ratio Numerator numerator.
  • Page 8 Parameters (Continued) Parameter Control Mode Name Description Digital Operator Display Position 10 Position Reference in units. 0.00 – P4-10 10Fh Position Ref. (counts) = P4-10 * 655.35 0.00 Position 10 P1-09. Units Position 11 Position Reference in units. 0.00 – P4-11 110h Position Ref.
  • Page 9 Modified Existing Parameters Control Mode Parameter Description Name C1-01 200h Accel Time 1 0.0 ~ Acceleration and Deceleration 6000.0 Times C1-08 207h Decel Time 8 Sec. C2-01 20bh S-Crv @ Acc Start 0.00 ~ S-Crv @ Acc End S-curve Times 2.50 0.00 C2-03...
  • Page 10 Monitors Parameter Control Mode Name Analog Description Monitor Units Digital Scaling Operator Display Distance from home (+ home offset) for Distance From absolute applications, or distance from Home (Fine) 0.01 Units U1-90 720h start of previous move for relative applications. Displayed with fine Dist From Home f resolution (0.01 units).
  • Page 11 Note: See Section 2 of the G7 technical manual for a complete description of how to interface with the digital input terminals. Be aware of different types of proximity switches (sinking or sourcing). Multifunction Digital Output Settings (H2-XX)
  • Page 12 (10) An OPE03 error can be caused by many other conditions as well. These conditions are listed in Section 7 of the G7 technical manual (TM.G7.01). Date: 05/16/08, Rev: 08-05 Page 12 of 38 TM.G7SW.117...
  • Page 13 Alarms Alarm Display Description Cause Countermeasures A move or learn command was given before the drive has been Run homing sequence Perform a homing routine. Run Homing Seq homed. This will only occur when P1-01 = 1 or 2. Drive can be moved out of positive POSOT The machine has moved past the Positive Over-travel...

  • Page 14: Function Descriptions

    Function Descriptions Types of Motion: LINEAR ABSOLUTE MOTION: Linear absolute motion is used in applications such as: ball screws, linear slides, and transfer stations. With this type of motion, a home switch and a homing sequence or an absolute encoder are required.
  • Page 15 RELATIVE MOTION: Relative motion is used in applications such as cut-to-length and metering pumps. This type of motion can be used with or without a homing sequence. When the motion type is “Relative Mem Off” (P1-01 = 3), the move distance is measured from the position at the time of the move command. When the motion type is “Relative Mem On”...
  • Page 16 Table 1: Profile Selection Information Distance Distance Distance Distance Parameter Accel / Maximum Position Reference Select Select Select Select P1-02 Decel Speed Source (11) (11) (11) (11) Setting Parameters Used Parameter P4-01 d1-09 Modbus Address 061Dh Modbus (12) 100 = 1.00 Units Addr.
  • Page 17 Encoders: SINGLE INCREMENTAL ENCODER: The encoder used for positioning is mounted to the motor and serves two purposes. One is to provide velocity feedback for the Flux Vector control method and the other is to provide position information to the motion control software. In order for this to work, there needs to be a “positive drive” setup, such as a direct-coupled gear box or a cogged timing belt between the motor and the load.
  • Page 18 DUAL INCREMENTAL ENCODERS: The encoder used for positioning is mounted elsewhere on the machine. Using this scheme, the need for a “positive drive” setup is somewhat reduced. A second motor-mounted encoder is required. The ratio between the motor and the machine-mounted encoder must be entered into parameters P3-03 and P3-04, and the PPR of the encoder must be entered into P3-02.
  • Page 19 ABSOLUTE (GRAY CODE): The encoder can be either machine-mounted or motor-mounted. The motion type has to be “Linear Absolute” with this style of encoder. If the absolute encoder is machine-mounted, the ratio between the motor and the encoder must be entered into parameters P3-03 and P3-04, and the encoder counts per revolution must be entered into P3-02.
  • Page 20 ABSOLUTE INCREMENTAL ENCODER: For use with a TR-electronic, series “CE-65” serial (ISI) encoder. Upon power-up, the drive must read the actual position of the absolute incremental encoder. This process usually is completed within a few seconds. As an option, the encoder can be monitored and configured directly using a PC, an RS-232 to RS-485 converter, and the TR Electronic EPROGW32 program.
  • Page 21 ABSOLUTE INCREMENTAL ENCODER W/SEPARATE INCREMENTAL ENCODER: For use with a TR- electronic, series “CE-65” serial (ISI) encoder. Upon power-up, the drive must read the actual position of the serial encoder. This process usually is completed within a few seconds. As an option, the encoder can be monitored and configured directly using a PC, an RS-232 to RS-485 converter, and the TR Electronic EPROGW32 program.
  • Page 22 Motion and Velocity Profile: COMMANDED POSITION: The commanded position is determined by the multifunction inputs and by the setting of parameter P1-02. MOVE VELOCITY: The speed of the move is determined by one of the “d1” parameters, as shown in Table 1. The drive will attempt to perform a trapezoidal move.
  • Page 23 Run Cmd Digital Move Cmd Inputs 60 Hz Selected Selected Selected Motor Accel Max. Decel Speed Rate Speed Rate 0 Hz During Move Digital Move Complete Outputs At Home Positioning In Position In Position Speed Window Window (Determined (P1-08) (P1-08) Automatically) Figure 9: Typical move profile from “home”...
  • Page 24 Homing: Homing is required in order to orient the drive to the mechanical system. A homing routine may or may not be required depending on the motion type and encoder type. If the selected motion type is absolute linear or absolute rotary (P1-01 = 1 or 2), and an absolute encoder is not present, homing will be required at power-up, when motion control is re-enabled after being disabled, when motion type is changed (P1-01), or when encoder type is changed (P3-01).
  • Page 25 HOME NEGATIVE WITH BACKUP: When the “Home Command” input is closed, the drive will accelerate using the C1-07 ramp in the negative (reverse) at the homing speed. When the home switch is activated, the drive will then proceed positive (forward) at the homing backup speed until the home switch is deactivated. The drive will then switch back into reverse and proceed at the homing final speed.
  • Page 26 HOME POSITIVE WITH BACKUP: Same sequence as “Home Negative with Backup,” but all directions are opposite. Run Cmd Digital Home Cmd Inputs Home Switch (-)d1-08 (+)P2-04 C1-01 Motor C1-02 (+)P2-02 (-)P2-03 C1-07 C1-08 Speed 0 Hz Homing Complete Digital Homing Needed Outputs At Home During Move...
  • Page 27 HOME POSITIVE WITH MARKER: Same sequence as “Home Negative with Marker,” but the drive proceeds in the positive (forward) direction at the homing speed. Run Cmd Digital Home Cmd Inputs Home Switch Marker Pulse Input from Encoder Move To Home C1-07 (+)P2-02 C1-08...
  • Page 28 MANUAL HOME: When this homing method is selected, whatever position the drive is in when a rising edge of the home switch is detected is considered home. A “move to home at end of homing routine” is not performed in this mode.
  • Page 29 ALREADY ON HOME SWITCH: If a homing sequence is initiated and the home switch is already activated, the drive will “back off” of the home switch and then proceed with the normal homing sequence. If the homing type is either “Home Positive with Backup” or “Home Negative with Backup,” an abbreviated homing routine is run instead. Run Cmd Digital Home Cmd...
  • Page 30 HOMING WHEN REVERSE OPERATION IS DISABLED: When reverse operation is prohibited (b1-04 = 1), homing can be affected. The only homing routines that could be effectively used in this condition will be “Home Forward” and ”Home Forward with Marker.” If any other homing type is selected when reverse is disabled, the homing routine will not complete.
  • Page 31 HOMING WHEN USING AN ABSOLUTE INCREMENTAL ENCODER: This software was designed around a “TR Electronic” brand encoder model #: CD65M-G/S-4096/4096-D23BB-R10NR/N7. Please consult Yaskawa if another brand / model number of encoder is used. When P3-01 = 3 or 4 (Absolute Incremental Encoder), and the drive is first powered up, it reads the actual position from the serial encoder as follows: 1.
  • Page 32 Learn Mode: DIGITAL PRESET POSITION LEARN MODE Note: If the home offset is utilized, it must to be set prior to using digital preset learn. First, perform a homing routine so the drive knows the actual position of the home switch. Then, select the preset position to be learned using the multifunction inputs (see Table 1).
  • Page 33 Pre-Action: This function allows a digital output to indicate when the machine is a given distance (set by P2-08) from its destination during a move. The “Pre-Action” digital output (H2-0X = 46) closes when distance from commanded destination is less than distance indicated in parameter P2-08 AND there is a move in progress. It will open when distance from commanded destination is less than in position window (P1-08) or the move is canceled.
  • Page 34 5.11 32-bit Distance from Home The distance from home (including home offset) can be monitored by reading Modbus addresses 0734h and 0735h and combining them into one number as shown in example 2. This number represents the number of encoder quadrature counts (encoder PPR * 4) from the home + home offset position, and is only valid after a homing routine has been completed.

  • Page 35: Appendices

    Appendices Appendix A: Absolute Encoder Considerations • Up to 18 bits of gray code information can be interfaced to the drive. • Available ONLY for “Linear Absolute” (P1-01 = 1) applications. • Cannot be used with any “option board required” communications, like Profibus, DeviceNet, Modbus Plus, or Ethernet, as these option boards utilize the 2CN port which is needed for the DI-16H2 board.
  • Page 36 Table A1: Absolute Encoder Wire Color Chart For Dynapar ai2512122B121 Signal Color Brown Green Yellow Grey Pink Violet Grey / Pink Red / Blue White / Green Brown / Green White / Yellow Yellow / Brown White / Grey Grey / Brown White / Pink Pink / Brown White / Blue...
  • Page 37 Date: 05/16/08, Rev: 08-05 Page 37 of 38 TM.G7SW.117...
  • Page 38 Appendix B: Serial Communications Considerations • Motion control software will function with all option card-based serial communications. • Motion control software will function with the internal Modbus serial communication. • Reference source (b1-01) should be set to desired reference when motion control is disabled. •...