YASKAWA Varispeed G7 Technical Manual Download

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Software Number: VSG13306X, Drive Models: CIMR-G7UXXXXX-117
Document Number: TM.G7SW.117, Date: 05/16/08, Rev: 08-05

Motion Control

G7 Drive Software

Technical Manual

Summary of Contents for Varispeed G7

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

Page 2: ...technical manuals Custom software is written to add functionality to a standard AC drive to enhance or enable use in a specific application The software is loaded to the flash ROM area of the control board and replaces the standard drive software Custom software can add new functions modify standard functions or even inhibit standard functions It can be used to modify display text or parameter nam...

Page 3: ...erent homing sequences to choose from Serial Communications Compatible Incremental Encoder Dual Incremental Encoders Absolute Gray Code Encoder Support 18 bit 16 Preset Positions Plus Home Distance Command via High speed Frequency Reference Register in engineering units Pre Activation Digital Output settable in engineering units Ability to monitor and command a 32 bit 31 bits sign bi polar positio...

Page 4: ...Encoder direction selection F1 05 is not available when encoder type is Serial Abs Ch1 P3 01 3 PG Channel 2 parameters F1 21 and F1 22 have no effect when motion control is enabled All 230V units will have a default carrier frequency of 2 0 kHz The maximum carrier frequency setting on models G7U2075 and smaller is limited to 4 0 kHz The Motion Control algorithm is only available when the drive is ...

Page 5: ...ameter 3 Modbus 32 Bit 061Ch and 061Dh 3 0 3 0 N A P1 03 602h Move Command Type Move Cmd Type 0 Maintained Move command must be maintained for the entire move 1 Rising Edge Move command is edge triggered 2 Falling Edge Move command is edge triggered 0 2 0 N A P1 04 603h Positioning Proportional Gain Pos P Gain Proportional gain used for the position controller 1 0 20 0 1 0 Y A P1 05 604h Decel Sta...

Page 6: ...k up portion of the homing routine 0 00 20 00 Hz 2 00 Y A P2 04 60Dh Homing Final Speed Homing Final Spd Speed referenced used during the final portion of the homing routine 0 00 20 00 Hz 1 00 Y A P2 05 60Eh Switch Type Switch Type Sets the normal not activated state of the home and over travel limit switches 0 Both NO 1 OT NO Home NC 2 OT NC Home NO 3 Both NC 0 3 0 N A P2 06 60Fh Home Offset Dist...

Page 7: ... A P4 01 106h Position 1 Position 1 Position Reference in units Position Ref counts P4 01 P1 09 0 00 655 35 Units 4 0 00 Y A P4 02 107h Position 2 Position 2 Position Reference in units Position Ref counts P4 02 P1 09 0 00 655 35 Units 4 0 00 Y A P4 03 108h Position 3 Position 3 Position Reference in units Position Ref counts P4 03 P1 09 0 00 655 35 Units 4 0 00 Y A P4 04 109h Position 4 Position ...

Page 8: ...es not have a run command 6 If P3 01 1 then parameter P3 02 is used in place of parameter F1 01 when determining actual distance P4 10 10Fh Position 10 Position 10 Position Reference in units Position Ref counts P4 10 P1 09 0 00 655 35 Units 4 0 00 Y A P4 11 110h Position 11 Position 11 Position Reference in units Position Ref counts P4 11 P1 09 0 00 655 35 Units 4 0 00 Y A P4 12 111h Position 12 ...

Page 9: ...g Units Actual position reference in encoder counts 61Dh P1 09 Range is 0 00 655 35 units Effective only when P1 02 2 0 01 Units 100 1 00 Units 061Ch Modbus 32 bit Communication Position Reference low word Effective only when P1 02 3 Quadrature Encoder Counts 061Dh Modbus 32 bit Communication Position Reference high word Effective only when P1 02 3 0734h 32 Bit Distance From Home low word Distance...

Page 10: ...ith fine resolution 0 01 units N A 0 01 Units 7 A U1 91 721h Distance To Go Fine Dist To Go f Distance from the destination Displayed with fine resolution 0 01 units N A 0 01 Units 7 A U1 92 722h Commanded Destination Fine Commanded Dest f Commanded destination Displayed with fine resolution 0 01 units N A 0 01 Units 7 A U1 93 723h Distance From Home Coarse Dist From Home c Distance from home home...

Page 11: ...commanded Re homing is required if applicable 86 Learn Position Allows the storage of the current position Must be maintained for 1 second 87 Distance Select A Used to select the commanded distance move profile 88 Distance Select B Used to select the commanded distance move profile 89 Distance Select C Used to select the commanded distance move profile 8A Distance Select D Used to select the comma...

Page 12: ...tion board is not installed Adjust motion type or encoder type or install a DI 16H2 option board The numerator P3 03 is set more than 100 times greater than the denominator P3 04 Adjust the numerator and the denominator Encoder type is set to Serial Abs Ch1 and encoder rotation is set to CW P3 01 3 and F1 05 1 Adjust parameter F1 05 back to zero and change PG Ch 1 feedback wiring 2ENFL Second Enc ...

Page 13: ...ut of positive over travel using the Jog Reverse input NEGOT Neg Ovr Travel Negative Over travel The machine has moved past the negative over travel switch Drive can be moved out of negative over travel using the Jog Forward input SENCR Serial Encoder Reading The drive is receiving position information from the absolute incremental encoder All run commands are ignored during this time Absolute inc...

Page 14: ... position references are with relation to the actual home position home offset Figure 1 Linear Absolute Motion Example Ball Screw ROTARY ABSOLUTE MOTION Rotary absolute motion would be used in applications such as index turntables turret winders and dial tables With this type of motion a home switch and a homing sequence are required All position references are with relation to the actual home pos...

Page 15: ...er for each digital preset position Accel and Decel rates will be one of 4 different sets as shown in Table 1 on the next page MODBUS DISTANCE One 16 bit modbus register is used to command a speed during a move and one 16 bit modbus register is used to command a position Modbus register 061Ch holds the speed reference in 0 01 Hz and register 061Dh holds the position reference in engineering units ...

Page 16: ... Frequency Reference Register 13 14 in XXX XX Units d1 09 3 Modbus Addresses 061Ch Low Word 061Dh High Word Open Open Open Closed N A P4 02 C1 03 and C1 04 d1 10 Open Open Closed Open N A P4 03 C1 05 and C1 06 d1 11 Open Open Closed Closed N A P4 04 C1 07 and C1 08 d1 12 Open Closed Open Open N A P4 05 C1 01 and C1 02 d1 13 Open Closed Open Closed N A P4 06 C1 03 and C1 04 d1 14 Open Closed Closed...

Page 17: ...tware 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 When this scheme is employed there is no compensation for backlash or slack in the mechanical system The drive requires one of the following encoder feedback cards PG X2 PG B2 or PG W2 Note Wiring for the encoder marker pulse Z and Z is o...

Page 18: ... 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 The drive requires a PG W2 encoder feedback card Note Wiring for the encoder marker pulse Z and Z is only required if using a Homing w marker homing routine P2 01 4 or 5 Figure 5 Dual Incremental ...

Page 19: ... must be entered into parameters P3 03 and P3 04 and the encoder counts per revolution must be entered into P3 02 The encoder requires a DI 16H2 digital input option card and an external power supply for the encoder Encoder outputs must be 24VDC and capable of sinking current when a logic low is present on the output This software was tested with a Danaher Dynapar brand 12 bit by 12 bit gray code ...

Page 20: ...remental 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 Note The wiring below is for a TR Electronic brand encoder model CD65M G S 4096 4096 D23BB R10NR N7 4096 counts rev 2048 revolutions multi turn Figure 7a Absolute Incremental Encoder...

Page 21: ...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 Note The wiring below is for a TR Electronic brand encoder model CE65M G 4096 4096 D23BB R10HR HX 4096 counts rev 2048 revolutions multi turn Figure 7b Absolute Incremental Encoder...

Page 22: ...current velocity selected decel rate and position regulator gain When the begin decel point is reached the drive s speed reference will be clamped at the calculated positioning speed and the drive will decelerate on the selected deceleration ramp Once the machine speed is at or below the positioning speed the speed will be completely controlled by the position regulator with a speed limit of posit...

Page 23: ...gital Outputs Run Cmd Move Cmd During Move Move Complete At Home Selected Accel Rate Selected Decel Rate Selected Max Speed In Position Window P1 08 In Position Window P1 08 Positioning Speed Determined Automatically 0 Hz 60 Hz Digital Inputs Motor Speed Digital Outputs Run Cmd Move Cmd During Move Move Complete At Home Selected Accel Rate Selected Decel Rate Selected Max Speed In Position Window ...

Page 24: ...nd decel rates used during all homing stages are determined by parameters C1 07 and C1 08 except where noted HOME NEGATIVE When the Home Command input is closed the drive will accelerate using the C1 07 ramp in the negative reverse direction at the homing speed As soon as the home switch is activated the drive records the position as home then decelerates using the decel rate specified in paramete...

Page 25: ...the speed and C1 01 and C1 02 as the accel and decel ramps When complete the homing needed output is deactivated and the homing complete output is activated Figure 12 Home Negative with Backup Timing Chart P2 01 1 HOME POSITIVE Same sequence as Home Negative but the drive proceeds in the positive forward direction at the homing speed Figure 13 Home Positive Timing Chart P2 01 2 Digital Inputs Moto...

Page 26: ...on as the drive receives the marker pulse it records the position as home then decelerates using the decel rate specified in parameter C1 08 The drive then performs a move to home home offset Figure 15 Home Negative with Marker Pulse Timing Chart P2 01 4 C1 07 C1 08 P2 02 d1 08 C1 01 C1 02 P2 03 P2 04 Digital Inputs Motor Speed Digital Outputs Run Cmd Home Cmd During Move Move Complete In Position...

Page 27: ...tive forward direction at the homing speed Figure 16 Home Positive with Marker Pulse Timing Chart P2 01 5 d1 08 C1 07 Move To Home 0 Hz C1 08 P2 02 C1 01 C1 02 Digital Inputs Motor Speed Digital Outputs Run Cmd Home Cmd During Move Move Complete In Position Window P1 08 Home Switch Homing Needed At Home Homing Complete Marker Pulse from Encoder PG Input ...

Page 28: ...nce between the home switch position and the desired actual home position MOVE TO HOME AT END OF HOMING ROUTINE When a homing routine is complete the drive completes a move to the newly found home position home switch home offset The speed of the move is determined by parameter d1 08 and uses parameters C1 01 and C1 02 as the accel and decel rates The Homing Needed and Home Complete digital output...

Page 29: ...is run instead Figure 18 Home Negative starting on home switch P2 01 0 Figure 19 Home Negative with Backup starting on home switch P2 01 1 Digital Inputs Motor Speed Digital Outputs Run Cmd Home Cmd During Move Move Complete Back Off Of Home Switch In Position Window P1 08 0 Hz Home Switch Homing Needed At Home Homing Complete P2 02 P2 03 Move To Home Digital Inputs Motor Speed Digital Outputs Run...

Page 30: ...s Rotary Absolute P1 01 2 when the rising edge of the home switch is encountered the drive will then perform a move to home which will result in more forward motion beyond the home switch If the home offset P2 06 is set to 0 the machine will move one complete revolution at the end of the homing routine If motion type is Relative or Relative with Memory P1 01 3 or 4 when the rising edge of the home...

Page 31: ...ning will flash on the display 3 When the drive is ready to begin counting its absolute position it opens the Position Request output to the encoder The encoder will then output its absolute position by sending the number of pulses it is from its zero count The drive will count the pulses in quadrature The drive will also monitor the direction phase of the A and B channels If during the sending of...

Page 32: ...position If the motion control software is overridden with a jog or other frequency reference when in the middle of a move the move is canceled and the drive ramps to the new reference If the position of the drive is too far from home exceeds internal limits the drive will need to be re homed before any moves will be allowed The maximum distance from home is 109 encoder quadrature counts The home ...

Page 33: ...nits P1 09 but instead in encoder quadrature counts encoder PPR 4 Multi step distance selections will override this position command see Table 1 Example 1 Split a 32 bit position reference into two 16 bit words Desired Position Reference 10 234 567 encoder counts Step 1 Divide the position reference by 65 536 and drop the remainder decimal portion Position Reference 65 536 10 234 566 65 536 156 17...

Page 34: ...from the two 16 bit registers remain synchronized they should be read using a Read Multiple 03h Modbus command Example 2 Combine two 16 bit words into a single 32 bit number Low Word 0734h 12 345 High Word 0735h 9 876 Step 1 Multiply the High Word by 65 536 High Word 65 536 9 876 65 536 647 233 536 Step 2 Add the Low Word to the result of Step 1 Low Word Step 1 Result 12 345 647 233 536 647 245 88...

Page 35: ...quires a DI 16H2 option card installed at 2CN on the drive In addition to the gray code encoder requires a separate motor mounted incremental encoder AND a PG X2 option card installed at 4CN on the drive Logic Levels 24 VDC true and 0 VDC false Gray code encoder MUST be capable of sinking current on its outputs Mountable directly on machine or on motor gear ratio available Rollover protection Test...

Page 36: ...e Green 6 S9 Brown Green 25 S10 White Yellow 7 S11 Yellow Brown 26 Revolutions M0 White Grey 8 M1 Grey Brown 27 M2 White Pink 9 M3 Pink Brown 28 M4 White Blue 14 M5 Brown Blue 33 M6 White Red 15 M7 Brown Red 34 M8 White Black 16 M9 Brown Black 35 M10 Grey Green 17 M11 Yellow Grey 36 Misc Control Alarm Pink Green 18 Direction Yellow Pink 10 Latch Green Blue 30 Tristate Yellow Blue 12 Power Vcc Red ...

Page 37: ...reen S9 Brown Green S10 White Yellow M0 White Grey Bit 7 TC1 8 S7 Red Blue S9 Brown Green S10 White Yellow S11 Yellow Brown M1 Grey Brown Bit 8 TC1 9 S8 White Green S10 White Yellow S11 Yellow Brown M0 White Grey M2 White Pink Bit 9 TC1 10 S9 Brown Green S11 Yellow Brown M0 White Grey M1 Grey Brown M3 Pink Brown Bit 10 TC2 1 S10 White Yellow M0 White Grey M1 Grey Brown M2 White Pink M4 White Blue ...

Page 38: ... desired source for the position reference Position Reference Source P1 02 will be overwritten if a digital preset position is selected via multifunction digital inputs See Table 1 Profile Selection Information for more details All digital output logic and position monitors are available through serial communications If an option board is required for serial communications Profibus Modbus Plus Dev...

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