Application Note # 5437
Contents
1. SZ WE MOVE THE WORLD Application Note 5437 Connecting Yaskawa Sigma II Series Digital Amplifier Introduction This application note describes the procedure for properly connecting and tuning a Yaskawa SDGH 01BE Sigma Il series digital amplifier using a DMC 1700 controller and an ICM 1900 interconnect module While this document is specific to the DMC 1700 it can be used as a reference for any OPTIMA series controller Components referred to in this document include Galil DMC 1700 controller Galil ICM 1900 interconnect module Galil WSDK servo tuning software Yaskawa Sigma ll series Drive Model SGDH 01BE Yaskawa Interconnect Module CN 1 Model JUSP TA50P Yaskawa AC Servo Motor Model SGMAH 01BAF41 Amplifier Hardware Connections Hardware Setup Set up Yaskawa Sigma ll digital drive and motor power supply per manufacturer s instructions Connect the DMC 1700 controller to the ICM 1900 with the CABLE 100 1m cable Connect Amplifier Enable Circuit Ensure the ICM 1900 is Low Amp Enable LAEN Remove the resistor pack located at RP1 on the ICM 1900 This turns the enable circuit into an open collector Wire a 24 volt power supply into the enable circuit as shown in Figure 1 1 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com CN 1 Breakout ICM 1900 ICM 2900 GND gt Remove Rpac gt W RPI U6 DO2. gt wo O T aE si e MOCMD To SDGH 01BE MAX MBX 10K GND Top Controller Sa 2 24V External Power Supply Figure 1 General Connection Diagram 2 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Connect Encoder and Fwd Rev inhibit Signals The encoder signals are connected to the ICM 1900 from the CN 1 Breakout module It might be necessary to reverse polarity on one channel of the encoder wires ie MAX connects to PAO and MAX connects to PAO or swap the motor type in the Galil software MT 1 in order to avoid a runaway condition The Yaskawa drive has the ability to check for limit switches but it is best to send those signals to the Galil controller Therefore short the Fwd and Rev inhibit signal inputs to ground Figure 1 describes the proper connections for an x axis system Connect Analog Motor Command Signal Connect the MOCMD x 10v analog motor command signal to the TREF pin on the CN 1 connector Refer to the Yaskawa User s manual for details on all the connections Software Settings and Operational Modes The Yaskawa drive can be set up in numerous modes Since the DMC 1700 generally outputs a 10 volt command signal the Yaskawa drive is best suited for analog torque or analog velocity mode Choose this mode by working through the opera
3. tor interface on the drive as per Yaskawa manual s instructions Remember to cycle power for any changes to take effect To tune the motor the Windows Servo Design Kit from Galil was used The General Test and Manual Tuning in the WSDK seemed to give the best results Contact an application engineer at Galil for assistance in tuning the Galil filters To tune the motor the General Tuning test was used Using the virtual oscilloscope further optimized the settings minimizing settling time and steady state motor flutter The following was a fairly typical set of values FA 5 FV 7 KD 8 KP 1 5 KI 12 These values were obtained on a motor with no load in a fairly noise free environment The amplifier was powered by standard US 110v ac power Results may vary drastically due to changes in voltage load temperature or internal amplifier gain settings 3 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com
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