Yaskawa YTerm User Manual
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Table of contents
Document Outline
- Figure 1: YTerm Software Manual
- Contents
- Overview
- What's New for Version 7
- Getting Started
- Installing YTerm
- Software Kit Contents
- System Requirements
- Software Installation
- 1. Start Microsoft Windows.
- 2. Insert CD ROM into CD ROM drive.
- 3. Select the Run option from the Start Menu in Windows 95, 98, NT, 2000 and XP.
- 4. Type D:\yterm.exe (Your system may use a different letter designation for the CD ROM drive).
- Figure 1: Run Dialog Screen
- 5. Press OK. Click the YTerm Software button under the Install Software heading.
- 6. Read the instruction screen and press Next to proceed.
- 7. Enter the user name and company name information and press Next.
- 8. Select in the desired folder for copying the YTerm files. Press Next to proceed.
- 9. The “Ready to install the application” window appears. Press Next to proceed.
- 10. The INSTALL program will now copy files from the CD ROM to the selected folder.
- 11. The installation is now complete. Press Finish to end the installation program.
- Figure 2: YTerm Program Group in Windows 95
- Figure 3: YTerm Program Group in Windows XP
- Launching YTerm
- Using YTerm
- The Programming Screen
- Navigating Around the Programming Screen
- The Edit Windows
- The Help Window
- The Program Errors and Program Warnings Windows
- The Terminal Window
- The Event Logger
- Ethernet Status
- Program Monitoring
- The Next Button
- The Tuning Screen
- Manual Tuning
- 1. Select the axis by clicking on the appropriate radio button on the axis selection panel.
- 2. Use the terminal window to send the SH* (where * = X, Y, Z, W, E, F, G, H) command to enable the servo motor.
- 3. Set default values for the gains.
- 4. Increase KP, KD, KI gains accordingly, by moving the horizontal scroll bars above each gain label. Moving the bar to the righ...
- 5. For KI and KP, click inside the bar to change the value by 1. Click the arrow on the bar to change the value by 0.1.
- 6. For KD, click inside the bar to change value by 10. Click the arrow on the bar to change value by 1.
- Autotuning
- 1. Select the axis to be tuned, by clicking on the appropriate icon button in the axis selection panel.
- 2. Use the terminal window to send the SH* (where * = X, Y, Z, W, E, F, G, H) command to enable the servo motor.
- 3. Click on the Autotune button. The dialog screens shown in Figures 15 and 15A will appear. If Autotuning was previously performed on this axis, previous values used will be loaded.
- Figure 19: Autotuning Dialog Screen
- Figure 19A: Autotuning Dialog Screen
- 4. Select the desired level of rigidity for tuning the system from the Rigidity Setting panel.
- 5. Select the desired machine configuration (appearing in the Advanced Configuration panel) from the available options list.
- 6. Enter the motor to load gear ratio.
- 7. Check the Use Integrator (KI) box to include the integration constant of the PID loop in the autotune calculations.
- 8. Select the correct number of Pulse per revolution pre- quadrature for your specific motor or the linear scale resolution if a linear encoder is to be turned.
- 9. Click on Tune to execute the Autotune program. Click Cancel to close the dialog screen and cancel the Autotune operation.
- Figure 19A: Autotuning Dialog Screen
- Testing the Tuning
- 1. Select the axis (to which it is connected) by clicking on the appropriate icon button in the axis selection panel.
- 2. Use the terminal window to send the SH* (where * = X, Y, Z, W, E, F, G, H) command to enable the servo motors
- 3. Click on Test. One of the dialog boxes shown below will appear.
- Figure 20: Tune Test Dialog Screen - Servo
- Viewing the Tune Test Results
- Printing The Graphs
- Storage Scope
- 1. Click on Scope on the Tuning Screen to display the screen shown below:
- Figure 22: Storage Scope Parameters Screen
- 2. Determine and select Sample Time (in milliseconds) so the Controller will sample the selected data at the appropriate intervals.
- 3. Determine number of points to sample and display on the graph.
- 4. The time frame in which the controller samples the data is a function of: Sample Time x Points to Graph. This number is displayed in Scope Time frame box on the Storage Scope Graph.
- 5. Enter an optional command to be executed before starting to store the data. Example: Enter the command XQ to execute the program on the controller.
- 6. Choose the type of graph.
- 7. Define the data to be sampled. Click on the desired channel tab. The dialog box appears as follows:
- Figure 23: Storage Scope Parameters Channel Screen
- 8. Select Axis (or I/O) to sample. Select none if nothing is to be stored on this channel).
- 9. Select the Data to be stored.
- 10. Select the Color of the line to be plotted.
- 11. Select the Thickness of the line to be plotted.
- 12. Enter Engineering Units value.
- 13. Repeat Steps 7 through 11 for other data parameters to be stored.
- Viewing the Scope Results
- Saving the Gains on the SMC Controller
- SMC Parameter Utility
- Sigma Servo Amplifier Setup
- Emergency Stop Button
- The Monitoring Screen
- Axis Output
- Local I/O
- Dedicated I/O
- Appendix
- SMC to RS-232 Connection (SMCCBL7 cable)
- Sigma Servo Amplifier to PC Connection (YS-11 cable)
- Theory of Operation of the Autotuning Algorithm
- Index
- YASKAWA ELECTRIC AMERICA, INC.
- Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
- Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com
- MOTOMAN INC.
- 805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
- Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com
- YASKAWA ELECTRIC CORPORATION
- New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
- Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp
- YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
- Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
- Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br
- YASKAWA ELECTRIC EUROPE GmbH
- Am Kronberger Hang 2, 65824 Schwalbach, Germany
- Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de
- MOTOMAN ROBOTICS AB
- Box 504 S38525, Torsas, Sweden
- Phone: 46-486-48800 Fax: 46-486-41410
- MOTOMAN ROBOTEC GmbH
- Kammerfeldstrabe 1, 85391 Allershausen, Germany
- Phone: 49-8166-900 Fax: 49-8166-9039
- YASKAWA ELECTRIC UK LTD.
- 1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
- Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
- YASKAWA ELECTRIC KOREA CORPORATION
- Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
- Phone: 82-2-776-7844 Fax: 82-2-753-2639
- YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
- Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE
- Phone: 65-282-3003 Fax: 65-289-3003
- TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
- 10F 146 Sung Chiang Road, Taipei, Taiwan
- Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
- YASKAWA JASON (HK) COMPANY LIMITED
- Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
- Phone: 852-2803-2385 Fax: 852-2547-5773
- BEIJING OFFICE
- Room No. 301 Office Building of Beijing International Club,
- 21 Jianguomanwai Avenue, Beijing 100020, China
- Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
- SHANGHAI OFFICE
- 27 Hui He Road Shanghai 200437 China
- Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
- SHANGHAI YASKAWA-TONJI M & E CO., LTD.
- 27 Hui He Road Shanghai 200437 China
- Phone: 86-21-6533-2828 Fax: 86-21-6553-6677
- BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
- 30 Xue Yuan Road, Haidian, Beijing 100083 China
- Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
- SHOUGANG MOTOMAN ROBOT CO., LTD.
- 7, Yongchang-North Street, Beijing Economic & Technological Development Area,
- Beijing 100076 China
- Phone: 86-10-6788-0551 Fax: 86-10-6788-2878
- YEA, TAICHUNG OFFICE IN TAIWAN
- B1, 6F, No. 51, Section 2, Kung-Yi Road, Taichung City, Taiwan, R.O.C.
- Phone: 886-4-2320-2227 Fax: 886-4-2320-2239
- Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br