YASKAWA LEGEND-MC manuels

Yaskawa LEGEND-MC Manuel d'utilisateur (28 pages)

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Table des matières

LEGEND-MC Installation Guide

1

TABLE OF CONTENTS

5

Introduction

7

Part Numbers

8

Mounting Orientation

9

Front Panel Description

10

LEGEND01

11

I/O Connections (50-pin CN5)

14

Analog Input

15

Analog Output

16

Digital Input

17

Digital Output

18

Dedicated Inputs

22

Physical Specifications

23

Hardware Specifications

23

Yaskawa LEGEND-MC Manuel d'utilisateur (360 pages)

marque: Yaskawa | Catégorie: Équipement | Taille: 4.18 MB |

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Table des matières

LEGEND-MC

1

User’s Manual

1

TABLE OF CONTENTS

5

1 Introduction

11

Part Numbers

12

Start-up

13

Front Panel Description

14

LEGEND01

15

Connector Case

17

I/O Connections (50-pin CN5)

18

Analog I/O

19

Analog Output

20

Digital I/O

21

Digital Output

22

Emergency Stop Chain

23

Serial Communication

24

Dedicated Inputs

26

Physical Specifications

27

Hardware Specifications

27

2 Theory of Operation

31

Y POSITION

33

X POSITION

33

Y VELOCITY

33

X VELOCITY

33

System Modeling

35

Digital Filter

36

System Analysis

37

T = 1 ms Sample period

38

50 200 2000 W (rad/s)

39

Magnitude

39

The Analytical Method

40

Notch Filter

42

•Set NB = 1/2 NF

45

•Set NZ between zero and 5

45

3 Communications

47

SMC Protocol Guidelines

48

Ethernet Configuration

49

Addressing

50

Ethernet Handles

50

Global vs. Local Operation

51

Handling Communication Errors

53

Modbus Support

53

Multicasting

55

Using Third Party Software

55

4 Command Reference

57

Command Description

61

Classification Meaning

62

AB (Abort)

63

@ABS (Absolute Value)

64

AC (Acceleration)

65

@ACOS (Arc Cosine)

66

AD (After Distance)

67

AF (Analog Feedback)

68

AI (After Input)

69

AL (Arm Latch)

70

AM (After Motion)

71

@AN (Analog Input)

72

AO (Analog Out)

73

AP (After Absolute Position)

74

AR (After Relative)

75

AS (At Speed)

76

@ASIN (Arc Sine)

77

AT (After Time)

78

@ATAN (Arc Tangent)

79

BG (Begin)

80

BL (Backward Limit)

81

BN (Burn Parameters)

82

BP (Burn Program)

83

BV (Burn Variables)

84

CB (Clear Bit)

85

CD (Contour Data)

87

CE (Configure Encoder)

88

CF (Configure Messages)

89

CH (Connect Handle)

90

CM (Contour Mode)

92

CN (Configure Limit Switches)

93

@COM (2’s Complement)

94

@COS (Cosine)

95

CS (Clear Sequence)

96

CW (Copyright)

97

DA (De-allocate Variables)

98

DB (Dynamic Brake)

99

DC (Deceleration)

100

DE (Dual (Auxiliary) Encoder)

101

DL (Download)

102

DM (Dimension Array)

103

DP (Define Position)

104

DT (Delta Time)

105

[Configuration]

106

EA (ECAM Master)

107

EB (ECAM Enable)

108

EC (ECAM Counter)

109

ED (Edit Mode)

110

LEGEND-MC User’s Manual

111

EG (ECAM Engage)

112

[Program Flow]

113

EM (ECAM Cycle)

114

EN (End)

115

EO (Echo)

117

[Setting]

118

EQ (ECam Quit (Disengage))

119

ER (Error Limit)

120

ET (ECam Table)

121

FA (Acceleration Feedforward)

122

FE (Find Edge)

123

FI (Find Index)

124

FL (Forward Limit)

125

@FRAC (Fraction)

126

FV (Velocity Feedforward)

127

GA (Master Axis for Gearing)

128

GR (Gear Ratio)

129

HC (Handle Configuration)

130

HM (Home)

132

HR (Handle Restore)

133

HS (Handle Switch)

134

HW (Handle Wait)

135

HX (Halt Execution)

136

IA (Internet Address)

137

[Program Flow]

138

IH (Internet Handle)

139

II (Input Interrupt)

141

IL (Integrator Limit)

143

IN (Input Variable)

144

@IN (Input)

145

@INT (Integer)

147

IP (Increment Position)

148

[Motion]

149

JG (Jog)

150

JP (Jump to Program Location)

151

JS (Jump to Subroutine)

152

KD (Derivative Constant)

153

KI (Integrator)

154

KP (Proportional Constant)

155

LA (List Arrays)

156

LC (Lock Controller)

157

LE (Linear Interpolation End)

158

_LF* (Forward Limit)

159

LI (Linear Interpolation)

160

LL (List Labels)

162

LM (Linear Mode)

163

LO (Lockout)

164

_LR* (Reverse Limit)

165

LS (List Program)

166

LT (Latch Target)

167

LV (List Variables)

168

LZ (Leading Zeros)

169

MB (Modbus)

170

MC (Motion Complete)

172

MF (Motion Forward)

173

MG (Message)

174

MM (Master’s Modulus)

175

MO (Motor Off)

176

MR (Motion Reverse)

177

MT (Motor Type)

178

MW (Modbus Wait)

179

NA (Number of Axes)

180

NB (Notch Bandwidth)

181

NF (Notch Filter)

182

NO (No Operation)

183

NZ (Notch Zero)

184

OB (Output Bit)

185

OC (Output Compare)

186

OE (Off On Error)

187

OF (Offset)

188

OP (Output Port)

189

@OUT (Output)

190

PA (Position Absolute)

191

PF (Position Format)

192

PN (Legend Parameter)

194

PR (Position Relative)

195

PW (Password)

196

QD (Download Array)

197

[General]

198

QR (Data Record)

199

QU (Upload Array)

200

QW (Slave Record Update Rate)

201

RA (Record Array)

203

RC (Record)

204

RD (Record Data)

205

RE (Return from Error)

207

RI (Return from Interrupt)

208

RL (Report Latch)

209

@RND (Round)

210

RP (Reference Position)

211

RS (Reset)

212

SA (Send Command)

215

SB (Set Bit)

216

SC (Stop Code)

217

SH (Servo Here)

218

@SIN (Sine)

219

SP (Speed)

220

@SQR (Square Root)

221

ST (Stop)

222

TA (Tell Alarm)

223

TB (Tell Status Byte)

224

TC (Tell Code)

225

[Status]

228

TE (Tell Error)

229

TH (Tell Handle)

230

TI (Tell Inputs)

231

TIME (Time Keyword)

233

TL (Torque Limit)

234

TM (Time Base)

235

TP (Tell Position)

236

TR (Trace Mode)

237

TS (Tell Switches)

238

TT (Tell Torque)

240

TV (Tell Velocity)

241

TW (Time Wait)

242

UL (Upload)

243

VA (Vector Acceleration)

244

VD (Vector Deceleration)

245

VE (Vector End)

246

VF (Variable Format)

247

VR (Vector Speed Ratio)

248

VS (Vector Speed)

249

VT (Vector Time Constant)

250

WC (Wait for Contour)

251

WT (Wait)

252

XQ (Execute Program)

253

ZS (Zero Subroutine Stack)

254

5 Programming Basics

259

VERY IMPORTANT!

261

Command Summary

262

Program Flow

264

General Configuration

265

Control Filter Settings

266

Error And Limits

267

Arithmetic Functions

267

6 Programming Motion

269

Independent Axis Positioning

271

Independent Jogging

273

Linear Interpolation Mode

274

Changing Feedrate:

275

Specifying Vector Segments

277

Additional Commands

277

Trippoints:

278

Electronic Gearing

280

Electronic Cam

281

Electronic Cam Example

282

Contour Mode

285

General Velocity Profiles

286

Motion Smoothing

287

MOTION BEGINS

288

TOWARD HOME

288

DIRECTION

288

7 Application Programming

291

Special Labels

292

Debugging Programs

294

LEGEND-MC Event Triggers

295

Event Trigger Examples:

296

Conditional Jumps

299

Example:

301

Examples

302

If, Else, and Endif

303

Using the ELSE Command

303

Subroutines

305

Stack Manipulation

306

Auto Start Routine

306

Example - Limit Switch:

307

Example - Position Error

307

Input Interrupt Example:

308

Bad Command Example

309

Examples:

310

Variables

312

Example Program:

315

Defining Arrays

316

Assignment of Array Entries

316

Data Types for Recording

318

8 Input and Output of Data

321

Summary of Message Functions:

322

Example - Printing a Variable

322

Input of Data

322

Formatting Data

323

User Units

325

9 Programmable I/O

327

Digital Inputs

328

10 Example Applications

329

Example - Jog in X only

330

Homing Example (HM method):

330

Example - Input Interrupt

334

Example - Motion Smoothing

336

Cut-to-Length Example

337

Latch Capture Example:

337

Contour Mode Example

338

X = 50T - 955 sin 3T

341

Teach (Record and Play-Back)

342

Record and Playback Example:

342

Required Motion Profiles:

343

The following illustration

343

Examples - Input Interrupt

344

Wire Cutter

348

(re-enabled))

348

Speed Control by Joystick

349

Position Control by Joystick

350

Example Motion Program:

352

11 Troubleshooting

353

Operation

354

12 Index

355

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