YOKOGAWA DrvGIII Simplified Start-Up Manual
YOKOGAWA DrvGIII Simplified Start-Up Manual

YOKOGAWA DrvGIII Simplified Start-Up Manual

Positioning control intelligent drive
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Simplified Start-up Manual
for Positioning Control
Intelligent Drive <DrvGⅢ>
This manual has been created for users who launch
the direct drive actuator system after the
installation.
This manual has been created to launch Drv.GⅢ・
DYNASERV or LINEARSERV system.
Utilize this manual in conjunction with the
Technical Information of Drv.GⅢ・DYNASERV or
LINEARSERV system.
This manual is the auxiliary instruction in regard
to these Technical Information (hereinafter called
as "TI") and product handling.
Contents of this manual may be revised, without
notice, due to improvement of product performance
and functions. The actual screen indication may
differ slightly from the pictures in this manual.
Although all possible measures are taken to ensure
the quality of the contents of this manual, please
let us know if you would find any mistake or
suspicious point.
Copying, passing, selling or distribution, in part
or in whole, to any third party is strictly
prohibited.
TI 71M01D03-03
TI 71M01D03-03
1st Edition:2007.03.12.

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Summary of Contents for YOKOGAWA DrvGIII

  • Page 1 Simplified Start-up Manual for Positioning Control Intelligent Drive <DrvGⅢ> TI 71M01D03-03 This manual has been created for users who launch the direct drive actuator system after the installation. This manual has been created to launch Drv.GⅢ・ DYNASERV or LINEARSERV system. Utilize this manual in conjunction with the Technical Information of Drv.GⅢ・DYNASERV or LINEARSERV system.
  • Page 2: Table Of Contents

    目次-1 《目次》 《索引》 Table of Contents Introduction..............Device configuration when tuning..........Symbols in this manual ............Start up procedure ............STEP 0 Set up ..............0.1 Check COM port number ............. 0.2 Startup utility software ............0.3 Start communication ............0.4 Change parameters via terminal window .........
  • Page 3 目次-2 《目次》 《索引》 STEP6-1. Homing by table data operation ........6-1.1 Fix home sensor ..........6-1.2 Creation of homing table data ..........6-1.3 How to operate homing move ............6-3 6-1.4 If homing error occurs ......... STEP6-2 Command by table data ...........
  • Page 4: Introduction

    This manual is the simplified instruction to set the servo tuning and positioning control using “DrvX3 Support Tool”, the free software that can be down-loaded from Yokogawa Website. Follow the below instructions after installing the software into your PC. This manual describes the start-up process from the factory default settings.
  • Page 5: Start Up Procedure

    《目次》 《索引》 Start up procedure STEP 0: Setup Servo tuning STEP 1: Auto-tuning STEP 2: Servo stiffness adjustment 2.1: Filter setting STEP 3: Calculation of acc. Positioning setup and dec. time For positioning STEP 4: Scaling For positioning control by contact control by pulse trains STEP 5-1: Homing...
  • Page 6: Step 0 Setup

    《目次》 《索引》 See also “8.3.2 Communication Settings” in the TI STEP 0 Setup Proceed the setup according to [Setup Flow] in the right column. 0.1 Check COM port number Setup Flow Click [START] button. Start menu is displayed. Click [CONTROL PANEL]. Control panel is displayed.
  • Page 7: Startup Utility Software

    《目次》 《索引》 0.2 Startup utility software Setup Flow Double click DrvX3 Support Tool.lnk command icon. Utility software is up. 0.3 Start communication Select COM port number checked in the process ⑥, and check [Online]. [Connection] becomes valid after the drive trains are automatically indicated in ※...
  • Page 8: Change Parameters Via Terminal Window

    《目次》 《索引》 See also “8.4.2 Terminal” in the TI 0.4 Change parameters via terminal window Terminal window allows to change a variety of parameters and commands. Follow the below procedure if you see “change the parameter via terminal window” hereinafter. Operation Flow Click [Terminal] button.
  • Page 9: Epexegesis

    《目次》 《索引》 Epexegesis Entry method Ex1) How to resister (change) the value of parameter #○○○ to △△△... ## ○○○ = △△△ Registration is completed. However, parameter #110 to 122 require recycling main power or driver reset [@96] for the registration. Ex2) How to check the value of parameter #×××...
  • Page 10: If Error Led Is Lighted

    《目次》 《索引》 See also “8.5.5 Error Monitor” in the TI 0.5 If error LED is righted... Utility software is capable to display the error detail, estimated cause and counter measure. Please check the details if an error occurs. If you can not how to measure or the error can not be removed, please call your nearest contact with the error number.
  • Page 11: Step1 Auto-Tuning

    《目次》 《索引》 See also “6.4.3 Auto-tuning Operation” in the TI STEP1 Auto-tuning Note: Execute this function at the initial startup or when load changes. By execution of auto-tuning function, motor oscillates several times, and measure the load inertia (for rotation motor) or mass (for linear motor). Control related parameters are automatically tuned.
  • Page 12: Check Of Auto-Tuning

    《目次》 《索引》 1.2 Check of auto-tuning If auto-tuning is successfully completed, values of #000 for load inertia/mass and #001 for servo stiffness setup should automatically be stored. Auto-tuning is complete if these values are reasonable. Please proceed to STEP 2. Load inertia/mass value is possible to result in differences about 20% from calculated values, however, it's been no problem at all.
  • Page 13: How To Resolve Oscillation

    《目次》 《索引》 1.3 How to resolve oscillation Please execute auto-tuning again after the following measure if there is unusual audible noise from the motor. 1.4 Lower servo stiffness Operation Flow Servo tuning window Set [Servo stiffness setup] to [-1] by scrolling cursor #002 for velocity control bandwidth, #008 for position...
  • Page 14: Expand Moving Angle Of Auto-Tuning

    《目次》 《索引》 1.6 Expand moving angle of auto-tuning and acceleration/deceleration time Double the moving angle of auto-tuning and maximize the acceleration / deceleration time. Use terminal window according to the following instruction. Motor oscillates widely when executing auto-tuning. Please be careful. Refer [0.4 Change parameters via terminal window] also.
  • Page 15: Auto-Tuning Can Not Be Completed

    《目次》 《索引》 1.7 Auto-tuning can not be completed If aforementioned measures do not result successful auto-tuning, or if auto- tuning is not possible due to restrict of moving angle, please enter load inertia/mass value directly according to the following steps. The unit is 1/1000[kgm^2 or kg].
  • Page 16: Step2 Servo Stiffness Setup

    《目次》 《索引》 See also “7.1 How to Tune the Servo” in the TI STEP2 Servo stiffness setup Higher servo stiffness is highly responsive, and results shorter settling time. However, it also makes the motor easily making resonance. Resonance generates audible noise from the motor and vibration at high frequency, then, it makes difficult to perform normal operation.
  • Page 17: Filter Setup

    《目次》 《索引》 See also “7.2 Resonance Prevention” in the TI 2.2 Filter setup Filters are used when a resonance occurs, and it makes the peak value of resonance lower. In many cases, filtering contributes to improve the servo stiffness. On the other hand, it shifts the phase, and depending on the circumstance, control system may become unstable.
  • Page 18: Step3 Calculation Of Acceleration And Deceleration Time

    《目次》 《索引》 See also “6.1.9 Velocity Profile” in the TI STEP 3 Calculation of acceleration and deceleration time In order to create move profile: ○ Acceleration and deceleration time ○ Feeding velocity (Positioning velocity) are required. Here, you will see how to calculate the acceleration and deceleration time. 3.1 Formula for computation of acceleration and deceleration time Max speed Rated speed...
  • Page 19: Step4. Scaling

    《目次》 《索引》 See also “6.1.7 Coordinate Systems” in the TI STEP 4. Scaling Very important item! Set appropriate scaling for optimized operation commands. What’s “scaling”: This is the function to set the amount of command pulses from PLC for 1 turn (DYNASERV) or 1m (LINEARSERV)to a any value.
  • Page 20: How To Setup Scaling

    《目次》 《索引》 4.2 How to setup scaling Set the scaling data fixed in the previous page. Proceed the setup with referring to [0.4 Change parameters via terminal window]. Example Edit box Remark ##112=360000 Axis command unit is set for 360000. Drive software is reset.
  • Page 21: Step5-1. Return To Homing Position Commanded By Plc

    《目次》 《索引》 See also “6.11 Homing Using the PLC” in the TI STEP 5-1. Return to home position commanded by PLC In STEP 5-1, it is guided how to return to home position using Z-pulse output from <CN4> controller interface. In this case, it is NOT necessary to connect proximity sensor to drive.
  • Page 22: 5-1.3 Choose Detection Edge For Z-Pulse

    《目次》 《索引》 5-1.3 Choose detection edge for Z-pulse There are “accurate edge” and “inaccurate edge” for Z-pulse. Please make sure to choose the accurate edge when setting PLC. Z-pulse is output as shown below. Set the accurate edge as home position. The accurate edge depends on rotating or moving direction.
  • Page 23: Step5-2. Moving Command By Pulse Trains

    《目次》 《索引》 See also “6.5.1 Position Control Mode” in the TI STEP 5-2. Moving command by pulse trains STEP 5-2 explains how to issue moving command by pulse from PLC. 5-2.1 WIring Wire CN4 with referring to the following “example”. ex)...
  • Page 24: 5-2.2 Select Command Pulse Type

    《目次》 《索引》 5-2.2 Select command pulse type Command pulse type is the kind of pulse command issued by PLC. Please choose it from the following 3 options. Drive ・PLS,SIGN input ・UP,DOWN (CW,CCW)input ・A,B input Refer to the following table for the spec. of each type. Setup method is described in [5-2.4 Setup of selected pulse type].
  • Page 25: 5-2.4 Setup Of Selected Pulse Type

    《目次》 《索引》 5-2.4 Setup of selected pulse type Operation Flow [Click [#Parameter] #Parameter setup window is displayed. Click [Resister parameter] Check [System setup resister 1] System setup register 1 window is displayed. Select [Command pulse type] Command pulse type is set. Select [Monitor pulse type] Monitor pulse type is set.
  • Page 26: 6-1.1 Fix Home Sensor

    《目次》 《索引》 See also “6.4.5 Homing” in the TI STEP 6-1. Homing by data table operation Data table operation is the function to execute moving operation by table assigned for the move profile, such as homing and positioning operations. This function is accessible from both of serial interface and controller interface.
  • Page 27: 6-1.2 Creation Of Homing Table Data

    《目次》 《索引》 6-1.2 Creation of homing table data Operation Flow Create table data to execute homing operation. Table # 000 is used in this example. Click [Table data]. [Table setup window] is displayed. Table setup window Double-click # 000. #Parameter setup window is displayed.
  • Page 28: 6-1.3 How To Operate Homing Move

    《目次》 《索引》 6-1.3 How to Operate homing move Operation Flow Click [Drive]. Drive window is displayed. Click [Table operation]. Select [No. 000] from [Table No.] Homing operation is selected. Click [Drive]. Start homing move. Homing is complete when motor stops. Be careful! Motor moves.
  • Page 29: Step6-2 Command By Table Data

    《目次》 《索引》 See also “6.4.1 Table Data Operation” and STEP 6-2 Command by table data ”8.6.2 Table Data Function” in the TI STEP 6-2 guides how to command the basic table data and how to create the table data. 6-2.1 Select type of positioning command 2 types of positioning command, incremental [INC] and absolute [ABS] are available to choose.
  • Page 30: 6-2.3 Use Copy And Paste Function

    《目次》 《索引》 Operation Flow Creation of moving profile Enter [Feeding velocity]. Enter axis command pulse for 1[s]. Refer to ex1. Enter [Relative position]. Refer to ex2. Select [Valid] for [Coin waiting]. Coin waiting becomes valid. <DYNASERV> Select [Type2[multi Enter 720000 for rotation at 2 rps. turn]] <LINEARSERV>...
  • Page 31: 6-2.4 Test Operation Of Table Data Using Software

    《目次》 《索引》 6-2.4 Test operation of table data using software Operation Flow Click [Drive]. Operation window is displayed. Click [Table operation]. Select table number to be operated. Click [Drive]. Selected operation starts. 6-2.5 Execute table data operation by PLC Carry out wiring with reference to the following example. This example is capable to activate table data 0 to 3.
  • Page 32: 6-2.6 Physical I/O Configuration And Logic Set Function

    《目次》 《索引》 See also “8.6.3 I/O” in the TI 6-2.6 Physical I/O configuration and logic set function Operation Flow Here, you will see how to configure and set logic for the physically equipped I/O (physical I/O). Click [I/O]. I/O setting window is displayed.
  • Page 33: Step7 Check Of Motion

    《目次》 《索引》 See also “8.5.1 Oscilloscope” in the TI STEP 7 Check of motion If it is confirmed by visual check that the motor looks moving properly, let’s check more detail of motion by using oscilloscope function built-in the software. 7.1 Check moving time Operation Flow Click [Oscilloscope].
  • Page 34: Adjust Wave From Scale Automatically

    《目次》 《索引》 7.2 Adjust wave form scale automatically Operation Flow Impossible to measure since wave forms run out of window. Click [CALIBRATION]. Scale of waveforms is calibrated automatically and all the wave forms overlap each other. Adjust positions by [Position]. Wave forms become easy to look.
  • Page 35: Reference

    《目次》 《索引》 Reference What is good proportion of the wave form? Refer to the following example. (this is an example, and it may differ depending on the motion pattern.) Torque saturated! (flat form) GOOD No position pulse deviation (well following) Overshoot! How to improve...
  • Page 36: User Data Backup

    《目次》 《索引》 See also “8.7.4 Backup” in the TI 7.4 User data backup ドライバ内に登録してあるデータをアップロードし、バックアップして頂くことをお勧 めします。 Take following steps to copy one data to another drivers. また、同構造の装置の 場合、1台ずつ調整するのは非常に手間が掛かったり、上位コントローラから同じ指令 を与えたとき、パラメータが異なることで動作に機差が生じる場合があるため、下記の 要領で調整したバックアップデータをダウンロードすることをお勧めします。 7.5 Upload parameters Operation Flow Click [Backup]. Backup window is displayed. Click [Upload].
  • Page 37 付-1 《目次》 《索引》 Appendix1 Glossary Controller interface (CN4) Interface receiving moving command from PLC Serial interface (CN1) Interface receiving moving command from software through RS232C Vibration Motor may vibrated due to machine construction and tuning conditions. Such vibrations are categorized as below. Appearance Cause Occur when position control bandwidth and velocity control...
  • Page 38 付-2 《目次》 《索引》 Load inertia Moment inertia of load mounted to rotation motor (DYNASERV) [kg・m Shapes and formulas are as below. Axis go through center of gravity Axis does not go through center of gravity Column Rectangle Column Rectangle Reboot Power recycle, or restart drive by software reset command TI 71M01D03-03 1st Edition : 2007.03.12-00...
  • Page 39 付-3 《目次》 《索引》 Appendix 2 Q&A Q1. How to check control mode? A1. Check the control mode according to the following procedure. See also “6.5 Control Using the PLC” in the TI Operation Flow Click [#Parameter]. #Parameter setting window is displayed.
  • Page 40 《目次》 《索引》 著作者 YOKOGAWA ELECTRIC CORPORATION Advanced Stage Division DDM Center 発行者 YOKOGAWA ELECTRIC CORPORATION 2 - 9 - 3 2 , N a k a - c h o , M u s a s h i n o - s h i...

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