^1 USER MANUAL ^2 Accessory 85M
Contents
1. ori FUNCTION UNITS COMMENTS 00h Motor FB Speed OS 1000000h 01h Reference Speed Command OS 1000000h max torque 02h Reference Torque Command 1000000h 03h Position Error last 32 bits Reference Unit Unused mode for Position control 04h Position Error first 32 bits Reference Unit Unused mode for Position control OAh PG Count data last 32 bits Reference Unit Motor PG Position OBh PG Count data first 32 bits Reference Unit Motor PG Position OCh FPG Count data last 32 bits Reference Unit Fully Closed PG Position ODh FPG Count data first 32 bits Reference Unit Fully Closed PG Position OEh FB Position last 32 bits Reference Unit OFh FB Position first 32 bits Reference Unit 30h C Phase latch position last 32 bits Reference Unit 31h C Phase latch position first 32 bits Reference Unit 32h EXT 1 Latch position last 32 bits Reference Unit 33h EXT Latch position first 32 bits Reference Unit 34h EXT2 Latch position last 32 bits Reference Unit 35h EXT2 Latch position first 32 bits Reference Unit 36h EXT3 Latch position last 32 bits Reference Unit 37h EXT3 Latch position first 32 bits Reference Unit 38h Virtual position error Reference Unit 39h 3Ah Input Signal State BitNo Name SIO 7 DO SIO SIO Port input Open H 1 D oS Fata Chose 0 D3 SB SB Port input D4 Su SI4 Port input STOP 1 4 D5 SI5 SI5 Port input E2. M 4 MACRO Ring Order Method eese eese eene ene ennneen hne nene tenes inneren tenen hene en nne enenr inneren nnns 5 Rotary Switch Address Setting eese esee esee eene enne en nne en nenen tenentes then enneree neret trente ener 7 Turbo PMAC Ultralite UMAC PMAC Motor Setup esses eene nennen nennen nnne en nennen nnne 8 SECONDARY ENCODER e seessoessoessoessoessoessoeeoseeoeeeoeseoeseoesooesooesooessoesosesosesosesosesosesosesoessoessoessoessoessoesseesseessees 11 Secondary Encoder Setup on ACC 85M sssssssssssesssseeeeeeeeeenee een eeeeen en eren hnetre enhn seen nnne enne e een nnnn een 11 DIGITAL VO ORRRIRRRRRRIRERIREERIEREIEEEE soosi doa o0saesa soss so susavo ossos iness bess soosi sinos skos a aoo sbs isossbe sio 13 PLAS AM IC SM 13 General iiie Oii M 15 High Speed TTE Output ioc pepe ee ote piste ben Pre peo ipie Es does pene sende to spus ied uno fe oe Da ence e Ro ie kOU aa Due pue uds 15 DISPLAY Co 18 Link Status LED 3 0 Ip eed estendere beoe edo Pee eR edo ee eee eate volor gebe tede ode ea eode de d 18 MODULE STATUS LED n eee predetto Here Doho Pe ipe PUE Oe Peiper De Rose ge Ege SEA ec Ee Ode EE RH S 18 ACC 85M Faults Displayed on Yaskawa SERVOPACK eese nne enne enne nennen 18 SPECIAL MI VARIABLES FOR MACRO INT
3. SERVO frequency must be set to operate at IKHz 2KHz 4KHz 8KHz or 16KHz for proper synchronization of cyclical data between the amplifier and the UMAC motion controller Other combinations are possible Refer to the Ixxxx and Mixxx parameters in their respective manuals for alternate values Accessory 65M MACRO Ring Order Method In PMAC Executive PRO2 version 4 2 12 0 or newer MACRO Ring ASCII setup accessible through Configure Menu can be utilized to setup the ACC 85M over the MACRO ring MACRO RING ASCII Device 1 UMAC TURBO V1 947 x Setup Ring Conte Reinit MACRO Aina Detect MACRO Pra Ring Check Stations Detected Ring Controller Zu Setup Ring Controller MACRO Mode 16800 Max Phase Freq aes 16801 Phase Divider 0 16802 Servo Divider 1 16807 Phase Servo Clk Source n Flag xfr Ena Addressing 170 1 16840 4070 Im n 16841 0FCOD1 Global 178 32 Save Changes 179 32 i80 159 181 6 Stop MACRO ASCII 182 a7 T v Backup Ring Restore Ring Figure 4 MACRO RING ASCII Window Controller Setup In this setup assistant page follow these steps for detailed explanation on all the parameters refer to Turbo PMAC Software Reference Manual Start MACRO ASCII 1 Set proper values to 16800 16801 16802 based upon the table in previous page to get proper clock settings on the Ultralite UMAC Set 16840 to 4070 to set the
4. Negative over travel flag input Normally closed Home flag input Note that these inputs can be used as general purpose inputs if required by user 8 24VDC support Both sinking and sourcing inputs are possible dependent of user wiring 1 opto coupled open collector output 8 24VDC support 200 mA max current Both sinking and sourcing output is possible dependent of user wiring 1 high speed TTL sinking output not opto coupled EQU 300 mA max current Flag inputs 3 opto coupled inputs can be either used as general purpose input in which case their status is available on bits 8 9 and 10 of MI938 or they can be used as over travel and home flags by setting bits 3 and 4 of MI23 to 1 which reports in input states as over travel and capture bits in register 3 of MACRO servo node Table 9 ACC 85M Inputs and addressing Input Pin GPIO Use Flags Use J2 4 MI938 bit8 Home Flag MI23 bit 4 set to 1 J2 14 MI938 bit 9 Positive Over travel Flag MI23 bit 3 set to 1 J2 9 MI938 bit 10 Negative Over travel Flag MI23 bit 3 set to 1 Important Note on Using the Flags Over travel limits on J2 can be utilized by setting bit 3 of MI23 to 1 and enabling the over travel limits in Ixx24 in PMAC set bit 17 of Ixx24 to 0 However use of home flag requires extra attention If the cyclic primary feedback Yaskawa motor feedback is being used for both position and velocity feedback of the motor
5. MI60 D4 SvOnComp Servo on completed D5 SensOnComp Sensor on completed D6 PolDetComp Magnetic pole detection completed D7 BrkReleased Break is released D8 MainPowerOn Main circuit power on D9 SvReady Servo ready D10 D15 Not defined MI61 SelMonl Select Monitor 1 MI62 SelMon2 Select Monitor 2 MI63 SelMon3 Select Monitor 3 MI64 SelMon4 Select Monitor 4 MI65 SelMon5 Select Monitor 5 MI66 SelMon6 Select Monitor 6 MI67 SelMon7 Select Monitor 7 MI68 SelMon8 Select Monitor 8 Latch Status 8 LSBs DO CPhsRqLvl C phase latch request level D1 ExtSigIRqLvl Ext1 Latch request level D2 ExtSig2RqLvl Ext2 Latch request level MI69 D3 ExtSig2RqLvl Ext3 Latch request level D4 CphsComp C phase latch completed D5 ExtSiglComp Ext1 latch completed D6 ExtSig2Comp Ext2 latch completed D7 ExtSig3Comp Ext3 latch completed ME Input Signals 8 MSBs MACRO node flag bit 8 DEC Input DEC signal status D16 Eg P P OT Input P OT signal status D17 S A y N_OT Input N OT signal status D18 E z z EXT1 Input EXTI signal status D19 a 2 EXT2 Input EXT2 signal status D20 3 8 EXT3 Input EXT3 signal status D21 Z HBB Input HBB signal status D22 not defined D23 21 Accessory 65M MONITOR PARAMETER TABLE The following tables list the parameters which may be assigned to the MI41 MIAS variables Table 14 High Speed Parameter Table Cyclical Values
6. but user wants to use a home or over travel flag for establishing a position reference then following setting has to be implemented 13 Accessory 65M Homing based upon the index pulse of Yaskawa motor Hardware Capture MSn MI23 S0 n Servo Node Number Bit 5 0 Get Home Capture Position from Primary Source Ixx97 0 xx PMAC motor number Hardware position capture is possible Homing based upon the Home Flag wired to J2 Software Capture MSn MI23 20 n Servo Node Number Bit 5 1 Get Home Capture Position from Secondary Source Ixx97 1 xx PMAC motor number Software position capture required since the captured position in MI921 is from secondary feedback source MSn MI912 2 a setting of 2 or 10 defines trigger level of capture flag Low to high or high to low MSn MI913 0 Select home flag as capture flag Homing based upon the Home Flag wired to J2 Software Capture MSn MI23 20 n Servo Node Number Bit 5 1 Get Home Capture Position from Secondary Source Ixx97 1 xx PMAC motor number Software position capture required since the captured position in MI921 is from secondary feedback source MSn MI912 2 a setting of 2 or 10 defines trigger level of capture flag Low to high or high to low MSn MI913 1 Setting of 1 or 2 for Selecting Pos Neg flag as capture flag Ixx24 860001 Setting bit 17 of Ix24 disables the over travel limit
7. the other compare value depending on the direction of travel In second method the value for edges A MI925 and B MI926 and auto increment MI927 are setup on one side of present actual position and initial states of EQU is set by writing to MI929 and toggling MI928 Position Compare Auto increment MI927 la 12 bits of subcount resolution Phase Capture Position M1931 8 bits of subcount resolution Position Compare Value A MI925 12 bits of subcount resolution Position Compare Value B MI926 12 bits of subcount resolution Figure 12 EQU Method 2 Pulse Generation with Distant Starting Position In this method toggling the MI928 flags the circuit not to auto increment for first edge detection allowing the actual position to be bracketed between the edges A and B and from that point acts as method 1 whenever the actual position reaches one of the edges it adds subtracts auto increment value to from other compare value 16 Accessory 65M NOTE Position compare values A MI925 and B MI926 and position compare auto increment MI927 value have 12 bits of 1 T sub count resolution in contrast to phase captured position register MI931 which has 8 bits of 1 T sub count resolution Since usually the values of position compare A and B are setup based upon the present actual position it is important to remember the scale factor of 16 between the data source MI931 and target
8. 0 16950 16801 1685 1 16901 16951 16802 16852 16902 16952 and 110 accordingly Note if there are more than 1 master IC corresponding clock setting I variables has to be modified to reflect the same clock settings on all master ICs Setup 16840 to 4030 to make the first IC the synchronizing ring controller 16890 16940 16990 if available should be set to 10 90 if the ICs are not on sharing phase and servo clocks through hardware such as bus or backplane Setup 16841 16891 16941 16991 to enable the nodes desired The nodes enabled should match the node settings on ACC 85M s based upon their rotary switch settings Set I70 T72 174 176 and I71 173 I75 I79 according to 16841 16891 16941 1699 settings These will enable Node Auxiliary Registers and sets the Node Protocol Type Control Set I78 and I79 to 32 Set I80 I81 and I82 depending on the clock settings and related calculations explained in detail in Turbo Software Reference manual This step is optional if user wants to enable automatic ring error check Save the settings on Ultralite UM AC by issuing a SAVE command and reset the controller by issuing a command Up to this point the controller is setup and ready to communicate on the MACRO ring The rest of the setup is for each station and has to be repeated for each station During setup it would be a good idea to have the Global Status window accessible through View menu open to keep an eye on MACRO errors MACRO e
9. 170 MIS95 4080 171 t M1996 F5FE20 Last Set of Commands Global E 178 l 2 Save Changes 179 MI8 000028 Start MACRO ASCII S sooo Stop MACRO ASCII MI10 000024 Figure 5 MACRO RING ASCII Window Station Setup Setup MI992 and MI998 based upon table 3 Setup MI995 to default value of 4080 Setup MI996 based upon table 2 First Nibble Represents the Master Number Set proper values for MI8 MI9 and MI10 refer to MACRO manual for detailed information Click Save Changes button and request that changes only be saved on selected station Repeat steps 12 to 17 for all stations Power Cycle the station so ACC 85M and SERVOPACK synchronize If you get an A E00 error on the drive display check the MI20 and MI21 settings on ACC 85M MI20 and MIZ21 should be set less than or equal to MI998 setting Once updated save and reset the station Once all the stations are setup user should continue with Turbo PMAC Ultralite UMAC Motor Setup Section Accessory 65M Rotary Switch Address Setting In this method the node number must be established in the ACC 85M by setting the addressing switches Refer to Hardware Setup section for configuration detailed on switch settings and their corresponding nodes Connect the MACRO ring between the Ultralite UMAC and all stations and follow these steps to setup the MACRO ring 1 Select the Phase and Servo clock based upon table 3 and setup 16800 16850 1690
10. 24 for SERVOPACK with ACC 85M requires the following bits to be set appropriately Bit 0 flag registers are in PMAC2 style Servo IC format This bit has to be set high Bit 17 Overtravel limit Use If the overtravel limits are wired to SERVOPACK drive and they are enabled through SERVOPACK parameters Pn50A 3 and Pn50B 0 both SERVOPACK and Turbo PMAC Ultralite UMAC will take action upon overtravel condition which causes a conflict in control If use of overtravel limits are required a set of overtravel inputs are provided on J2 connector of ACC 85M and by setting bits 2 and 3 of MI23 ACC 85M will transfer these inputs as positive and negative overtravel limits over MACRO ring If overtravel limits are to be disabled set this bit high Bits 18 and 19 Since all amplifier enable amplifier fault and capture flags are transferred over MACRO ring bit 18 is 1 and bit 19 is 0 Bit 23 Since Yaskawa Sigma V SERVOPACK has a high true fault it reports a 1 when indicating a fault condition this bit should be set to 1 For example if overtravel limits are not being used Ixx24 860001 and if overtravel limits are wired to J2 on ACC 85M MI23 C and Ixx24 840001 Power On Servo Position Setup Ixx10 1xx95 If Yaskawa Sigma V motor connected to SERVOPACK has absolute encoder the absolute position can be read through ACC 85M by setting proper values to motor xx power on servo position address Ixx10 and motor xx power on servo position format Ixx
11. 428 MACRO IC 3 Node6 Reg 0 6FB428 MACRO IC 1 Node7 Reg 0 6F942C MACRO IC 3 Node7 Reg 0 6FB42C MACRO IC 1 Node 10 Reg 0 6F9430 MACRO IC 3 Node 10 Reg 0 6FB430 MACRO IC 1 Node 11 Reg 0 6F9434 MACRO IC 3 Node 11 Reg 0 6FB434 Note that the bit 19 mode switch has been set to 1 so that the data out of the MACRO node is not shifted This changes the second hex digit from 7 to F Secondary feedback on register 0 of MACRO IO node matches type 1 MACRO feedback which comes with fractional count information in the low five bits 12 Accessory 65M hence it does not need to be shifted Default setting 0 for bit 2 of MI23 provides 5 bits of fractional count for cyclic secondary feedback The second line of an entry for secondary feedback on MACRO IO node must be set to 018018 to specify the use of 24 bits 018 starting at bit 24 018 on the X Y word Once the encoder conversion table entry is ready Ix03 of the desired PMAC motor has to point to the address of the second line which holds the processed data if this feedback is a position feedback for the motor load feedback For quadrature encoders hardware checks for proper state transition between quadrature states and indicates an error in pattern by setting bit 30 of channel status word MI938 to high Digital 1 0 ACC 85M has multiple inputs and output pins available for user 3 opto coupled inputs Positive over travel flag input Normally closed
12. 61 003471 MACRO Flag Register Sets 1 17 33 49 4 003444 003454 003464 003474 MACRO Flag Register Sets 4 20 36 52 5 003445 003455 003465 003475 MACRO Flag Register Sets 5 21 37 53 8 003448 003458 003468 003478 MACRO Flag Register Sets 8 24 40 56 9 003449 003459 003469 003479 MACRO Flag Register Sets 9 25 41 57 12 00344C 00345C 00346C 00347C MACRO Flag Register Sets 12 28 44 60 13 00344D 00345D 00346D 00347D MACRO Flag Register Sets 13 29 45 61 Accessory 65M Motor Flag Mode Control Ixx24 Motor flag mode control specifies how the flag information in the registers specified by Ixx25 Ixx42 and Ixx43 is used Ixx24 is a set of 24 individual control bits and the following figure summarizes the functionality for each of these bits Ixx24 Motor xx Flag Mode Control 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Action on Fault Amplifier Fault Use MACRO Node Use for Amp amp Capture Flags Flag Register Type gt e T xi o a E 23 oO LL L o ao E Overtravel Limit Use Amplifier Enable Use Desired Position Limit Enable Continue on Desired Position Limit Error Saturation Control Sub Count Capture Enable Capture with High Resolution Feedback Reserved for Future Use Reserved for Future Use Reserved for Future Use Figure 6 Ixx24 Motor xx Flag Mode Control Setting Ixx
13. 95 Default setting for bit 2 of MI20 on ACC 85M will transfer the non cyclic absolute position data returned as received which means it will send the LSB of the absolute position as bit 0 of the MI920 which matches the cyclic position feedback resolution 10 Accessory 65M NOTE Setting up automatic reading of absolute servo position over MACRO ring Bit 3 of Ixx80 0 is NOT recommended since power up sequence and timing between SERVOPACK and Turbo PMAC Ultralite UM AC becomes important Instead it is suggested that Ixx80 is set to 4 disabling automatic read of absolute position upon power up reset of controller and a n command in initialization PLC is used after possible MACRO errors are cleared first using CLRF and MSCLRFn commands Failure to read the absolute position upon power up can cause PMAC to become unresponsive to ASCII communications with the host pc The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used Table 7 MACRO Absolute Position Read Ixx10 Settings MACRO Ixx10 for Ixx10 for Ixx10 for Ixx10 for Node Number MACRO ICO MACRO C1 MACRO IC2 MACRO IC3 0 000100 000010 000020 000030 1 000001 00001 1 000021 00003 1 4 000004 000014 000024 000034 5 000005 000015 000025 000035 8 000008 000018 000028 000038 9 000009 000019 000029 000039 12 00000C 00001C 00002C 00003C 13 00000D 00001D 00002
14. D 00003D Ixx95 specifies how the absolute power on servo position data if any for Motor xx is interpreted Setting Ixx95 to a value of 740000 will result in an unsigned interpretation of absolute position reported from SERVOPACK and ACC 85M In contrast a setting value of F40000 will interpret the data as signed value Tuning and Running the Motor Depending on command mode selection on the drive MI30 velocity or torque default mode as explained in special mi parameters for ACC 85M tuning should be performed just like any other PMAC motor PMAC Tuning PRO2 software can be used for this purpose Secondary Encoder ACC 85M provides a convenient solution for adding a secondary encoder to the system which can be used a position feedback or a general handwheel input This input supports the following input formats Quadrature A Quad B Pulse and direction Pulse up pulse down Hall format UVW Secondary Encoder Setup on ACC 85M ACC 85M supports multiple formats of feedback on J2 connector MI910 determines the format and positive direction of the encoder feedback Please refer to connector pin out section of the manual for detailed information on wiring instructions Refer to MACRO Software Reference for the settings of MI910 The other registers in the accessory are set to default values to allow a quadrature encoder to operate 11 Accessory 65M Once the encoder feedback in interp
15. DM 2 3 D6 SI6 SI6 Port input HWBB 1 2 x EE SI7 au Port put Open H 1 eserve D24 HWBBI ST Base Block Closely 0 i STOP1 4 EDM2 and EDM3 are D25 HWBD2 uncia a effective only when Safety option D26 STOPI Safety Option Card Inp1 card is connected to servo unit D27 STOP2 Safety Option Card Inp2 D28 STOP3 Safety Option Card Inp3 D29 STOP4 Safety Option Card Inp4 D30 EDM2 Safety Option Card Out2 D31 EDM3 Safety Option Card Out3 Alarm Code Last 16 bits a GbE lama NOI Ode Warning ae First 16 aa 22 Accessory 65M Table 15 Low Speed Parameter Table Non Cyclical Values MonSel Code FUNCTION UNITS COMMENTS Rotary min E 10h Actual Speed Linear mnys Un000 Rotary min 11h Commanded Speed Speed control Linear mms Un001 12h Internal Torque Command o Un002 13h Number of pulses from origin Pulse Un003 14h Angle from origin point Deg Un004 15h Input Signal Monitor Un005 16h Output Signal Monitor Un006 m Rotary min 17h Speed Set by position command Linear mmis Un007 18h Position Command Error Counter Reference Unit Un008 19h Accumulated Load Factor Un009 lAh Regenerative Load Factor o Un00A IBh DB Resistance Power Consumption Jo Un00B 1Ch Input Command Pulse Counter Pulse Un00C Dh Feedback Pulse Counter Pulse Un00D 1Eh Fully Closed Feedback Pulse Cntr Pulse Un00E 22h Total Work Time 100mS Un012 23h Multum d
16. DPRAM checksum error from amplifier OEA4 AMP not enabling ENA timeout error Check Yaskawa SERVOPACK 19 Accessory 65M Special mi Variables for macro interface The following MI variables are specifically designed for the uMACRO interface associated with the Yaskawa SGDV SERVOPACK Command Option ACC 85M Table 13 Special MI Variables For Macro Interface MI SAVED VAR DESCRIPTION DEFAULT PARAM MI30 Control Mode Select 2 Speed Control 3 Torque Control 2 m MI31 P PI toggle Request V PPISel MI32 CLR Request for position integration ClrPosIntg MI33 Select bank gain parameter BankSel MI34 Sensor on request SensOn 1 MI35 Magnetic pole detection start request PolDet MI36 Break signal release request BrkRelease 2 bits MI37 DO Positive torque limit enabled 00 D1 Negative torque limit enabled 2 bits MI38 DO Positive software overtravel 00 D1 Negative software overtravel Encoder Latch Latch 8 bits DO SelEncCphs Select C phase latch position encoder 1 D1 SelEncExtl Select latch position encoder Ext1 0 D2 SelEncExt2 Select latch position encoder Ext2 0 MI39 D3 SelEncExt3 Select latch position encoder Ext3 0 T D4 RqCPhs Latch request of C phase input position 1 D5 RgExtSigl Latch request of Ext1 input position 0 D6 RgExtSig2 Latch request of Ext2 input position 0 D7 RgExtSig3 Latch request
17. ERFACE ee eeeee esee eene enn sets setas etes s teens setate tense tnaue 20 MONITOR PARAMETER TABLE eere ee eee eene netten tn satt sse tn aset sse t essa tens setas s etas stesse tensa esas sets sets se tnaue 22 IO 0894100 24 SC Style Fiber Interface Connector MACRO Comms OPT A 0 cccccecessceceeeeeeeeeeeeeeseeneeeeeseneeesesneeeeesnneeeess 24 RJ 45 In and Out Interface Connector MACRO Comms OPT C cccssccccccceessessseeeeeeceessssneeeeeccessesssaeeeees 24 Connector J2 Interface Signals for Accessory card seeessesseeeseeeeeeeee eene nenen nnne 24 Connector J2 Diagram eese eene eene eresse tenes eth nne sent ener ete tene sentent seen tenes eene nee en nn 24 User Inputs Circuit Diagram eeeesseeeeeeeeeeee eene nnnmeeehhenee een hene seen hene s entente sentent seen ntes innere eene 25 User Ouip t Circuit DIQgram iii ees ey ee xe eee eo dne iut ete eu tue ee pede aiu tere ete deeem eee de eye sese e bed ee tas Eea 25 High Speed TTL Outputs Circuit Diagram eese esee eene enne nnnen nennen nnne enne eene rennen nennen 25 Table of Contents i Accessory 65M INTRODUCTION The MACRO SIGMA V Application Module ACC 85M is an accessory card that connects to the Yaskawa Sigma V SGDV amplifier The purpose of this accessory card is to provide the MACRO fieldbus interface
18. MACRO IC 0 as synchronizing master Set 16841 to FC001 or appropriate value to enable the required nodes Set I70 and I71 to corresponding values to resemble servo nodes enabled on 16841 Set I78 to 32 for Master Slave communication timeout Click Save Changes Respond No to the question about saving the parameters on stations Ps cQ cUA obe COSS S 92 Once saving is finished click Setup Ring Controller button Select No in response to a pop up question of issuing a to the controller This will set proper values for I80 I81 and I82 8 Click Save Changes Respond Yes to the question about saving the parameters on stations 9 Click Reinit MACRO Ring button 10 Click Detect MACRO Ring button Accessory 65M 11 12 13 14 15 16 17 18 19 After completion of step 9 you should be able to see a list of all your MACRO stations under the drop down list called Stations Detected and they ate automatically numbered from 1 starting from the station downstream of the Ultralite UMAC Select the station number for ACC 85M The data shown under Detailed Description should match your hardware 7 MACRO RING ASCII Device 1 UMAC TURBO 1 947 O1 X Reinit MACRO Ring Stations Detected Setup STATION 1 STATION 1 Detailed Description MACRO C 0 Mode or M1992 Max Phase Freq 5t 25 tation MISS Phase Divider fo M1998 Servo Divider f Flag Xfr Ena Addressing
19. MI925 MI926 and MI927 NOTE Position compare auto increment MI927 value has 12 bits of 1 T sub count resolution but in order for circuit to work consistently the minimum possible value is equal to 2049 representing a 1 4096 count more than half a count 17 Accessory 65M DISPLAYS All indicators appear at the front panel of this accessory card 7 nem j Module Status PAIDE JLink Status DIH oS uec J Se lou loi upon r ue Oo EN w 0 4 eu Bel On i Ba D el On U or Uc a FOU l vion E jou Fa e Figure 13 ACC 85M Status Indicators Link Status LED The green LED illuminates when the MACRO signal is present The red LED is lit when the MACRO signal is not present This provides a quick check for received signal from device located immediately upstream from ACC 85M on MACRO ring MODULE STATUS LED This green LED illuminates to indicate that the module is operating correctly in the ACC 85M This indicator flashes when the module is in the MACRO ASCII mode Table 10 Module Status LED Descriptions mn MD Status Description Off Off No ring activity
20. No Failure Blink Off Module is in ASCII Mode No failure On Off Module operating normally No failure Off On No ring activity Hard Failure may need to cycle power Blink On No ring activity Hard failure may need to cycle power On Blink Module has resettable error try CLRF to clear error ACC 85M Faults Displayed on Yaskawa SERVOPACK The following table lists the codes which are displayed on Yaskawa SERVOPACK 7 segment display upon detection of a fault in ACC 85M option module These faults are cleared if the MACRO Master sends a command to clear the faults CLRF or MSCLRFn Error code OEAO requires a power cycle to clear If after a CLRF the fault still exists the Yaskawa SERVOPACK display will show the fault code again 18 Accessory 65M Table 11 ACC 85M Faults Displayed on Yaskawa SERVOPACK CODE DESCRIPTION NOTES OAOB MACRO Ring Break Check the physical MACRO ring connection Not enough SYNC packets or too many data packet errors qan Ring Data Fault Check MIS MI9 aud MILO settings i P OAOF Prior ring station transmitting a RING BREAK Check the device upstream of ACC 85M for any errors Duplicate station node address error Check MI996 of all stations versus 16841 of controller OEAO Command option module alarm Must cycle power to clear QEA2 Amplifier Watchdog error Amplifier not responding to ACC 85M option module OEA3 Checksum Error memory transfer error
21. O IC 0 NodeO0 Reg 0 2F8420 MACRO IC 2 NodeO Reg 0 2FA420 MACRO IC 0 Node1 Reg 0 2F8424 MACRO IC 2 Node 1 Reg 0 2FA424 MACRO IC 0 Node 4_ Reg 0 2F8428 MACRO IC 2 Node4 Reg 0 2FA428 MACRO IC 0 Node5 Reg 0 2F842C MACRO IC 2 Node5 Reg 0 2FA42C MACRO IC 0 Node8 Reg 0 2F8430 MACRO IC 2 Node 8 Reg 0 2FA430 MACRO IC 0 Node9 Reg 0 2F8434 MACRO IC 2 Node9 Reg 0 2FA434 MACRO IC 0 Node 12 Reg 0 2F8438 MACRO IC 2 Node 12 Reg 0 2FA438 MACRO IC 0 Node 13 Reg 0 2F843C MACRO IC 2 Node 13 Reg 0 2FA43C MACRO IC 1 Node0 Reg 0 2F9420 MACRO IC 3 NodeO Reg 0 2FB420 MACRO IC 1 Node1 Reg 0 2F9424 MACRO IC 3 Node 1 Reg 0 2FB424 MACRO IC 1 Node4 Reg 0 2F9428 MACRO IC 3 Node4 Reg 0 2FB428 MACROIC 1 Node5 Reg 0 2F942C MACRO IC 3 Node 5 Reg 0 2FB42C MACRO IC 1 Node 8 _ Reg 0 2F9430 MACRO IC 3 Node 8 Reg 0 2FB430 MACRO IC 1 Node9 Reg 0 2F9434 MACRO IC 3 Node9 Reg 0 2FB434 MACRO IC 1 Node 12 Reg 0 2F9438 MACRO IC 3 Node 12 Reg 0 2FB438 MACRO IC 1 Node 13 Reg 0 2F943C MACRO IC 3 Node 13 Reg 0 2FB43C Note that the bit 19 mode switch has been set to 1 so that the data out of the MACRO node is not shifted This changes the second hex digit from 7 to F Type 1 MACRO feedback comes with fractional count information in the low five bits so it does not need to be shifted Default setting of MI20 bit 0 to a value of 0 on ACC 85M will provide 5 bits of left shift to send all feedback resolution as whole counts to MACRO controll
22. Reg 0 078428 MACRO IC 2 Node4 Reg 0 07A428 MACRO IC 0 Node 5__ Reg 0 07842C MACRO IC 2 Node5 Reg 0 07A42C MACRO IC 0 Node 8__ Reg 0 078430 MACRO IC 2 Node 8__ Reg 0 07A430 MACRO IC 0 Node 9 Reg 0 078434 MACRO IC 2 Node 9 Reg 0 07A434 MACRO IC 0 Node 12 Reg 0 078438 MACRO IC 2 Node 12 Reg 0 07A438 MACRO IC 0 Node 13 Reg 0 07843C MACRO IC 2 Node 13 Reg 0 07A43C MACRO IC 1 Node0 Reg 0 079420 MACRO IC 3 NodeO Reg 0 07B420 MACRO IC 1 Node 1 Reg 0 079424 MACRO IC 3 Node 1 Reg 0 07B424 MACRO IC 1 Node4 _ Reg 0 079428 MACRO IC 3 Node4 Reg 0 07B428 MACRO IC 1 Node5 Reg 0 07942C MACRO IC3 Node5 Reg 0 07B42C MACRO IC 1 Node8 Reg 0 079430 MACRO IC3 Node8 Reg 0 07B430 MACRO IC 1 Node9 Reg 0 079434 MACRO IC 3 Node9 Reg 0 07B434 MACRO IC 1 Node 12 Reg 0 079438 MACRO IC 3 Node 12 Reg 0 07B438 MACRO IC 1 Node 13 Reg 0 07943C MACRO IC 3 Node 13 Reg 0 07B43C Motor Flag Address Ixx25 Ixx25 tells Turbo PMAC what registers it will access for its position capture flags and possibly its overtravel limit input flags and amplifier enable fault flags for Motor xx Ixx25 Addresses for MACRO Flag Holding Registers are listed in Table 6 Table 6 Addresses for MACRO Flag Holding Registers IC MACRO MACRO MACRO MACRO Notes Node IC 1 IC 2 IC 3 IC 4 0 003440 003450 003460 003470 MACRO Flag Register Sets 0 16 32 48 1 003441 003451 0034
23. USER MANUAL Accessory 85M DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2011 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment We expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the product by damaging components or causing electrical shorts When our products ar
24. a Sigma V SERVOPACK drives Each ACC 85M can be configured to use either a single servo node on the MACRO ring or one servo node and its corresponding IO node This selection is done through rotary switches SW1 and SW2 SW1 Slave Node Selector Rotary switch SW1 determines which nodes are enabled on the ACC 85M station If SW1 is set to E 14 Ring Order Method can be used to setup the node and master number of the station If SW1 is set to F 15 default MI variables will be loaded upon power up Table 2 MI996 Settings for Various Node Selections SWI MI996 Value Nodes Enabled 0 0F1FE20 0 1 0F1FE31 1 2 0F3FE20 0 2 3 0F3FE3 1 1 3 4 0F1FE64 4 5 0FIFE75 5 6 0F3FE64 4 6 7 0F3FE75 5 7 8 0FIFEAS 8 9 0F1FEB9 9 10 OF3FEA8 8 10 11 0F3FEB9 9 11 12 0FIFE2C 12 13 0FIFE3D 13 14 OFOFE10 None S W Macro Ring Order Setup 15 0FIFEIB 11 Set MI variables to factory default SW2 Master IC Selector Rotary switch SW2 determines which Master number the station gets bind to Setting SW1 to E 14 will set the station for Ring Order Method and setting of SW2 will not be used Accessory 65M ACC 85M Software Setup Software setup for ACC 85M can vary depending on users choice of using SW1 and SW2 settings for defining the binding MACRO master and active nodes or setting it through Ring Order Method If SW1 is set to E 14 then Ring Order Setup will
25. arameters or enter parameters using the operator interface on the front of the SIGMA V drive Since the SERVOPACK with Option Module is expecting an option module if powered up without the ACC 85M connected to the drive an error code will be generated A E70 Error of Command Option Module not Detected which should be cleared using the SIGMAWIN software Once ACC 85M is connected and mounted in place it can be detected by SERVOPACK and viewed in SIGMAWIN software Product Information AXISZ1 Servopsck Motor Option Module Reference Option Type DeltaTau 85M Soft version 0001 Special Spec Standard Safety Option Type Soft version Special Spec Feedback Option Type Soft version Special Spec Figure 3 Product Information Window in SIGMAWIN software Refer to the Appendix B in the SIGMA V User s Manual for the list of parameters Useful Parameters Inside SGDV SIGMA V Drive There are a few parameter settings in the drive that if known will make the setup of the ACC 85M and motor interface easier They are listed in the following table Table 1 Useful Parameters in SIGMA V SERVOPACK PARAMETER NOTES Set this value for the incremental use of an absolute encoder Useful to consider when an encoder error A 810 occurs and the MTURN CLR Fn008 does not work If an absolute Pn002 2 Ms encoder is used that has no battery you may encounter this issue Set Pn002 z x1
26. ata Pr absolute encoder Rotation Rotary Motor Only after Sensor On request 24h Initial Incremental PG Count Pulse Rotary Motor Only Position data of absolute encoder f 25h after Sensor On last 32 bits Scaling Unit Linear Motor Only Position data of absolute encoder i 26h after Sensor On forst 32 bits Scaling Unit Linear Motor Only 23 Accessory 65M CONNECTOR PINOUTS All interface signals appear at the front panel of this accessory card SC Style Fiber Interface Connector MACRO Comms OPT A This is the fiber optic MACRO interface connector RJ 45 In and Out Interface Connector MACRO Comms OPT C These are the wired MACRO interface connector Connector J2 Interface Signals for Accessory card This is a high density DB15S DSUB connector The user needs a to supply a mating connector Pinf Signal Name Type Description 1 CHA INPUT Secondary encoder input 2 CHB INPUT Secondary encoder input 3 CHC INPUT Secondary encoder input 4 HOME INPUT Flag_A 5 FL_RET INPUT RET for flags 6 CHA INPUT Secondary encoder input 7 CHB INPUT Secondary encoder input 8 CHC INPUT Secondary encoder input 9 IN_B INPUT Flag_C 10 DOUT Open Collector User defined output 11 EQU TTL High Speed TTL output 12 GND POWER Digital Ground 13 5Vdc POWER Encoder Power supplied from accessory card 14 IN_A INPUT Flag_B 15 DO_COM Open Collector Return User defined
27. be used and MACRO ASCII communication should be used to setup the parameters and communication in ACC 85M If SW1 and SW2 are set such that they define the binding MACRO master number and servo node manual setup is preferred Usually replacing a unit is easier if the setup is done using the rotary switches In either method note that The Phase clock in the ACC 85M is defaulted to 10kHz MI992 5000 and the Servo clock is defaulted to 2 kHz MI998 4 Depending on required MACRO communication rate defined by Phase clock frequency on Ultralite UMAC different Servo Clock Divider MI998 values should be used to provide synchronized data communication between ACC 85M and SERVOPACK NOTE Higher Servo frequencies allow for better compliance when tuning motors Although the default is 2 KHz we recommend trying to operate at 4 kHz or 8 kHz for best results in servo performance The following table provides some samples of phase clocking settings Table 3 Clock Settings Depending on Desired Servo Rates Desired ACC 85M MACRO Comm Ultralite UMAC Settings ACC 85M Settings Servo Frequency Freq PhaseFreq 16800 5895 MI992 5000 default 1680120 MI998 4 default 2 kHz 10 kHz 16802 4 110 4193067 16800 7371 MI992 6250 16801 0 MI998 1 4 kHz 8 kHz 16802 1 11022097067 1680027371 MI992 6250 16801 0 MI998 0 8 kHz 8 kHz 16802 0 I1021048533 16800 3684 MI992 3125 16801 0 MI998 1 8 kHz 16 kHz 16802 1 110 1048320
28. between Yaskawa Corp amplifiers and Delta Tau Data Systems MACRO based motion controllers This interface accessory card provides 2 outputs one that is Open collector style and another dedicated to higher speed triggered output that is Open collector style and limited to 5V operation This interface card also has 3 inputs that operate from 8 24Vdc A 15 pin high density DSUB connector is used for the user s interface This accessory card requires the user to supply an external 12 24Vdc power supply for the I O interfaces It should be noted that there are two types of SGDV amplifier When specifying the Servopack be sure to request the COMMAND OPTION ATTACHABLE TYPE This Servopack has an external port connector that is used for peripheral devices Contact Yaskawa for further information on exchanging amplifiers AA o Fes AA MAIDE O HARD ooo oooooo Figure 1 ACC 85M with OPT A Figure 2 ACC 85M with OPT C Fiber Optic MACRO Copper MACRO Accessory 65M Getting Started Setup of Yaskawa Drive Perform the installation and setup of the SGDV SIGMA V drive Command Option Attachable Type per the recommendations of Yaskawa Corp This should include the electrical installation of the motor and the drive per the instruction manual supplied with the Yaskawa SIGMA V drive You may use the SIGMAWIN setup program provided by Yaskawa Corp to set up the drive s p
29. e o e ele Qe D De e De p De e de npe pp peto pes pe pop pepop perpe pp pene MACRO Register O Register 1 Register 2 Register 3 Cyclic S dary Feedback Dat I O Node Vee Secondary Feedback Deis Blank Blank Blank scontato iust emet repeals s o pol pope pope epe poppe I p I D P Ie e Do eee pee pae pas peto pep pop Te Ja e pe e I qe pe d oe paa pote pee pae pas bee e pe pop I e I e e e Pe e Figure 8 Cyclic Secondary Feedback Format with MI23 2 To input the register 0 of MACRO IO node to PMAC motor registers the encoder conversion table conversion type 6 Parallel Y X word data with no filtering should be used First line of the entry specifies which node the secondary position data is located Table 8 Encoder Conversion Table 1 line Setting for Secondary Feedback Register First Line Value Register First Line Value MACRO IC 0 Node2 Reg 0 6F8420 MACRO IC 2 Node2 Reg 0 6FA420 MACRO IC 0 Node3 Reg 0 6F8424 MACRO IC 2 Node 3 Reg 0 6FA424 MACRO IC 0 Node 6_ Reg 0 6F8428 MACRO IC 2 Node 6 Reg 0 6FA428 MACRO IC 0 Node7 Reg 0 6F842C MACRO IC 2 Node7 Reg 0 6FA42C MACRO IC 0 Node 10 Reg 0 6F8430 MACRO IC 2 Node 10 Reg 0 6FA430 MACRO IC 0 Node 11 Reg 0 6F8434 MACRO IC 2 Node 11 Reg 0 6FA434 MACRO IC 1 Node2 Reg 0 6F9420 MACRO IC 3 Node2 Reg 0 6FB420 MACRO IC 1 Node3 Reg 0 6F9424 MACRO IC 3 Node3 Reg 0 6FB424 MACRO IC 1 Node6 Reg 0 6F9
30. e position of secondary encoder with values in position compare registers A and B MI925 and MI926 and turns the EQU output on off upon detection of the edge In addition the position compare circuitry is capable of automatically incrementing the edges to produce a pulse train dependent on secondary position This auto increment period can be defined using MI928 There are two methods for defining the auto increment 1 The pulse train starts around the actual phase captured position of secondary encoder 2 The pulse train starts further away from actual position of secondary encoder This is usually desired for applications where the pulse output has to start once the speed is constant To setup the pulses around the current position user has to bracket the current position between the compare values A and B 15 Accessory 65M Position Compare Auto increment MI927 12 bits of subcount resolution y Position Compare Value B M1926 12 bits of subcount resolution Phase Capture Position M1931 8 bits of subcount resolution Position Compare Value A MI925 12 bits of subcount resolution Figure 11 EQU Method 1 Bracketing the Actual Position In this method the value for MI925 MI926 and MI927 has to be written without any modification to MI928 or MI929 In this method once each edge is detected the state of EQU output toggles and auto increment value will be added or subtracted from
31. e used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD 0 Manual pre release 3 30 2011 J S J SCHATZ 1 Formatted for publishing 4 17 2011 S S S SATTARI 2 Different homing instructions added 6 8 2011 S S S SATTARI 3 Added additional note about MI20 bit 0 setting in 12 14 12 ss S SATTARI relation with Ultralite encoder conversion table setup Accessory 85M Table of Contents INTRODUCTION e 1 GETTING STARTED R 2 Petupriol Yaskawa Wrive E R 2 Useful Parameters Inside SGDV SIGMA V Drive cesses nene enne enne neret nne entren 2 ACC 85M Hardware SOU M 3 SWI Slave Node Selector weseiccckcetsecdersicnsadeeiavcdsseidescgavsneesgapasecessannecegsacdeceniecacoedansgonesbedaceaseeadessaaccagecaieadernatacdes 3 SW2 Master IC Selector eee eie lcsueideedghviascegessteccguecseceasastecaavitecedsstdesetoeisesesaetdseagetedecsa seed edaiechecsanecies 3 Fo ers kr NIME
32. er With the default setting there is no need for additional shift on the Ultralite side so bit 19 of the encoder conversion table is set to 1 disabling the shifting If the MI20 bit 0 is set to 1 then 8 Accessory 65M the position is not shifted on the ACC 85M before it gets transmitted over MACRO and the data needs to be shifted on the Ultralite side by setting bit 19 of the first line of encoder conversion table entry to 0 The second line of an entry for MACRO feedback should be 018000 to specify the use of 24 bits 018 starting at bit 0 000 Once the encoder conversion table entry is ready Ix03 and Ix04 of the desired PMAC motor has to point to the address of the second line which holds the processed data For example for an ACC 85M which is on node 0 and motor 1 I80002 2F8420 I8001 018000 and 1103 3502 and 1104 3502 For complete list of addresses for each encoder conversion table line please refer to Turbo Software Reference Manual Command Output Address Ixx02 Command output is addressed by Ixx02 setting in PMAC and Table 5 shows different settings for Ixx02 based upon the node selection on ACC 85M Table 5 Command Output Address for MACRO Nodes Register Ixx02 Setting Register Ixx02 Setting MACRO IC 0 NodeO Reg 0 078420 MACRO IC 2 Node 0 Reg 0 07A420 MACRO IC 0 Node1 Reg 0 078424 MACRO IC 2 Node 1 Reg 0 07A424 MACRO IC 0 Node4
33. function on PMAC motor allowing homing based upon a limit flag only necessary if bit 3 of MI23 is set to 1 If cyclic secondary feedback encoder connected to J2 on ACC 85M is used for position feedback and primary feedback Yaskawa SERVOPACK encoder is used for velocity feedback the following setup has to be implemented Homing based upon index pulse of your position encoder wired to J2 Hardware Capture MSn MI23 2 n Servo Node Number Bit 1 1 Cyclic Secondary Position Data is returned in IO Node 24 bit registers 0 Bit 5 1 Get Home Capture Position from Secondary Source Ixx97 0 xx PMAC motor number Hardware position capture is possible MSn MI912 1 Position capture based upon the index pulse of secondary encoder Homing based upon home flag wired to J2 Hardware Capture MSn MI23 22 n Servo Node Number Bit 1 1 Cyclic Secondary Position Data is returned in IO Node 24 bit registers 0 Bit 5 1 Get Home Capture Position from Secondary Source Ixx97 0 xxi PMAC motor number Hardware position capture is possible MSn MI912 2 a setting of 2 or 10 defines trigger level of capture flag Low high or high low or any combination with index signal MSn MI913 0 Select home flag as capture flag 14 Accessory 65M Homing based upon limit flags wired to J2 Hardware Capture MSn MI23 22 n Servo Node Number Bit 5 1 Get Ho
34. g up a motor in PMAC and other detailed settings can be done based upon Turbo PMAC Software Reference manual and uMACRO Software Reference Manual Encoder Conversion Table Setup 18000 8191 Ixx03 Ixx04 The encoder position is reported back on MACRO ring every phase clock but the data is only updated between SERVOPACK and ACC 85M every servo cycle defined by MI992 and MI998 settings This data has to be read by Encoder Conversion Table ECT in PMAC before it can be used as position velocity feedback NOTE In Yaskawa Sigma V SERVOPACK gearing may be implemented by setting the parameters Pn20E and Pn210 Default setting for these parameters will result in 1 4 of actual encoder position reporting on MACRO ring Setting both of these to 1 will provide full resolution to Turbo PMAC Ultralite UMAC This provides better performance both in velocity and torque mode control For reading the primary feedback from ACC 85M Yaskawa motor feedback conversion type 2 has to be used This conversion method is a two line entry in ECT and can be done either though I variable setting or Encoder Conversion Table Setup tool accessible through Configure menu of PEWIN32PRO2 First line of the entry specifies which node the position data is located Table 4 Encoder Conversion Table 1 line Setting for Primary Feedback Register First Line Value Register First Line Value MACR
35. me Capture Position from Secondary Source Ixx97 0 xx PMAC motor number Hardware position capture is possible MSn MI912 2 a setting of 2 or 10 defines trigger level of capture flag Low high or high low or any combination with index signal MSn MI913 1 Setting of 1 or 2 for Selecting Pos Neg flag as capture flag Ixx24 860001 Setting bit 17 of Ix24 disables the over travel limit function on PMAC motor allowing homing based upon a limit flag only necessary if bit 3 of MI23 is set to 1 General Purpose Output There is one opto coupled open collector output available on ACC 85M which is connected to GPIOOO This output can be used as sinking or sourcing as shown in following diagrams 8 to 24VDC Supply 8 to 24VDC Supply o Do com por Load 200 mA Max Load 200 mA Max GND 0000 GND Figure 9 Sourcing Output Figure 10 Sinking Output To enable the GPIOOO0 as output bit 0 of MI936 should be set to 1 and saved The status of output can be controlled by writing to bit 0 of MI935 High Speed TTL Output On J2 connector of ACC 85M there is also one output not opto coupled that is connected to position compare circuitry output EQU that operates at high speed based upon secondary encoder To use position compare feature on ACC 85M parameters MI925 MI926 and MI927 has to be set Position compare circuitry compares th
36. of Ext3 input position 0 MIAO Reserved MI41 im Monitor 1 MonSell 8 bit address Sets MI920 monitor 30 HM MI42 Select Monitor 2 MonSel2 8 bit address Sets MI921 LSB 0E ABS monitor Value MI43 Select Monitor 3 MonSel3 8 bit address Sets MI921 MSB 0F ABS x monitor Value MI44 Select Monitor 4 MonSel4 8 bit address uses monitor table 3B Alarms values MI45 Select Monitor 5 MonSel5 8 bit address i MI46 Select Monitor 6 MonSel6 8 bit address i MI47 Select Monitor 7 MonSel7 8 bit address m MI48 Select Monitor 8 MonSel8 8 bit address i MI49 Reserved MI50 FB position counter FbPosition MIS51 Monitor Data 1 MIS52 Monitor Data 2 MI53 Monitor Data 3 MI54 Monitor Data 4 MI55 Monitor Data 5 MI56 Monitor Data 6 MI57 Monitor Data 7 MI58 Monitor Data 8 20 Accessory 65M Control Status 16 bit DI D0 SELMOD 0 Cntrl Disabled Position 2 Speed 3 Torque D2 COIN Positioning completed MI59 D3 MotMoving Motor rotating traveling D4 ReachVelCmd Velocity reached D5 SpdClamped Speed being clamped D6 TrqClamped Torque being clamped D7 OpEnabled Motor drive state of option card D8 SafetyStop Safety stop state D9 DI5 Not defined Sequence Status 16 bit DO Alarm Alarm status D1 Warning Warning status D2 AlmRstComp Alarm reset completed D3
37. output Return Connector J2 Diagram GND cgci oo EQ a d DB15HD RT ANGLE PCB MNT 24 Accessory 65M User Inputs Circuit Diagram 4 1 C1 ACIN Sey acin 4 7K TK 1 RP2 mmk T Ut 5 6 NA 1 1 7 8 f 12 P3 3 C1 ACIN1 ur VY x 8Vdc to 24Vdc Fl E1 ACIN2 13 5 6 C1 ACIN1 d LL 8 E1 ACIN2 i RP4 3 1 al d k 5 amp aut 7 8 1K 35 36 bot bar User Output Circuit Diagram DO1 Q2 MMB T3906L DO_COM OPEN COLLECTOR OUTPUT High Speed TTL Outputs Circuit Diagram 5V o I Tl UtsA EQU 3 EQU OUT 2 T DS75452M GND 25
38. reted by ACC 85M MI23 determines how this data should be transferred to Turbo PMAC Ultralite UMAC over MACRO ring This data can be sent over the MACRO ring in two formats depending on bit 0 and bit 1 of MI23 If bit O of MI23 is set to 1 the cyclic secondary position data is returned in registers 1 and 2 servo node as two 16 bit words In this mode the data has 8 bits of 1 T sub count resolution There is no automatic full support for this format of data in Turbo PMAC Ultralite UMAC encoder conversion table settings MACRO Servo Node Cyclic Primary Feedback Data from Yaskawa Sigma SERVOPACK Cyclic Secondary Feedback Data Cyclic Secondary Feedback Data 16 LSB 16 MSB pus Register O i Register 1 Register 2 Register 3 V esa fff wn Yo 5 D D p p po benennen erp erp spes penpenge perpe p p p po p po Pep soo oe poss paps po ps poy prp pepe pop ppp Figure 7 Cyclic Secondary Feedback Format with MI23 1 If bit 1 of MI23 is set to 1 the cyclic secondary position data is returned register 0 of the corresponding IO node This IO node has to be enabled using switch SW1 or MI996 setting In this mode the data has 5 bits of sub count resolution MACRO Register O Register 1 Register 2 Register 3 Cyclic Pri Feedback Dat Servo Node ftom adum Come V SERVORACK Blank Blank Flags bpppops peprpepspepspeps poe pep pe ppp pe pepe ope p pepe peto pes epo ope odo Je D He Io I o e p e o pepe p e epe p
39. rrors can be cleared using CLRF clears errors on MACRO controller and MSCLRFn clears MACRO errors on station with node number n 8 10 11 12 13 14 15 Setup MI992 based upon table 3 The MI variables can be set by using MACROSLAVE commands or MS commands For example MS0 MI992 3125 will set MI992 to 3125 and to query a MI variable send command as MS0 MI992 and the response will be the value which MI992 is holding Issue a save on the station using MACROSLAVESAVEn command MSSAVEn will save the parameters on station with node n enabled Reset the station using the MACROSLAVE n command MS n will reset the station with node n enabled Setup MI998 based upon table 3 Issue a save on the station using MSSAVEn command Reset the station using the MS n command Power Cycle the station so ACC 85M and SERVOPACK synchronize Setup MI20 and MI21 according to MACRO manual MI20 and MI21 should be set less than or equal to MI998 setting Once updated save and reset the station Steps 8 to 15 have to be repeated for all stations Once all the stations are setup user should continue with Turbo PMAC Ultralite UM AC Motor Setup Section Accessory 65M Turbo PMAC Ultralite UMAC PMAC Motor Setup Once the ACC 85M is setup by default it will transmit the encoder position over MACRO ring through the assigned node and receives the commands on the same node The following setting are general guidelines for settin
40. xx when this issue occurs These are encoder feedback gearing A 20 bit encoder should return 1 048 576 counts per Pn20E revolution when these values are set to 1 The factory default for these values is set to divide by Pn210 resulting in lower resolution accessible through MACRO It is recommended that these are set to 1 for better servo performance Pn50A These values are used to establish position overtravel limits To bypass the limits set Pn50A Pn50B 8xxx P OT and Pn50B xxx8 N OT Accessory 65M There are also parameters available to bypass wired functions such as SERVO ENABLE POSITIVE OVERTRAVEL and NEGATIVE OVERTRAVEL Refer to Pn50A and Pn50B for setting these overrides WARNING If the values of overrides are set to bypass the physical interface at the CN1 connector on the drive dangerous over travel or undesired motion may occur Caution must be used when operating the drive with any overrides enabled To implement the incremental use of an absolute encoder configure PN002 2 1 This is sometimes necessary if there is an absolute encoder used where there is no backup battery Gearing may be implemented by setting the parameters Pn20E and Pn210 Setting both of these to 1 will make a 20 bit encoder provide 1 048 576 counts per revolution which provides better performance both in velocity and torque mode control ACC 85M Hardware Setup ACC 85M is designed to provide MACRO communication to Yaskaw
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