Document Outline

• Figure 1: YTerm Software Manual
• Contents
  • Overview
  • What's New for Version 7
    • SMC4000 support
    • Syntax Checker
    • Variable Tool Tip
    • Windows Skins (Look & Feel)
    • Performance
    • Introduction to YTerm
    • Features of YTerm
  • 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
        • 1. YTerm (The SMC communication program)
      • Launching YTerm
        • Figure 4: YTerm Startup Splash Screen
        • Figure 5: Communication Setup Screen Showing Successful Communication
        • Figure 6: Communication Setup Showing Unsuccessful Communication Attempt.
        • Figure 7: Communication Setup Showing Ethernet Setup
      • Using YTerm
    • The Programming Screen
      • Figure 8: Programming Screen.
    • Navigating Around the Programming Screen
    • The Edit Windows
      • Figure 9: The Edit Toolbar.
      • Figure 10: The Edit Pop-up Menu
    • The Help Window
      • Figure 11: SMC HelpWindow.
        • 1. When one of the two programming windows is selected, the Help window will update to show descriptions for the command on the current line.
        • 2. A description for any command can be viewed by entering the two letter command in the Keywords box (Figure 11). By clicking o...
    • The Program Errors and Program Warnings Windows
    • The Terminal Window
      • Figure 12: The Communication Pop-up Menu.
    • The Event Logger
      • Figure 13: The Event Logger
    • Ethernet Status
      • Figure 14: Ethernet Status Window
    • Program Monitoring
      • Figure 15: The Program Status Screen.
      • Figure 16: Error reporting in the Program Monitoring Screen.
    • The Next Button
      • Figure 17: The "Next" Button
    • The Tuning Screen
      • Figure 18: Tuning Screen
        • Figure 18A: Tuning Screen (Linear Servo Motor)
    • 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.
    • 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
        • Figure 20A: Tune Test Dialog Screen - Linear
          • 4. Define the motion profile by entering the motion parameter fields in the screen's appropriate boxes. Be sure to select the direction of motion and the correct Encoder pulses per rev.
          • 5. Click on Execute to execute the test program.
    • Viewing the Tune Test Results
      • Figure 21: Tune Test Results Window
    • 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
      • Figure 24: Example of Storage Scope Graph Screen
    • Saving the Gains on the SMC Controller
    • SMC Parameter Utility
      • Figure 25: Parameter Setup Screen
    • Sigma Servo Amplifier Setup
      • Figure 26: SMC/SIGMA Setup
      • Figure 27: SMC/SIGMA Setup screen (after setup is complete).
    • Emergency Stop Button
    • The Monitoring Screen
      • Figure 28: The Monitoring Section Screen.
        • 1. Axis Output - Position, Position Error, Speed and Torque.
        • 2. General IO - Digital Inputs, Digital Outputs and Analog Inputs.
        • 3. Dedicated IO - Forward, Backward Limit and Home switches.
    • Axis Output
      • Figure 29: Axis Output Screen - List Display
      • Figure 30: Axis Output Screen - Graphic Display
      • Figure 31: Engineering Unit Setup Screen
        • 1. Select the desired Axis.
        • 2. Enter name in the parameter (position, pos. error, speed, torque).
        • 3. Enter the engineering unit factor (counts, counts/s., volts).
        • 4. Select Set Units.
    • Local I/O
      • Figure 32: Local IO Monitoring Screen.
    • Dedicated I/O
      • Figure 33: Dedicated IO Monitoring Screen.
  • Appendix
    • SMC to RS-232 Connection (SMCCBL7 cable)
      • Figure 34: SMC / Personal Computer Connection Cable Layout.
    • Sigma Servo Amplifier to PC Connection (YS-11 cable)
      • Figure 35: PC /Sigma Servo amplifier Communication Cable Layout.
    • Theory of Operation of the Autotuning Algorithm
    • Index
      • Numerics
      • A
      • B
      • C
      • D
      • E
      • F
      • G
      • H
      • I
      • L
      • M
      • N
      • O
      • P
      • R
      • S
      • T
      • U
      • V
      • W
      • Y
    • 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