YASKAWA G7 Technical Manual
Electronic lineshaft with alignment drive software
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- Instruction manual (499 pages) ,
- Modbus communication manual (92 pages) ,
- Technical manual (38 pages)
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- Page 1 Electronic Lineshaft with Alignment G7 Drive Software Technical Manual Software Number: VSG13311X, Drive Models: CIMR-G7UXXXXXX-064, CIMR-G7UXXXXXX-065 Document Number: TM.G7SW.064, Date: 03/31/09, Rev: 09-03...
- Page 2 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. Read and understand this document and the standard drive technical manuals before attempting to install, adjust, operate, inspect, or maintain the drive.
- Page 3 Master Encoder Gear Position Error Pulse Count Calculation Accumulator Controller Follower Encoder Pulse Count Figure 1: Simplified Block Diagram of the Electronic Lineshaft Function G7 w/ ELS PG-W2 Ch 1 A, B A, B, Z Ch 2 Follower Encoder Feedback Motor...
- Page 4 Input Channel PG-X2 Pulse Monitor Output Master Drive Channel 1 Input Channel 2 Input PG-W2 Pulse Monitor Output Follower Drive 1 Channel 1 Input PG-W2 Channel 2 Input Follower Drive n Figure 3: Typical Connection Diagram for Basic Electronic Lineshaft Date: 03/31/09, Rev: 09-03 Page 4 of 30 TM.G7SW.064...
- Page 5 2.0 Changes from Standard Product a. The Motor 2 Selection (H1-0X = 16) multi-function digital input function is deleted (only Motor 1 can be used). b. The kWh monitors (U1-29 and U1-30) are deleted. c. Parameter E2-04 (Motor Poles) is available in all control modes (Advanced access level only for V/f and Open Loop Vector).
- Page 6 4.0 Related Parameters and Functions 4.1 Parameters Control Mode *1 Parameter Name Description Digital Operator Display Selects the follower mode. 0: Disabled Follower mode is disabled and the follower drive runs from the normal frequency reference (B1-01). 1: Speed – Both Dir The follower drive follows the master encoder speed in both directions.
- Page 7 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Master Encoder Sets the pulses per revolution 20 ~ P1-02 601H (PPR) of the master encoder 60,000 1024 (PG). Pulses Master PG PPR Ratio Numerator Sets the upper 4 digits of the (Upper 4 Digits) P1-03 602H...
- Page 8 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Selects the units used for the follower drive Position Error Monitor (U1-96). 0: Encoder Counts Position error is displayed in quadrature follower encoder counts (cts). 1: Motor Revs Position Units Position error is displayed in Selection...
- Page 9 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Selects the advance/retard functionality of the follower drive. 0: Continuous The follower will advance or retard continuously while the Advance Follower or Retard Follower multi- Advance/Retard function input is closed. P2- Mode Selection 05 sets amount of 0 ~ 1...
- Page 10 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Selects the follower drive action when the position error exceeds the P2-06 setting. 0: No Detection Follower The drive continues to run. Deviation 1: Alarm P2-07 610H Selection The drive continues to run 0 ~ 2 –...
- Page 11 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Position Sets the filter time of the Regulator Filter position regulator output. This 0.00 ~ P3-03 616H Time is a first order lag filter. 1.50 0.00 – – –...
- Page 12 4.1 Parameters (continued) Control Mode *1 Parameter Name Description Digital Operator Display Sets the initial value that will be loaded into the Displacement Reference Register. This is set in quadrature follower encoder counts. The value of this Initial Alignment parameter will be loaded into Displacement the register on drive power up P4-01...
- Page 13 4.2 Monitors (U1-XX) Scaling for Multi- Control Mode *1 function Monitor Name Analog Description Output Digital Operator Terminals Display FM and AM (H4-01, H4- Displays the frequency of the master alignment input pulse. Master Marker Note: This monitor Frequency U1-56 079H –...
- Page 14 Scaling for Multi- Control Mode *1 function Monitor Name Analog Output Description Digital Operator Terminals Display FM and AM (H4-01, H4- Displays the frequency 100% = Master Encoder of the master encoder Maximum Reference U1-90 720H before gear ratios and Output MOP gains are applied.
- Page 15 4.2 Monitors (U1-XX) (continued) Scaling for Multi- Control Mode *1 function Monitor Name Analog Description Output Digital Operator Terminals Display FM and AM (H4-01, H4- Displays the position error between the 100% = Position Error master and follower Maximum U1-96 726H encoders in quadrature Output...
- Page 16 4.3 Multi-function Digital Input Settings (H1-XX) Control Mode *1 Name Setting Description Follower Disable Closed: Follower mode (P1-01) is disabled and the follower drive will follow √ √ √ √ the normal frequency reference (based on B1-01 setting) and use the selected Accel/Decel times.
- Page 17 4.3 Multi-function Digital Input Settings (H1-XX) (continued) Control Mode *1 Name Setting Description MOP Adjust Increase √ √ √ √ Closed: The MOP ratio adjustment is increased. See P2-02 and P2-09. MOP Adjust Decrease √ √ √ √ Closed: The MOP ratio adjustment is decreased. See P2-02 and P2-09. MOP Adjust Reset √...
- Page 18 4.4 Multi-function Digital Output Settings (H2-0X) Control Mode *1 Name Setting Description Follower Position Deviation Closed: The position regulator error has exceeded the Follower Deviation Level (P2-06). √ √ √ √ Note: ELS modes only. In Alignment Closed: The displacement (Alignment) error and the position regulator error are within the Alignment Tolerance (P4-02).
- Page 19 4.6 Network Communication Functions Modbus Name Scaling Address Description Network Communication Gear Ratio Adjustment Allows gear ratio adjustment via network communication. The total gear ratio adjustment is the sum of the analog, digital, MOP and network 61CH communication ratio adjustments. Data is interpreted as signed, so the 1 = 0.01% adjustment can be set from –327.68% ~ 327.67%.
- Page 20 4.7 Faults (continued) Fault Display Description Causes Countermeasures Mechanical binding of Confirm the machinery the follower motor. is operating correctly The Follower Deviation and the follower motor Level (P2-06) is too low. is not binding. The master encoder is The position error has Increase P2-06.
- Page 21 5.0 Function Description 5.1 Basic Electronic Lineshaft When the Follower Mode Selection P1-01 = 1 ~ 3 (speed follower mode), the follower drive will follow the speed of the master encoder signal. Using the gear ratio parameters P1-03 ~ P1-06, the follower drive can be made to run at a ratio of the master speed.
- Page 22 Notes: • In speed follower mode (P1-01 = 1, 2, 3), the follower motor direction is determined based on the run command direction, the master encoder direction, and the exact P1-01 setting. • In standard ELS mode (P1-01 = 4), the follower motor direction is always the same as the master encoder direction.
- Page 23 For the ELS - Sign Run mode (P1-01 = 5), the functionality of the Communication Advance/Retard Counts Register is adjusted in the same way. With a forward run command, a positive value in the register will move the follower drive in the absolute positive direction and a negative value will move the follower drive in the absolute negative direction, while with a reverse run command these directions are switched.
- Page 24 5.3 Alignment The Alignment function builds off of the existing Electronic Line Shaft functionality, and is identical to ELS except where noted below. In order to use Alignment, the following conditions must be met: the Follower Disable digital input must be open (H1-XX = 80), the Align by Pulse input must be closed (H1-XX = 89), the drive must also be in closed loop vector control (A1-02 = 3), and either ELS mode (P1-01 = 4, 5) must be selected.
- Page 25 14 and 15 of the PG-W2. Wire the follower alignment input into terminals 7 and 8 of the PG- W2. For other dual input encoder cards, consult their installation guide for exact terminals. Figure 5 below details the wiring of the PG-W2 option card. Follower Encoder Motor G7 Drive with ELS 12VDC Supply Common External Follower...
- Page 26 For best noise immunity, locate the resistor network at the switch, not at the encoder feedback card. Please note that the switch must be able to handle at least 22mA of current draw. For exact application wiring, consult Yaskawa Application Engineering with the exact sensor specifications. Power Supply...
- Page 27 6.0 Block Diagrams Master Encoder Follower Reference Follower Reference After Frequency Reference After Gear Ratio Gear Ratio Adjustment (U1-90) (U1-91) (U1-93) Follower Mode Selection (P1-01) Master Master Encoder Speed 1,2,3 Encoder Gear Frequency Gear Ratio Master Encoder PPR (P1-02) Speed Ratio Reference Adjustment...
- Page 28 6.0 Block Diagrams (continued) Gear Ratio Analog Ratio Digital Ratio Adjustment Adjustment Adjustment (U1-92) H3-05/09 = 20 (P2-01) Follower MOP Increase (H1-XX = 84) Gear Ratio Reference After Adjustment MOP Decrease (H1-XX = 85) Gear Ratio Adjustment Ramp Time Adjustment (P2-03) MOP Reset (H1-XX = 86) (U1-93)
- Page 29 6.0 Block Diagrams (continued) Position Error Displacement Displacement Displacement Error Encoder Error Error Counts Alignment Tolerance (P4-02) Alignment Tolerance (P4-02) Master Marker Pulse Follower Marker Pulse In Alignment Output Figure 9: In Alignment Digital Output Diagram Date: 03/31/09, Rev: 09-03 Page 29 of 30 TM.G7SW.064...
- Page 30 6.0 Block Diagrams (continued) Position Error Displacement Displacement Displacement Error Encoder Error Error Counts Alignment Tolerance (P4-02) Alignment Tolerance (P4-02) Master Marker Pulse Follower Marker Pulse Two consecutive Master In Alignment Output Marker Pulses occur with out any Follower Marker Master Pulses Equaling 1.5 Revolutions Pulses occuring Figure 9: In Alignment Function When the Master or Follower Marker Pulse is Lost...