Yaskawa SMC–4000 - Manual (Page 5)

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SMC-4000 User’s Manual
TABLE OF CONTENTS
1 Introduction............................................................................................... 1
Part Numbers ....................................................................................... 2
Start-up ................................................................................................. 3
Front Panel Description ........................................................................ 3
Axis Connector (20–pin) ....................................................................... 4
I/O Connections (50-pin CN5) .............................................................. 5
Cable Shielding, Segregation and Noise Immunity .............................. 6
Digital I/O .............................................................................................. 7
Emergency Stop Chain ........................................................................ 9
Serial Communication ........................................................................ 10
External Encoder Specifications ......................................................... 11
Dedicated Inputs ................................................................................ 12
Physical Specifications ..................................................................... 13
Hardware Specifications .................................................................... 13
Dimensional Drawings ....................................................................... 14
2 Theory of Operation ............................................................................... 17
Overview ............................................................................................ 17
Elements of Servo Systems ............................................................... 17
Levels ................................................................................................. 18
Velocity and Position Profiles ............................................................. 19
Operation of Closed-Loop Systems ................................................... 20
System Modeling ................................................................................ 21
System Analysis ................................................................................. 24
System Design and Compensation .................................................... 27
3 Communications..................................................................................... 35
Introduction ......................................................................................... 35
SMC Communication Protocol Guidelines ......................................... 36
Ethernet Configuration ....................................................................... 37
4 Command Reference.............................................................................. 43
Command Description ........................................................................ 47
Command Usage ............................................................................... 49
AB (Abort) ........................................................................................... 50
@ABS (Absolute Value) ..................................................................... 51
AC (Acceleration) ............................................................................... 52
@ACOS (Arc Cosine) ........................................................................ 53
AD (After Distance) ............................................................................ 54
AE (Absolute Encoder) ....................................................................... 55
AI (After Input) .................................................................................... 56
AL (Arm Latch) ................................................................................... 57
AM (After Motion) ............................................................................... 58
AO (Analog Out) ................................................................................. 59