Product Support Group
P.O. Box 368 Herzliya B. 46103 Israel
Tel: 972-9-960-8222
Fax: 972-9-960-8223
Motion System: Servo drive
Overview:
The VLX motion system is a 4 Axle motion system:
X-Belt driven linear bar
Y-revolving rubber shaft for media forwarding
Z-revolving rubber shaft for media tension
T-revolving shaft for collecting the media on backward rotation
The VLX motion system is an AC Servo system and it consists of 3 basic elements:
1.An AC Servomotor, refered to as “the motor”
2.A Servo Amplifier, which processes the feedback signals from the motor, compares it with reference signals and powers the motor to correct its position. Refered to as “the Driver”.
3.A host controller, which controls the driver and is refered to as “the Controller”
In the VLX printer there are 4 identical servo drives that power the X,Y,Z and T shafts.
Each servo drive consists of:
YASAKAWA ############# AC Servomotor
YASAKAWA ############# driver
Each servo drive is loaded with different settings for the different type of work they perform.
All 4 are connected to an ACS Controller.
All 3 elements of the motion system are located on the opposite side to the computer console (“Home”).
An additional motor is located at the back of the machine on the “Home” side.
This motor is rotating the collecting shaft, it is referred to as the “motor collector” and it is not connected to the motion control system.
In this chapter we will review the specs’ of the servo drive hardware, and the operation of the software included.
Motor:
UNITSTYPE / SGME08VF14
VOLTAGE / VAC / 200
PHASE / 3
OUTPUT / KW / 750
TORQUE / N*M / 2.39
PEAK TORQUE / N*M / 7.1
CURRENT / A / 4.4
SPEED / RPM / 3000
ENCODER / INCREMENTAL
DRIVER:
TYPE / SGDA08VSPOWER SUPPLY / 230 VAC single phase
FEEDBACK / 1024p/r absolute encoder
WEIGHT / 1.5 Kg
REFERENCE VOLTAGE / +\- 10VDC
The power supply to the driver is filtered through:
Single phase RFI filter-RS 1010J7,Rasmi Electronic
CONTROLLER:
ACS- details will be supplied later
SYSTEM STRUCTURE:
Each of the motors is mechanically connected to one rotating shaft using an appropriate coupling type
Note:
Each drive has a 10A circuit breaker located on the PDU
The controller is also fed from a 10A circuit breaker on the PDU
On the controller we find 4 Axis and 4 Encoder ports for each of the 4 computer controlled axis on the machine
Operation
The drivers control the mode of operation of the motor they are connected to.
The Yasakawa drivers arrive with identical operation settings
There are two categories of settings:
One category of settings that define a general operation mode for the motor
Another category of settings which changes the motor’s performance in a more Precise manner- a sort of fine-tuning.
The general mode of operation set for the VLX motors is defined as “Torque-Mode”:
An Analog voltage of values that range between +10 to –10 volts is fed into the driver from the controller. The driver than powers the motor with a 3-phase voltage until the desired torque and position demand is met.
However each motor differ in the more “precise” settings that were programmed into.
This chapter is an introduction to the Yasakawa Drivers software, and it includes:
1.Introduction to the software interface
2.Basic operations
3.Basic description of the driver settings
Note : The software works only with a direct connection to the driver. Therfore,before entering the software ,unplug the COM cable on the comuter and connect this COM port to the OPERATOR port on the driver
1.1Locate the YASAKAWA shortcut icon on the desktop and enter the software. A dialog box will appear, with info on the type of hardware that has been detected by the software.”OK” it if it is correct.
1.2The main software window will appear
In the main menu you will find all available options to you.
More useful is the toolbar under the Main Menu in which the more commonly used functions are displayed
Under the Toolbar is the screen display:
User Parameters: View and altar driver settings
Commutators and Encoders: A Real-time display of motor Commutators and Encoder status
Alarms: Display of alarm history, from current status-backwards
I/O: Displays current memory switch selection
Servo status: A Real-time display of Servo Status
Toolbar:
1.Monitor \ Parameter section : The main data screens,it is grayed when the screen is on display
2.Tuning section: Graphic display of the motor performance
Note:When Monitor section is displayed the Tuning section button is in colors, and when the Tuning section is displayed the Monitor button is in colors
3.Scan for servo Amp: The software automatically searches for a servo driver when it is turned on. However clicking on the “binocular” button will prompt a new search
4.Go offline
5. Close Servo Amp: will close the current driver display
6. Read: Read the current value programmed in the driver for the marked field in the User Parameter screen
7.Read All: Read All the values set in the driver
8.Send: Send a new parameter value setting on a chosen field to the driver
9.Send All: Replace all current settings in the driver with ones entered in the user parameter screen
10. Jog: Opens the Jog dialog box .The Jog command is a direct command to move the motor
User Parameters:
Cn- / Code&Units / Description01 / MEM1 / See chart below
02 / MEM2 / See chart below
03 / VREFGN r/min / Speed reference gain determine the relation between the Voltage input and the motor speed in r/min
04 / LOOPHZ Hz / Not relevant for Torque mode
05 / PITIME 1 ms / Not relevant for Torque mode
06 / EMGTRQ % / Percentage of the continuos torque that will be applied when Emergency switch is pressed
07 / SFSACC ms / Time interval 0 speed to max speed
08 / TLMTF % / Percentage of rated torque that will be applied on a forward rotation
09 / TLMTR % / Percentage of rated torque that will be applied on a backwards rotation
0A / PGRAT p/r / The output number of pulses to the controller
0B / TGONLV r/min / The minimum speed before driver will fall
0C / TRQMSW % / Torque limit after which the motor will switch from PI control to P control ,that will reduce the servo gain while accelerating,diselerating –In other words:Keep the system more stable while changing directions
0D / REFMSW r/min / The same function as Cn0C but for Speed mode therefore is not relevant (The machine’s motors are set on Torque mode)
0E / ACCMSW 10(r/min)/s / The same function as Cn0C but for Speed mode therefore is not relevant (The machine’s motors are set on Torque mode)
0F / ZCLVL r/min / Not relevant for our chosen work mode
10 / JOGSPD r/min / Jog function speed
11 / PULSNO P/R / Number of pulses exerted by the motor
12 / BRKTIM 10ms
13 / TCRFGN 0.1V/rated torque / The amount of torque we will get for the certain analog voltage we input
14 / TCRLMT r/min / A speed limit ,if the speed will exceed the entered value the motor will not increase the torque even if it has not reached the maximum torque level
15 / BRKSPD r/min
16 / BRKWAI 10ms
17 / TRQFIL 0.1ms / Adjusts the torque control response time
18 / CLMIF % / Following a controller command ,will allow increase of torque limit to the value entered
19 / CLMIR % / Following a controller command ,will allow increase of torque limit to the value entered – for backwards rotation
1A / POSGN 1/s / Set by the controller
1F / SPEED1 r/min
20 / SPEED2 r/min
21 / SPEED3 r/min
22 / VCMPLV r/min / The range allowed between reference and motor speed
23 / SFSDEC ms / Time interval between max speed to motor stop
28 / NFBCC / Not relevant for incremental encoder
29 / AXISNO / Not relevant for incremental encoder
Memory switch settings:
MEM1:
Bit No / Description0 / If switched motor is automatically enabled
1 / Not in use
2 / Not in use ,switched only when Limit Switches are not connected to the controller
3 / Not in use ,switched only when Limit Switches are not connected to the controller
4 / Define the specific output route for either speed or torque output
5 / If switched Servo Alarm will automatically reset at recovery from power loss
6 / If switched Dynamic Brake will activate on Emergency.If not motor will cruse to a stop
7 / If not switched ,Dynamic Brake will automatically release at recovery from emergency
8 / If switched motor will stop always according to torque value on Cn-6 if not Driver will apply Dynamic Brake
9 / If switco hed motor will stop at overtravel according to Cn-6.If not ,Zero Clamp will be activated afterwards
A / A combination of the two defines the control mode.In our case: 0;1
For torque control
B
C / Relates to the acceleration\Deceleration smoothening action .The combination of the two will switch between, not using this mode switch, and using torque, speed or pulses as the detection point.
In our case relates to the torque value in Cn-0C
D
E / Defines the type of Encoder on the motor
F / If switched activates the torque feed forwards function for fine tuning of positioning time
MEM2:
Bit No. / Description0 / When checked, defines CCW rotation as forward
1
2 / Contact input speed control, allows using 3 preset speeds Cn1F,Cn20,Cn21
3 / Currently not in use
4 / Currently not in use
5 / Currently not in use
6 / Currently not in use
7 / Currently not in use
8 / Defines the type of motor in use
9 / Not in use
A / Not in use
B / When checked sets time constant unit for integration at 0.01ms ,when not time unit will remain 1 ms
C
D / Currently not in use
E / Currently not in use
F / Defines the mode according to which the torque will change, when not checked uses analog voltage reference
The User Parameter list described above is an informative use only.None of the parameters are ment to be altered!
The only user parameters that are open to some alteration (for examination porpuses only) are Cn08 and Cn09.
The VLX machine is supplied with each drivers setting already installed.
Attached here are the *ypm files for each driver:
The first tool to be used when examining a motor should be the JOG command:
- Click on the JOG icon on the toolbar,the JOG dialog box will open
- Adjust the motor speed
- Enable the JOG :Click Enable for Mode and Servo-The Jog speed will be grayed ,the Jog buttons will be blue
- Click for rotation direction you desire
The Tuning Section in the software is allowing us to build a graphic display of the motor speed and torque while in motion.
A graph display may be helpful in detecting \ isolating problems .
1.In the toolbar, click on the Tuning Section icon
2.Open the Setup dialog box,and adjust the sampling time (recommended 20000us)
3.On the trace setup , choose the parameter range and the graph color for the Torque (Analog Trace 1),and the Speed (Analog Trace 2)
4.OK your setup, return to the main tuning section window, and click on the Start button to commence the Data Tracing
5.A display of the results will appear soon after the data tracing is done with:
Note: Recommended range of parameter for the feedback speed and torque reference is as displayed in the graph below (X motor double speed mode)