acc-8d option 9
Contents
1. ACC 8D JTHUMB TT IT 5 g MAC g 3 z m H I Sp Qe 303 Motor Amplifier JP7 JP6 JENC1 JP1 JENC IP24 JENC JP3 JENC4 OPA Y ACC 8D 25 oU Opt 9 8 Motor o c gt uj Test Setup 21 Accessory 8D Option 9 For U ser of SIGMA Series Motor amp Absolute Encoder u i PMAC JMACH1 JENCA senc venca_ CPZ JENc4L JP ACC 8D Opt 9 Yaskawa Part JUSP TA5OP 1CN 1 0 Terminal Interface Special cable p n 3C9 OACC8D OPT SERVOPAK cn EN 22 Test Setup Accessory 8D Option 9 YASKAWA ABSOLUTE ENCODER INTERFACE MACRO Interface Version Jumper Settings Jumper E9 selects the compact MACRO interface RS232 or thumbwheel communication function The jumper position is read once at power up so any changes made after that are invalid Once the MACRO interface function is active the communication between the interface card and the MACRO station is established via RS232 A RS232 cable must be plugged into P2 on the interface card see the wiring diagram for details Two ACC 8D Option 9 cards are allowed in one system The card add2. Jumper Position Description Default Setting El Encoder 1 absolute data reset 2 3 E Encoder 1 normal operation Default E2 1 Encoder 2 absolute data reset 2 3 E Encoder 2 normal operation Default E3 Encoder 3 absolute data reset 2 3 E Encoder 3 normal operation Default EA u Encoder 4 absolute data reset Li 2 3 Li E Encoder 4 normal operation Default ES Additional driver for LED out E6 z J CPU reset ra 2 3 E CPU normal operation E E7 Bootstrap mode 2 3 Single chi Default 1 m Jumper Setup 15 Accessory 8D Option 9 16 Jumper Setup Accessory 8D Option 9 CONNECTOR PINOUTS Headers JP1 to JP4 20 Pin Header CERE E E E j 18a FPES FF Top View Pin Symbol Function Description Notes 1 GND Common Encoder Common 2 GND Common Encoder Common 3 GND Common Encoder Common 4 SEN Power 5V 5 SEN Power 5V 6 SEN Power 5V 7 NC 8 NC 9 NC 10 RESET Input Encoder Reset 11 NC 12 BAT Input 43V 13 BAT Input Encoder Common 14 PHASE C Output Channel C 15 PHASE C Output Channel C 1 16 PHASE A Output Channel A 17 PHASE A Output Channel A 18 PHASE B Output Channel B 19 PHASE B Output Channel B 20 F GND Common Encoder from Ground 1 Channel C is terminated at the connector The part number and manufacture information for connector JP1 JP4 is as follow Manufacture
3. 10 PMAC I Variable Setup Accessory 8D Option 9 TURBO PMAC I VARIABLE SETUP Ixx10 Motor xx Power On Position Address Ixx10 should be set to the multiplexer port location associated with the switch setting of the ACC 8D option9 The following table shows the possible address settings of Ixx10 Board Ixx10 Board Ixx10 Board Ixx10 Board Ixx10 Mux Mux Mux Mux Addr Addr Addr Addr 0 000100 64 000040 128 000080 192 0000C0 8 000008 72 000048 136 000088 200 0000C8 16 000010 80 000050 144 000090 208 0000D0 24 000018 88 000058 152 000098 216 0000D8 32 000020 96 000060 160 0000A0 224 0000E0 40 000028 104 000068 168 0000A8 232 0000E8 48 000030 112 000070 176 0000B0 240 0000FO 56 000038 120 000078 184 0000B8 248 0000F8 Since each ACC 8D option 9 card can support up to four Yaskawa Absolute encoders the following table list the channel address of each channel relative to the base address You can see that each successive channel is two addresses 2 from the previous channel For simplicity we have listed the first six board addresses Board Mux Channel 1 Channel 2 Channel 3 Channel 4 Addr Ixx10 Ixx10 Ixx10 Ixx10 0 100 02 04 06 08 08 0A 0C 0E 10 10 12 14 16 18 18 1A 1C SIE 20 20 22 24 26 28 28 2A 2C 2E Ixx95 Motor xx Po
4. HONDA Part number MR 20RMD2 male Mate in connector part number MR 20F Vendor CONNEX Fremont CA Telephone 1 800 972 5932 Connector Pinouts 17 Accessory 8D Option 9 JP6 and JP7 26 Pin Header Top View Pin Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Output Data Bit 0 4 SELO Input Address Line 0 5 DATI Output Data Bit 1 6 SEL I Input Address Line 1 7 DAT2 Output Data Bit 2 8 SEL2 Input Address Line 2 9 DAT3 Output Data Bit 3 10 SEL3 Input Address Line 3 11 DAT4 Output Data Bit 4 12 SEL 4 Input Address Line 4 13 DATS Output Data Bit 5 14 SEL5 Input Address Line 5 15 DAT6 Output Data Bit 5 16 SEL6 Input Address Line 6 17 DAT7 Output Data Bit 6 18 SEL7 Input Data Bit 7 19 N C Not connected 20 GND Common PMAC Common 21 N C Not connected 22 GND Common PMAC Common 23 N C Not connected 24 GND Common PMAC Common 25 5V Input 5V DC Supply 26 N C Not connected JENC1 to JENCA 10 Pin Header Top View Pin Symbol Function Description Notes 1 CHAI Output A Channel H P Standard 2 45V Input Power Supply H P Standard 3 GND Common Digital Ground H P Standard 4 CHA1 Output Neg A Channel H P Standard 5 CHB1 Output Neg B Channel H P Standard 6 GND C
5. for a possibility of 32 board connections Address Map Accessory 8D Option 9 Address Map Accessory 8D Option 9 ABSOLUTE ENCODER SETUP If the battery is connected the YASKAWA absolute encoder provides 5 digits of signed absolute position data However when the absolute position data needs to be cleared to 0 the following setup is needed 1 Turn off power supply for the entire motor and encoder 2 Remove the battery from this board 3 Discharge the capacitor inside of the encoder by moving the corresponding jumper El to E4 for encoder 1 to 4 respectively from the default setting 2 3 to 1 2 for at least 2 minutes 4 Place the Jumper back to the default position and reinstall the battery on the board This completes the setup Note The reset procedure may be different for different models of the encoders Reference the encoder manual for details Absolute Encoder Setup 7 Accessory 8D Option 9 Absolute Encoder Setup Accessory 8D Option 9 PMAC I VARIABLE SETUP The following PMAC I variable setup is needed for the system to use the YASKAWA absolute encoder and the ACC 8D Option 9 conversion board Ix10 Motor x Power On Servo Position Address Mades Address Hex 7 1 0 0 0 8 Bino 111 0 olol olo olo 00 0 0 0 0 00 1 o o o 00 07 Address is multiplexer port address specifies device at this port a
6. 31 ALM Servo alarm output 32 ALM Servo alarm output 33 PAO PG dividing output phase A 34 PAO PG dividing output phase A 35 PBO PG dividing output phase B 36 PBO PG dividing output phase B 37 ALOI Alarm code output open collector output 38 ALO2 Alarm code output open collector output 39 ALO3 Alarm code output open collector output 40 S ON Servo ON input 41 P CON P control input 42 P OT Forward over travel input 43 N OT Reverse over trivial input 44 ALM RST Alarm reset input 45 P CL Forward external torque limit ON input 46 N CL Reverse external torque limit ON input 47 24V IN External power supply input 48 PSO Phase S signal output 49 PSO Phase S Signal output 50 FG Frame ground Connector Pinouts 19 Accessory 8D Option 9 20 Connector Pinouts Accessory 8D Option 9 TEST SETUP The diagram below shows how to connect the ACC 8D Option 9 accessory board to PMAC For this example we will be using a Yaskawa UTMAH B15AS absolute encoder mounted on the back of a USAGED 2AS2K AC Servo Motor The encoder has 8192 counts rev As shown in the diagram we will be connecting the encoder to PMAC s encoder channel 1 Once everything is properly connected power up the system Next go into the Executive program and open the position window If you spin the motor by hand you should see the position of motor 1 moving Block Diagram of Yaskawa Encoder PMAC Interface
7. Accessory 8D Option 9 JAN DELTA TAU VY 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 2003 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 In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causin
8. Gear Ratio Set I8x counts rev 4096 I9x The remainder from above division Example The number of lines per revolution of the YASKAWA absolute encoder in the system is 8192 PMAC will multiply this term by 4 and read 8192x4 32768 counts rev 32768 X 4096 19x 0 18x28 I9x 0 Note The I8x and I9x are defined for something else in the PMAC manual for a general purpose application It is necessary to use the above definition for this application Ix81 Motor x Absolute Phasing Position Address I Variable Name I Variable Value Encoder 1 4 D C001 Encoder 2 4 D C009 Encoder 3 4 D C011 Encoder 4 4 D C019 The number in the parenthesis should reflect the number of lines of the absolute encoder in hexadecimal To derive this value Convert the number of lines to a binary number such as 8192 2B 10000000000000 Convert the exponential part which is 13 in the above example to a hexadecimal number 13 dec D hex Example If encoder 1 in the system is a YASKAWA absolute encoder with 8192 lines rev the correct value for I 181 will be I 181 4DCOO1 However encoder 2 in the system is a 12 bit YASKAWA absolute encoder For instance if the number of lines rev for this encoder were 4096 then the right value for I 281 would be I 281 4CC009 Note The last four digits are motor x phasing position address see PMAC manual on Ix83 for details
9. Node N 1 0 2 1 3 4 4 5 5 8 6 9 1 12 8 13 The number in the parenthesis should reflect the number of lines of the absolute encoder in HEX To derive this value 1 Convert the number of lines to a binary number such as 8192 2 2 Add 5 to the exponential part which is 10 in the above example That is 13 5 18 3 Convert the result to hex representation 18 dec 12 hex MH 1x Bit 16 23 only first two digits The following are MACRO I Variables I11n Bits 16 23 Type of Feedback Notes 71 Yaskawa Absolute Encoder Converter Used for ACC 8D Opt 9 connected to CPU through Multiplexer Port bits 0 15 board JTHW port use E9 to configure equal to Thumbwheel address address is multiplexer port address 00 SFF 72 Yaskawa Absolute Encoder Converter Used for ACC 8D Opt 9 connected to CPU through RS 232 interface bits 0 15 board serial port equals 0 Reference MACRO Station Software Reference manual for details 24 Yaskawa Absolute Encoder Interface Accessory 8D Option 9 TROUBLE SHOOTING Data Acquisition Sequence The ACC 8D Option 9 Yaskawa interface card is a slave card for PMAC It acquires the absolute data only when PMAC requests it The absolute position data is obtained by sending out SEN signal 5V to the encoder The power will remain on if the data is successfully acquired It will turn off OV if the data is not received within approximately 1 5 sec
10. ceececaeeececsaeeecneeeeeessnsseeneaes 10 Ix81 Motor x Absolute Phasing Position Address oooocnncnnnnnonoccnoncononnnoncnncnn nono nononconnonnon eene 10 TURBO PMAC I VARIABLE SETUP recess eese s s sosna sensato 11 Ixx10 Motor xx Power On Position Address esses eene enne enne nennen enne 11 Ixx95 Motor xx Power On Servo Position Format esses enne enne nnne 11 Ixx98 Motor xx Resolver 3 Gear Ratio Yaskawa Only for Turbo sssssseeeere 11 Ixx99 Motor xx 2 Resolver Gear Ratio Yaskawa Encoder only for Turbo sss 12 Example Turbo PMAC Yaskawa Absolute Encoder Setup essere 12 Turbo PMAC Power On Ph smg 2 n epe te treni o Pe He le EORR Ip PI ee Eo Ede ree baee 12 DOT cete E A E E I LA UL LA i 13 ANID E eE M 13 Jogo M MR 14 DOO cis LM E ALL M Le Lue A M E A M LI 14 JUMPER SETUP 15 CONNECTOR PINOUTS ccsccscssssccsscscssscscssscscscssscssscssscenscsnecsncesscsssesscssscsssccsssssssssssenssesessncssncseneece 17 Headers 2o O 17 JPI to JP4 20 Pin Head and seh eu eu dne tue ue a gue 17 JPO ard IPT 26 Pin He der 5 e ii ici 18 JENCI to JENC4 10 Pin Header eese eee eene entere entere nennen nennen nennen inne 18 SERVOPACK 1CN TERMINAL DESCRIPTION e
11. ddress resolver 08 30 hex Address is PMAC memory I O address specifies of bits parallel input 31 hex Address is PMAC mE I O address data in high 16 bits eg DC or Address is multiplexer data is Yaskawa rev cour 0 Data at Y address 08 30 ADC data 31 1 Data at X address 08 30 Y askawa data 31 2 Treat as unsigned value 1 Treat as signed value The Ix10 variable will allow the system to enable the absolute encoder and get the absolute position data upon power on condition See PMAC User s Manual Addendum 1 15 from June 1994 To define the Ix10 variable correctly place a 7100 value in front of the beginning address 2 hex for each encoder Encoder I Variable I Variable Value 1 710008 2 71000A 3 71000C 4 71000E An easy way to understand the addressing scheme is to look at the dip switch setting table and place a 1 where the open is located and a 0 for the close position Now place three zeros after the switch setting and convert this binary representation to a hex value Example The starting address for board 2 encoders 5 6 7 and 8 would be 10 Therefore our definitions for the Ix10 variables would be Encoder I Variable Value 5 710010 6 710012 7 710014 8 710016 PMAC I Variable Setup 9 Accessory 8D Option 9 18x Motor x Resolver Gear Ratio 19x Motor x Second Resolver
12. edback as well as absolute position data To prevent data from being lost in the case of power loss or power off conditions a 3V battery is included on the board with a monitor circuit to provide an indication of any drop in excess of 5 In addition there are four jumpers on the board to allow the customer to reset the absolute position value See the related paragraphs below for a detailed description of the absolute encoder setup The encoder has internal counters and memory that count and retain the incremental counts Upon power up it sends RS232 data to PMAC representing the absolute position Operation is then automatically switched to incremental Refer to the YASKAWA manual for further explanation Note If you are using a PMAC with Flash Memory 40 MHz or 60 MHz you must use firmware version 1 16A or newer Call the factory for details on upgrading your firmware Introduction 1 Accessory 8D Option 9 Introduction Accessory 8D Option 9 CONNECTORS JP1 to JP4 These connectors are 20 pin Honda connectors that come directly from the absolute encoder For detail signal description refer to the YASKAWA manual JP6 This is a 26 pin header that provides the link between PMAC s JTHW J3 and the absolute encoder conversion board through the supplied flat cable Through this connector PMAC captures the absolute position JP7 This is a 26 pin header which brings out the JTHW signals
13. ese esee ee seen ento n stone ense ense tassa seta setas ta sonata 19 TEST SETUP LT 21 YASKAWA ABSOLUTE ENCODER INTERFACE eee eee eres eren ernst n sense ense tn seta seta setas tss ono 23 Jumper UD srir e E era Eene Eo SE EE E EA EEEE Ea E EREDE OE RRT EE EEEE e SEE 23 Jumper ES amp E9 Setup siaaa eE uh rue EE AE E E E E A EENEN EEEE P debi TR 23 PMAC I Vanable Setups AAA ao pu nar o 23 Ix10 Power On Initial Position Type and Address esee 23 TSX and AON costs 24 Ix81 Motor x Absolute Phasing Address eese eene nennen nennen eene eene 24 MII Ix Bit 16 23 only first two digits eese oe eene nennen nennen entente entente 24 TROUBLE SHOOTING i sasi s sos sa 25 PAN ISSN 25 Checking Up Steps SEE 25 APPENDIX dee M 27 Setup Method for 12 bit Absolute EncodeT onccncnncnocnnonononononnnnnonncononoconononononononno nn 27 Table of Contents i Accessory 8D Option 9 ii Table of Contents Accessory 8D Option 9 INTRODUCTION PMAC s Accessory 8D Option 9 P N 309 OACC8D OPT9 allows a PMAC interface to the YASKAWA absolute encoder This board provides up to 4 channels of absolute encoder inputs to the PMAC controller with both A B quadrature incremental encoder signal fe
14. for the next accessory board on the JTHW multiplex memory map This connector is pin to pin compatible with JP6 JENC1 to JENC4 These are 10 pin headers that provide the normal differential A quad B encoder signal as well as a C channel generated by the absolute encoder The four connectors are for the first to the fourth encoder respectively JP8 This is a 2 pin terminal block for the power supply input The power requirement of the system is 5V DC 10W External power is needed only when JP6 or JP7 and JENC1 JENC4 are not connected Connectors Accessory 8D Option 9 Connectors Accessory 8D Option 9 ADDRESS MAP ACC 8D Option 9 generates both absolute and incremental position data from the absolute encoder Normally the absolute position is read by PMAC through the Thumbwheel Port JTHW only during power up The incremental A QUAD B data however is counted continuously A 5 bit DIP switch S1 determines the address of this board The factory default setup is as follows Multiplex Encoder S1 DIP Switch Setting Address starting address 5 4 3 2 1 1 08 CLOSE CLOSE CLOSE CLOSE OPEN 2 CLOSE 3 OPEN 4 CLOSE 5 OPEN lp oos CO a i de x jo x loe d oo ole elo s doo om s 27 OPEN 28 CLOSE 29 OPEN 30 CLOSE 31 F8 OPEN OPEN OPEN OPEN OPEN Default Settings Position 5 4 3 2 1 Set ON ON OFF There will be 32 different address settings
15. g electrical shorts When our products are 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 Accessory 8D Option 9 Table of Contents ANLOJ DI OLOA AAA ona 1 CONNECTORS re 3 UPTO AIPA S o D Arene htp ovos MEME MM 3 Ul eis 3 A ULM 3 JENCIto SBN CA erre RR SR AUTRE MEER NUUS iaa CHR ERUNT 3 Ue OOO 3 ADDRESS Y dg M 5 Default Seti gs s ERE Dr 5 ABSOLUTE ENCODER SETUP 0 ccssscscsssssscssscssscssscssscssscnssscesncesecssocssssscssscssscssscssscssecesecssecssecseeees 7 PMAC I VARIABLE SETUP u ccscssscccsscccscscscccsscesscssscssccssccnecsscessessocsseesscssscssscassccsssssssesscescsseesseesneees 9 1x10 Motor x Power On Servo Position Address ccccccccsssecesssesscecsseeeeeeeceaeeeeaeecaeeeeseeceseeeeaeenneeeesaeens 9 I8x Motor x Resolver Gear Ratio cccccccccccssecssscessscesscecsseceseeecsaeceeeecsaeceseeeesaecsseeeesaecseeecaeeeeeeeesaeensees 10 19x Motor x Second Resolver Gear Ratio ccccccecsessecesssececssceceeseececseaececse
16. ice Since the data from the ACC 8D option 9 is absolute the motor phase position relative encoder position is fixed and a no movement motor phase can be performed To properly phase the motor using the absolute data from the ACC 8D option 9 setup I variables Ixx81 Ixx91 for Turbo only Ixx75 and Ixx80 12 Turbo PMAC I Variable Setup Accessory 8D Option 9 The no movement power on phase reference works as follows Initially when setting up the system this may be done in a lab setting the motor is forced to the zero position in its phase cycle The position of the absolute sensor is read by querying an M variable previously set up to point to the sensor After performing some math on this value the resulting value is stored in PMAC as Ix75 and represents the power on phase position offset Ix81 is set to tell PMAC the address location where it can find the absolute sensor s feedback and how to decode this information On power up or when a reset motor command is issued PMAC will look to this address grab the current position of the rotor add to it the pre determined offset parameter and instantly it knows where the motor is in its phasing cycle relevant to the current position No movement is necessary Ixx81 Ixx81 tells Turbo PMAC what address to read for absolute power on phase position information for Motor xx if such information is present This can be a different address from that of the ongoing phase posit
17. ion information which is specified by Ixx83 but it must have the same resolution and direction sense xx81 is set to zero if no special power on phase position reading is desired as is the case for an incremental encoder The ACC 8D Option 9 Yaskawa Absolute Encoder converter board synthesizes quadrature signals into the Turbo PMAC at power on until the power on position within one revolution is reached so the value of the encoder counter can simply be read Turbo PMAC 1 Ixx81 Encoder Register Settings Ixx91 480000 580000 Encoder PMAC I ACC 2 ACC 3 ACC 4 ACC Register 24P V 24P V 24P V 24P V Channel Channel 1 078001 078201 079201 07A201 07B201 Channel 3 078009 078209 079209 07A209 07B209 Channel 5 078101 078301 079301 07A301 07B301 Channel 7 078109 078309 079309 07A309 07B309 Turbo PMAC2 Ixx81 Typical Encoder Register Settings Ix912 480000 580000 Encoder PMAC2 1 ACC 2 ACC 3 ACC 4 ACC Register 24x2 24x2 24x2 24x2 Channel Channel 1 078001 078201 079201 07A201 07B201 Channel 2 078009 078209 079209 07A209 07B209 Channel 3 078011 078211 079211 07A211 07B211 Channel 4 078019 078219 079219 07A219 07B219 Channel 5 078101 078301 079301 07A301 07B301 Channel 6 078109 078309 079309 07A 309 07B309 Channel 7 078111 078311 079311 07A311 07B311 Channe
18. l 8 078119 078319 079319 07A319 07B319 Ixx91 Ixx91 tells how the data at the address specified by Ixx81 is to be interpreted It also determines whether the location specified by Ixx81 is a multiplexer thumbwheel port address an address in Turbo PMAC s own memory and I O space or a MACRO node number For the ACC 8D option Ixx91 will be set to a value of 580000 Turbo PMAC I Variable Setup 13 Accessory 8D Option 9 Ixx75 Ixx75 tells Turbo PMAC the distance between the zero position of an absolute sensor used for power on phase position specified by Ixx81 and Ixx91 and the zero position of Turbo PMAC s commutation cycle It is used to reference the phasing algorithm for a PMAC commutated motor with an absolute sensor Ixx81 gt 0 Please see Software Reference for proper setting Ixx80 Ixx80 controls the power up mode including the phasing search method if used for Motor xx If Ixx80 bit 0 is 1 Ixx80 1 or 3 this is done automatically during the power up reset cycle and it also be done in response to a on line command to the motor or a on line command to the coordinate system containing the motor If Ixx80 is set to 0 phasing will also be done in response to a on line command to the motor or a on line command to the coordinate system containing the motor 14 Turbo PMAC I Variable Setup Accessory 8D Option 9 JUMPER SETUP
19. ommon Digital Ground H P Standard 7 5V Input Power Supply H P Standard 8 CHBI Output B Channel H P Standard 9 45V Input Power Supply H P Standard 10 CHCI Output C Channel H P Standard 18 Connector Pinouts Accessory 8D Option 9 Servopack 1CN Terminal Description For X Series Motor and Absolute Encoder Terminal Label Description 1 SG OV 2 SG OV 3 PLI Power supply for open collector reference 4 SEN SEN signal input 3 V REF Speed reference input 6 SG OV 7 PULS Reference pulse input 8 PULS Reference pulse input 9 T REF Torque reference input 10 SG OV 11 SIGN Reference sign input 12 SIG Reference sign input 13 PL2 Power Supply for open collector reference 14 CLR Error counter clear input 15 CLR Error counter clear input 16 TQR M Torque monitor 17 VTG M Speed monitor 18 PL3 Power supply for open collector reference 19 PCO PG dividing output phase C 20 PCO PG dividing output phase C 21 BAT Battery 22 BATO Battery 23 12V Power supply for speed torgue reference 24 12V Power supply for speed torgue reference 25 V CMP COIN Speed coincidence signal output 26 V CMP COIN Speed coincidence signal output 27 TGON TGON output signal 28 TGON TGON output signal 29 S RDY Servo ready output 30 S RDY Servo ready output
20. onds Checking Up Steps If there is no position data showing on the PMAC window the following steps could be followed to check the card Step 1 Is the jumper setting right Which includes e Dip switch Sl e E point jumpers E1 E9 Step 2 Is there power applied to the card Refer to page 2 of this manual for JP8 Check with meter on TP11 and TP12 to verify should be 5V Step 3 Compare all the necessary PMAC I variables with this manual PMAC is shipped with all the I variables in default values The ACC 8D Option 9 user has to change the related I variable according to this manual A save command has to be executed in order to keep those values from being lost when the command or a power recycle occurs Step 4 Does the encoder need to be reset Reference your YASKAWA motor and encoder manual for detailed information on how to reset the absolute position data If some encoders are disconnected from the battery on this card for a certain period of time either the absolute position data will be lost back to 0 or a reset procedure will need to be done before the encoder starts working correctly Troubleshooting 25 Accessory 8D Option 9 26 Troubleshooting Accessory 8D Option 9 APPENDIX Setup Method for 12 bit Absolute Encoder To clear the cumulative rotation number to zero for testing the motor or when the absolute encoder has been left disconnected f
21. ress is defined by jumper E8 and is read at power up Changes to the setting of jumper E8 will not be read until the next time power is turned on Jumper E8 amp E9 Setup Jumper Position Description Default Setting E8 Jumper in Out Interface board address bit board 2 for encoder 5 to 8 E9 LM In Thumbwheel port communication version Jumper in RS232 communication version compact MACRO station only For compact MACRO interface application and for firmware version 1 106 and later the thumbwheel communication is supported PMAC I Variable Setup The following PMAC I Variable set up are for MACRO interface version only Ix10 Power On Initial Position Type and Address of Encoder I Variable PMAC I Variable Name Value 72 0000 72 0001 72 0004 72 0005 72 0008 72 0009 72 000C 8 72 000D The numbers in parenthesis are valid MACRO motor nodes The motors are assigned to a Y MACRO motor node alla RODI Yaskawa Absolute Encoder Interface 23 Accessory 8D Option 9 18x and 19x I8x counts rev 4096 I9x the remainder from above division Note Here the counts rev Encoder lines revolution X 4 Ix81 Motor x Absolute Phasing Address The following table is a function of its motor X and its MACRO motor node N of I Variable PMAC PMAC2 Y MACRO Encoder name I Variable Value I Variable Value Motor
22. rom a battery for more than two days the encoder needs to be setup by the following procedure Under the above conditions capacitors in the encoder may be charged insufficiently so that the internal circuits may malfunction Strictly follow the procedure Otherwise an error may occur 1 Turn ON power to the SGD SERVOPACK Connect the SGD SERVOPACK motor and encoder properly Connect the battery and turn ON power to the SGD SERVOPACK 2 Set the SEN signal 1CN 4 high When the SEN signal is high 5 V power is supplied to the encoder Keep this condition for three minutes or longer to fully charge the backup capacitor 3 Data reset Turn OFF power to the SGD SERVOPACK Remove the encoder connector Connect connector terminal 13 and 14 of the encoder for one or two seconds 4 Wiring Restore the normal wiring 5 Power ON Turn ON power tot he SGD SERVOPACK Set the SEN signal to high level If no error occurs setup has been completed If alarm is 0 output restart from step 1 Appendix 27 Accessory 8D Option 9 28 Appendix Accessory 8D Option 9 Motor AMP Compaet Macro 2 Axi 4 Axis Compact MACRO CPU 2 2 IP Encoder 7 LI C E Abaohite U ACC 8D Optica 9 Nete Use ES to Configure Communication Port Yaskawa Absolute Encoder LF Appendix 29
23. urbo PMAC Yaskawa Absolute Encoder Setup For this example we will have the ACC 8D option 9 addressed to the base address 08 based on the SW1 settings The four encoders for this example have 8192 lines per revolution or 32768 encoder counts with 4x decode We will also assume that we are setting up motors 1 2 3 and 4 To properly setup the ACC 8D option 9 to read Yaskawa absolute encoders do the following Ixx10 Setup 1110 08 1 channel ACC 57E 1210 0A 2 channel ACC 57E 1310 0C 3 channel ACC 57E 1410 0E 4 channel ACC 57E Ixx95 Setup 1195 F10000 Yaskawa absolute power on position setting 1295 F10000 Yaskawa absolute power on position setting 1395 F10000 Yaskawa absolute power on position setting 1495 F10000 Yaskawa absolute power on position setting Ixx98 Setup I198 8 Ixx98 32768 4096 8 I298 8 Ixx98 32768 4096 8 1398 8 Ixx98 32768 4096 8 I498 8 Ixx98 32768 4096 8 Ixx99 Setup 1199 0 Ixx99 remainder from Ix98 calculation 1299 0 Ixx99 remainder from Ix98 calculation 1399 0 Ixx99 remainder from Ix98 calculation 1499 0 Ixx99 remainder from Ix98 calculation Turbo PMAC Power On Phasing All brushless motors require some type of a phase search on power up to establish a relationship between the zero position of the motor s commutation cycle and the zero position of the feedback dev
24. wer On Servo Position Format Ixx95 will be set to a value which tells the controller that the register from Ixx10 will be processed as an ACC 57E absolute encoder The following table shows the possible settings of Ixx95 Encoder Type Controller Ixx95 Value Yaskawa Turbo PMAC or 710000 unsigned Turbo PMAC2 F10000 signed Ixx98 Motor xx Resolver 3 Gear Ratio Yaskawa Only for Turbo Ixx98 tells the PMAC how many counts per revolution the Yaskawa Encoder has The units for this parameter are in counts per revolution divided by 4096 The counts per revolution are based on the decode value of I7mn0 Almost all users will use 4x decode If the Yaskawa absolute encoder you are using has 32768 counts per revolution then the user will set Ixx10 to the following value 32768 Ixx98 4096 Turbo PMAC I Variable Setup 11 Accessory 8D Option 9 Ixx99 Motor xx 2 Resolver Gear Ratio Yaskawa Encoder only for Turbo This is used to let the PMAC know what the remainder from the Ixx98 division is For most Yaskawa encoders this value will be zero because the majority of their encoders are based on a power of two line count 1024 2048 4096 etc Example The number of lines per revolution of the YASKAWA absolute encoder in the system is 8192 PMAC will multiply this term by 4 and read 8192x4 32768 counts rev 32768 Ixx98 4096 Ixx99 0 Example T
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