Yaskawa
eLearning
In this video, let's look at how to use
the parameter Setup Wizard to solve a
Speed Mode Application for the Analog
Pulse Version of the Sigma-5.
So here's our application story, it's a
machine to a customer has a proprietary
motion controller that positions vertical
axis by sending a speed profile to the
servo and that range of the controller
command will be plus or minus 10 volts
see here in this picture, the controller is
sending plus or minus 10 volts to the
amplifier and the motor should have the
speed range of plus to minus 3000 RPM.
It says the maximum encoder feedback
resolution is necessary that's the
encoder feedback coming back from the
Sigma-5 back to the controller.
The encoder is to function as an
incremental encoder as
the controller is using a homing routine
so don't need any absolute functionality
for the absolute encoder and the
controller uses a manual override mode
that activates a single output, I have
that shown here in the simple drawing
manual override is supposed to limit the
torque so there's an input we'll use in
the Sigma-5 to limit the torque to
ten percent in both directions.
If any of the torque limits are reached
the amplifier should turn on an output.
To see we have an amplifier output here
that would be used for torque limit and
that could be used wired back to the
controller input so the controller can
tell if it's hit the torque limit or not.
This is a vertical axis that uses a
holding brake and we'll be controlling
the holding brake through a relay
connected to the output S01,
here pins 25 and 26.
And, finally, this is a vertical
application so if the motor hits an
over-travel, we'd like it to stop with
maximum torque and probably add, you know,
leave the motor enabled to hit the
over-travel rather than disabling the motor.
So here's what we'll do, we'll follow these
instructions, I'll initialize the parameters,
I'll use the Setup Wizard
to set those parameters
the Setup Wizard and the Parameter Editor.
I'll label these terminals here
in my drawingat some point,
I'll look at my parameters that were changed
and I'll also verify operation on the demo.
So I'll start here in SigmaWin+ and go
to the Parameters screen, and down at the
bottom, Initialize, Factory default,
OK,
and that's it.
Now I don't have to cycle power right
away, I'll just go ahead and do the
parameters within the Setup Wizard.
We'll start with my encoder selection, that
I'm not using the fully closed encoder,
I'll choose my Control Mode as
Speed Control and Apply that.
Next is the Reference
Input Setting and the application states
that we'll have 10 volts commanding
3000 RPM, so here I have 3000 RPM
min-1 is RPM and I'll do 10 volts from the
controller, that calculates the parameter
for us. There was no mention of a
Speed Coincidence or V-CMP output,
so I'll click Next.
There was no mention of any acceleration
times so we'll just leave those at default.
And on to Motor Encoder Setting,
this is the number of pre-quadrature
output pulses per rotation and it says
here in my application story that we
need to maximum within the given speed
range which is 3000 RPM, so the maximum
speed is limited by the output value of
the resolution.
And so since I'll be using 3000 RPM,
I see the maximum there is
32768. Also see here it says use
absolute encoders absolute or use
absolute encoder is incremental.
I'll choose incremental as it says here that
the encoder should be used in the
incremental mode.
There was no mention of
reversing the direction, so I'll leave
this at default and that completes the
encoder setting.
Now on to Motor Stop,
our application did call for that when
we hit an over-travel, the motor should
stop with three hundred percent torque.
So that means that back here in the
Overtravel Stop Mode, I would set the
second one here to stop, with the torque
of parameter Pn406, decelerate the
motor to stop and then use coasting.
I'm sorry, I should use a servo lock state.
Leave that servo enabled at the end
to setting number one and I'll have to go
manually to Pn406 later on.
We also had said this was a
vertical axis and that we'd use the
Brake motor settings,
so I'll check that box and hit Apply.
The final area is the I/O Signal
so within the I/O Signal Setting,
what do I need to do for inputs?
I see that the servo has an input here
on pin 46 for the manual override and
that will be tied to P-CL and N-CL
on one terminal.
So I'll go to the Input Signal Setting and
here I've got all my terminals and all
of the functions, input functions for
those terminals and P-CL and N-CL were
supposed to both be on pin 46,
So I'll just move P-CL over to pin 46,
and click OK here.
It's warning me that there's a
duplication, and I did that on purpose, so
I'll click Yes.
Here in the amplifier, I have
two outputs that have been specified
there was the output number one -
the holding brake relay and there is output
number three - the CLT, the current limit,
or torque limit output.
So back here in the wizard go to the output
signal setting and looks like I'm not
using the default here on output one,
instead I'm going to use the current
limit output. Output two wasn't mentioned
so I can leave that one at default.
Then output three was supposed to have
the brake.
Ok, actually, output three was supposed to
have the current limit output and output one
was supposed to have the brake.
You can see the brake is required because
I checked the box.
I can confirm that here for the I/O
in this pictorial wiring diagram.
I'll hit Apply and I'll go ahead
here and do Save this parameter file
called SpeedMode
and now I'll Write here with a backup file,
save that backup and right into the Servopack.
And now I can cycle control power
and do that, it says I should reconnect,
so do File, Reconnect and I've got a
couple of parameters that the wizard
didn't hit you can see here I had to set
the override torque amount to ten percent
and it also had to set the over-travel
torque to three hundred percent.
So to set those torques I'll go
to the Parameter Editing again and you
can see there's a tab even for Torque
Parameters and the torque parameter
associated with P-CL and N-CL the Forward
and Reverse External Torque Limit.
So I'll set that here to 10 for the Forward
and 10 for the Reverse and then right
below that is the Emergency Stop Torque
which I said I'd set to three hundred percent
so that's pretty much full stopping torque
and I can Write those over, and
no power cycle required for those three.
So let's see where I am here
on my instructions.
I've initialized the parameters,
I've used the Setup Wizard and the
Parameter Editor, I think I got all of them there.
I want to label these terminals now,
the Analog Command is coming into pins
five and six and how do I know that?
I can look at the Wiring check and I see
that the Speed reference input is always
pins five and six.
The controller will also have
Servo On and that would be
wired to Servo On is pin 40, 40.
Now what's on pins 25 and 26?
We had said 25 and 26 was the brake,
and pins 29 and 30 was the current
limit or torque output.
So that's CLT.
And then back here in the wiring
check I can also see that I've got CN1
pin 25 and 26 is break and
current output pin 29 and 30.
Encoder feedback is the same for every application,
and it's PAO, PBO, PCO, 33, 34, 35, 36, 19 and 20.
So that finishes up my labeling.
Now what parameters have been changed?
You can see a summary of that
in the Edit Parameter screen.
You can Edit Parameters.
Differ from Constant tab
shows which have been edited, so this is
a good reference to see what's been
changed from default.
I would've called this tab change from default.
Here's what I'll do to check out the
operation on the demo.
Start with the wiring check and be
sure that my 10 volt command is giving me
3000 RPM.
So I'll pull up the Wiring Check
under the Monitor menu again and I can
see that right now I've set my V-REF input
to approximately 10 volts, a little bit
under and have a little bit under 3,000 RPM.
Second one says Motion Monitor to
confirm that the 10-percent torque
limiting both direction activates, so I'll
move this wiring check over and we'll
take a look here at the internal torque
reference and so now I've got the motor
running at a slow speed and I'l apply torque to it.
You can see that the internal torque
reference really can go up high
if I apply more friction to the system,
but if I turn on pin 46 P-CL and N-CL,
So there you see it went from high to low and it's on.
Now when I apply that same torque to the motor
it caps off at 10, and also notice on the
right hand side, that the current limit
went from low to high.
So there it is
without,
now go to ten percent
current limit goes high
and that's how I can tell that this is working.
The next one down here is to observe output
SO1, which on our demo here is labeled
the V Comp (velocity compare) not using it
as a velocity compare using it as the
brake output, and so the brakes should
release and that output to turn on
when the servo is off
and when I turn the servo on,
now the servo control over the motor
and the brakes should be released.
So we can use the wiring check again
and I've got the motor stopped,
you can see the brake
is released right now because the servo
is on CN1 pin 40.
So now I'll turn the servo off.
CN1 40 goes high,
and the brake output reads Braking.
Servo On, Brake Release, Servo Off, Braking.
The next one down here is to confirm
Pn212 by setting the command speed
higher than 3,000 RPM.
So let's try that, now we can look at the
wiring check again.
We've got over-speed of encoder outputs
pulse rate
we went too fast,
and in fact,
I can look at this alarm
and see exactly how fast the motor
was going, and it was going 3298.
So our maximum speed was 3000
and 3298 is what it actually let us go up to.
So we can see how that is related to the
setting of Pn212 that output resolution.
So I can turn down the speed a bit and
then reset the alarm and we're back in
and we're back in business.
And now finally, we want to observe
how the motor stops at an over-travel (OT)
compared to servo-off stop.
So if I hit the positive over-travel,
the motor stops very rapidly
whereas if I hit Servo Off when the
motor is moving,
it still stops rapidly, but not so much
but not so much.
And just to display this
Stop Mode difference graphically,
I have prepared a trace.
Setting this up is outside
the scope of this video.
With Alarm Stop, you can see that the motor is
running along here at a fast speed
and I just turned off the servo and
the feedback speed just reduces
here according to the dynamic brake.
Whereas, with over-travel Stop,
you can see the speed decreases
much faster and that's because of the
negative torque here (you have in purple)
which is what's causing the motor to decelerate.
And so I'm confident now
that I have set up this Control Mode
application for Speed Mode correctly,
at least as it pertains to this application story,
which granted, has been distilled
to exactly what I need, but if you can
find this information, you see how easy
it is to get this done using the
SigmaWin+ Wizard.