YOKOGAWA DrvGIII Installation and operation manual

TI 71M01D03-03
TI 71M01D03-03
1st Edition:2007.03.12.
Simplified Start-up Manual
for Positioning Control
Intelligent Drive <DrvGⅢ>
This manual has been created for users who launch
the direct drive actuator system after the
installation.
This manual has been created to launch Drv.GⅢ･
DYNASERV or LINEARSERV system.
Utilize this manual in conjunction with the
Technical Information of Drv.GⅢ･DYNASERV or
LINEARSERV system.
This manual is the auxiliary instruction in regard
to these Technical Information (hereinafter called
as “TI”) and product handling.
Contents of this manual may be revised, without
notice, due to improvement of product performance
and functions. The actual screen indication may
differ slightly from the pictures in this manual.
Although all possible measures are taken to ensure
the quality of the contents of this manual, please
let us know if you would find any mistake or
suspicious point.
Copying, passing, selling or distribution, in part
or in whole, to any third party is strictly
prohibited.

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
目次-1
Table of Contents
Introduction................................................................... .i
Device configuration when tuning............................................ i
Symbols in this manual ........................................................... i
Start up procedure ....................................................... ii
STEP 0 Set up ................................................................. 0-1
0.1 Check COM port number ..................................................... 0-1
0.2 Startup utility software ....................................................... 0-2
0.3 Start communication ....................................................... 0-2
0.4 Change parameters via terminal window ......................................... 0-3
Epexegesis ............................................................................. 0-4
0.5 If error LED is lighted ..................................................... 0-5
0.6 Error monitoring ............................................................... 0-5
STEP1 Auto-tuning ................................................... 1-1
1.1 Execute Auto-tuning .................................................... 1-1
1.2 Check of Auto-tuning .................................................. 1-2
1.3 How to resolve oscillation......................................................... 1-3
1.4 Lower servo stiffness ........................................................... 1-3
1.5 Setup first lag compensation filter ............................................... 1-3
1.6 Expand moving angle of Auto-tuning ................................. 1-4
1.7 Auto-tuning can not be completed ................................................ 1-5
1.8 Direct entry of inertia or mass .................................................. 1-5
STEP2 Servo stiffness setup .............................................. 2-1
2.1 Improve servo stiffness as much as possible............................................. 2-1
2.2 Filter set up ................................................................. 2-2
2.3 Set notch filter ..................................................... 2-2
2.4 Set the first lag compensation filter ............................................... 2-2
STEP3 Calculation of acceleration and deceleration time .........................3-1
3.1 Formula of computation of acc/dec time ............................................. 3-1
STEP4. Scaling ........................................................ 4-1
4.1 Recommended scaling value ........................................................... 4-1
4.2 How to set up scaling ......................................................... 4-2
STEP5-1. Return to homing position commanded by PLC .............................5-1
5-1.1 Generating Z-pulse and pulse interval ............................................... 5-1
5-1.2 Accuracy of Z-pulse depending on velocity ......................................... 5-1
5-1.3 Choose detection edge for Z-pulse.................................................... 5-2
STEP5-2. Moving command by pulse trains.............................................5-3
5-2.1 Wiring ................................................................... 5-3
5-2.2 Select command pulse type ................................................. 5-4
5-2.3 Select monitor pulse type (optional) ..................................... 5-4
5-2.4 Setup of selected pulse type ............................................. 5-4

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
目次-2
STEP6-1. Homing by table data operation .................................. 6-1
6-1.1 Fix home sensor ................................................. 6-1
6-1.2 Creation of homing table data ................................................. 6-2
6-1.3 How to operate homing move ........................................................ 6-3
6-1.4 If homing error occurs ......................................... 6-3
STEP6-2 Command by table data ........................................... 6-4
6-2.1 Select type of positioning command.................................................... 6-4
6-2.2 Create the table data ............................................. 6-4
6-2.3 Use copy and paste function ................................................... 6-5
6-2.4 Test operation of table data using software ................................... 6-6
6-2.5 Execute table data operation by PLC ....................................... 6-6
6-2.6 Physical I/O configuration and logic set function..................................... 6-7
STEP7 Check of motion .............................................................7-1
7.1 Check moving time ........................................................... 7-1
7.2 Adjust wave from scale automatically ............................................... 7-2
7.3 Measure ..................................................................... 7-2
Reference ......................................................................... 7-3
7.4 User data back up ............................................... 7-4
7.5 Upload parameters ................................................. 7-4
7.6 Download parameters ................................................. 7-4
付録1 Glossary .............................................................. 付-1
付録2 Q&A ............................................................... 付-3

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
Introduction
It is necessary to tune the servo settings and positioning control after the
motor and drive are installed (mounted).
This manual is the simplified instruction to set the servo tuning and
positioning control using “DrvX3 Support Tool”, the free software that can be
down-loaded from Yokogawa Website.
Follow the below instructions after installing the software into your PC.
This manual describes the start-up process from the factory default settings.
Refer to #Q3 of “Q&A” in the Appendix.
For further details, refer to the Technical Information.
Device configuration when tuning
Symbols in this maual
i
Warning Warning to avoid unexpected system trouble or hardware
damage
Detail is described in the “Glossary” in the Appendix.
Refer to the glossary if needed.
Notice to lean about operation method and functions
The following symbols are used in this manual in accordance with the contents.
Notice
Power cable
Motor and load
DrvGIII
Computor
RS232C cable
Encoder cable
PLC
Controller
!Caution Caution to avoid dangers in case there is a danger which may
do on human lives and health, such as electric shock

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
STEP 7: .Operation check
Start up procedure
Servo tuning
STEP 1: Auto-tuning
STEP 2: Servo stiffness
adjustment
STEP 6-1: Homing
2.1: Filter setting
STEP 3: Calculation of acc.
and dec. time
STEP 0: Setup
Positioning setup
ii
STEP 5-1: Homing
STEP 4: Scaling
STEP 5-2: Pulse command
operation STEP 6-2: Table operation
For positioning
control by pulse
trains
For positioning
control by contact
I/O
Let’s start with the first step!

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
STEP 0 Setup
Proceed the setup according to [Setup Flow] in the right column.
0.1 Check COM port number
Click [START] button.
Click
[CONTROL PANEL].
Click [SYSTEM].
Click [HARDWARE] tab.
Click [DEVICE MANAGER].
Check COM port number
from Port (COM and
LPT).
ex）[COM1]→1
Setup Flow
1
1
2
2
3
3
4
5
4
5
6
6
See also “8.3.2 Communication Settings” in the TI
0-1
Note: Above windows are just sample. It may differ on your computer screen.
You might want to keep the
number in mind since it is
necessary at process ⑧.
Start menu is displayed.
Control panel is displayed.
Property of the system is
displayed.
Device manager is displayed.

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
Setup Flow
0.2 Startup utility software
Drv X3 Suppo rt T ool.l nk
Double click
command icon.
0.3 Start communication
Select COM port number
checked in the process
⑥, and check [Online].
[Connection] becomes valid
after the drive trains are
automatically indicated in
cell of [Single] under
[Channel].
Click [Connect].
This button is displayed as
[Disconnect] while the drive
is connected with the motor.
Connection is completed.
Now, you can send variety of commands to the drive!
Continue the operation according to this manual.
7
7
8
9
8
9
If the drive stings are not displayed...
Communication is not completed or error state.
Please check:
・ if COM port number is correct according to “0.1 Check COM port number”.
・ if Cabling is correctly made.
Note: [Initialize] button
This button becomes valid in case the communication is disconnected.
Communication is re-started without reboot of software by clicking this button
while it is valid.
※
Utility software is up.
0-2

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
0.4 Change parameters via terminal window
Terminal window allows to change a variety of parameters and commands.
Follow the below procedure if you see “change the parameter via terminal
window” hereinafter.
When using this function, some commands may complete each other if another
dialog function is activated. Please be careful especially when issuing
operation command from terminal as the motor may unexpectedly move.
Operation Flow
Click [Terminal] button.
Terminal Window
Command entry edit box
Transmission/receiption edit
box
See also “8.4.2 Terminal” in the TI
Terminal window is displayed.
Enter in this cell when
referring to parameter
settings or changing
parameters.
Parameter detail and result
of change entered into the
command entry edit box are
displayed.
#Parameter list
#Monitor list
Command list
Command list to operate the
drive is displayed.
Parameter number and detail
are displayed.
List of variables to monitor
the status of motor or drive
is displayed.
Warning
More details in “Epexegesis”
in the next page
0-3

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
75
6
12
11
10
84
2
1
93
Epexegesis
Entry method
## ○○○ = △△△
Registration is completed. However, parameter #110 to 122 require recycling main power
or driver reset [@96] for the registration.
## ×××
Ex1) How to resister (change) the value of parameter #○○○ to △△△...
Ex2) How to check the value of parameter #×××...
0-4

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
Utility software is capable to display the error detail, estimated cause and
counter measure.
Please check the details if an error occurs.
If you can not how to measure or the error can not be removed, please call your
nearest contact with the error number.
0.5 If error LED is righted...
Operation Flow
0.6 Error monitoring
Click [START]
Click [Error mon]
Error is displayed.
Click [STOP].
Cause and measure are
displayed.
Error monitor window is
displayed.
Button's display changes to
[STOP], and start processing
to detect the errors.
See also “8.5.5 Error Monitor” in the TI
Note: If there is errors more than one, the latest error is indicated at the bottom of the list.
0-5

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
1-1
STEP1 Auto-tuning
Note: Execute this function at the initial startup or when load changes.
By execution of auto-tuning function, motor oscillates several times, and
measure the load inertia (for rotation motor) or mass (for linear motor).
Control related parameters are automatically tuned.
By executing this function, the motor oscillates 10° to 30° for rotation
motor or 10 mm for linear motor. Please be careful for your injury and damage
of your instrument.
Please proceed to “1.7 Auto-tuning impossible” if it is impossible to secure
space for oscillation due to a construct constraint of your instrument.
1.1 Execute auto-tuning
Operation Flow
Click [Drive]
Click “Yes”
Click [Servo-on].
Click [Drive]
[Click [Regist]
Click
[Auto-tuning operation]

If an error is called or motor oscillates:
Refer to “1.3 How to resolve oscillation”.
If no error occurs:
Proceed to “1.2 Check of auto-tuning”.
See also “6.4.3 Auto-tuning Operation” in the TI
1
3
4
5
6
1
2
3
4
5
6
At the initial connection,
you see popup window asking
to check the change of
operation authority. Proceed
to ②. By authorizing serial
interface, you can drive
through the software. Please
proceed to ③.
Operation authority changes
to computer. Command from
PLC becomes invalid.
Servo becomes on-state.
Motor moves. [Regist] button
becomes positive after motor
stops and no error occurs.
Load inertia/mass of #000 and
servo stiffness setup of #001
are registered.
Caution
2

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
If auto-tuning is successfully completed, values of #000 for load inertia/mass
and #001 for servo stiffness setup should automatically be stored. Auto-tuning
is complete if these values are reasonable. Please proceed to STEP 2.
Load inertia/mass value is possible to result in differences about 20% from
calculated values, however, it's been no problem at all. If the value is
marked contrast to the calculated value, execute the auto-tuning again, or
proceed to “1.7 Auto-tuning can not be completed”. Check value of load
inertia/mass with the following flow.
1.2 Check of auto-tuning
7
8
9
Servo tuning window
Operation Flow
Click [#Parameter]
7
Parameter setting window is
displayed.
Hereinafter, this window
shall be referred if it is
described as [servo tuning
window].
Click [Servo tuning]
tab.
8
9
Refer to [Load inertia/
Load mass].
1-2

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
1.3 How to resolve oscillation
Operation Flow
Please execute auto-tuning again after the following measure if there is
unusual audible noise from the motor.
Set [Servo stiffness
setup] to [-1] by
scrolling cursor
1.4 Lower servo stiffness
1.5 Setup first lag compensation filter
Servo tuning window
Check [First lag
compensation filter].
Check [20-80]
Click [Filter setup]
Hereinafter, this window
shall be referred if it is
described as [Filter setup
window].
Filter setup window
10
11
10
12
12
#002 for velocity control
bandwidth, #008 for position
control bandwidth and #012
for position integral
limiting value are also
changed.
First lag compensation filter
becomes valid.
Band frequency for -3dB is
set at 20Hz, and max. damping
gain for +3dB becomes at
80Hz.
If #002 for velocity control bandwidth and #008 for position control bandwidth
do not change by changing the servo stiffness, click [Upload] button. Window
is refreshed.
Operation Flow
11
13
13
1-3

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
1.6 Expand moving angle of auto-tuning and acceleration/deceleration time
After finishing the above,
return to [1.1 Execute auto-tuning] and
perform auto-tuning again.
Command entry edit
box
Double the moving angle of auto-tuning and maximize the acceleration /
deceleration time. Use terminal window according to the following instruction.
Motor oscillates widely when executing auto-tuning. Please be careful.
Refer [0.4 Change parameters via terminal window] also.
Example of terminal window
##51 [##51：Check value of [operation range of auto-tuning].
Calculate doubled value of ##51. (ex : ○○○)
Entry Procedure
Register doubled value of ##51.##51=○○○
Remark
##53 Check [##53：Initial acceleration/deceleration time under
auto-tuning].
##53=9999 Register value of ##53 as the maximum.
##51
##53
Check if value of ##51 is set as the doubled value.
Check if value of ##53 is set as the maximum.
1-4

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
1.7 Auto-tuning can not be completed
Operation Flow
If aforementioned measures do not result successful auto-tuning, or if auto-
tuning is not possible due to restrict of moving angle, please enter load
inertia/mass value directly according to the following steps.
The unit is 1/1000[kgm^2 or kg].
1.8 Direct entry of inertia/mass
Enter calculated value
of load inertia/mass,
then, press return key.
Set servo stiffness
value to “0”.
Servo setting window
13
14
[Regist] button becomes
positive by pressing return
key.
13
14
15
15
Click [Regist].
#000 for load inertia/mass
and #001 for servo stiffness
setup are registered.
1-5

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
STEP2 Servo stiffness setup
Higher servo stiffness is highly responsive, and results shorter settling time.
However, it also makes the motor easily making resonance.
Resonance generates audible noise from the motor and vibration at high
frequency, then, it makes difficult to perform normal operation.
2.1 Improve servo stiffness as much as possible
Operation Flow
Shift cursor of [Servo
stiffness setup] to the
right until a esonance
appears.
Servo setting window
See also “7.1 How to Tune the Servo” in the TI
1
1
Seek the max. value of the
servo stiffness.
2
2
Shift cursor to the
left until the
resonance is
eliminated.
Seek the max. value of the
servo stiffness without
resonance.
Caution Do not touch the motor in the operation. You may get injury.
Proceed to STEP 3 if you are satisfied
with the servo stiffness.
If no, proceed to [2.2 Filter setup].
3
3
Click [Resist].
Servo stiffness set in ② is
registered.
2-1

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
2.2 Filter setup
Filters are used when a resonance occurs, and it makes the peak value of
resonance lower. In many cases, filtering contributes to improve the servo
stiffness. On the other hand, it shifts the phase, and depending on the
circumstance, control system may become unstable. Please carefully use the
filters.
Carry out the following steps while the motor has resonance (noise).
2.3 Set notch filter
Operation Flow
Filter setup window
Check [Notch filter 1]
Shift cursor to the
right and left, and set
it at a point where the
noise becomes minimal.
＜Human mark＞
This symbol means that “register the setup and proceed to the STEP 3 at that step
if resonance is eliminated”. Proceed this flow if resonance is not eliminated.
Check notch filter 2.
2.4 Set the first lad compensation filter
Check [First lag
compensation filter]
Check [40/160].
Check [30/120].
Check [20/80].
Caution First lag compensation filter’s response becomes
poor at lower frequency.
See also “7.2 Resonance Prevention” in the TI
4
5
4
5
6
7
It is recommended to use notch filters over 50Hz.
If it is used below 150Hz, a hunching may appear
due to the shifted phase.
6
7
Servo Stiffness ⑦⑧⑨
Over 3
2
1
Below 0
× × ×
××
×
△
△
△
○
○○
8
9
○：Possible to use
△：Carefully use
×：Impossible to use
8
9
Notch filter 1 becomes valid.
Seek resonance frequency.
Notch filter 2 becomes valid.
First lad compensation filter
becomes valid.
Band frequency for -3dB is
set at 40Hz, and max. damping
gain for +3dB becomes at
160Hz.
10
10
Click [Regist].
Register the filters setup
selected.
Warning
11
11
12
12
2-2
Shift cursor to the
right and left, and set
it at a point where the
noise becomes minimal.
Seek resonance frequency.

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
STEP 3 Calculation of acceleration and deceleration time
In order to create move profile:
○ Acceleration and deceleration time
○ Feeding velocity (Positioning velocity)
are required.
Here, you will see how to calculate the acceleration and deceleration time.
3.1 Formula for computation of acceleration and deceleration time
Notice
Construction of instrument or circumstance may apply external torque or
friction to the motor. Those disturbances influence the move, and the result
of this computation may not be optimized. Use the result as the reference.
Also, the above acc/dec time may differ depending on the PLC.
Set appropriate value upon checking the definition of PLC.
Linear (LINEARSERV) ： ｔ＝M 0.8×Ｆ
Ｖ
Rotation (DYNASERV) ： t ＝ J Θ’
0.8 * T
t ：Acc/Dec time [s]
Ｊ ：Inertia (load + rotor inertia) [kgm^2]
Ｔ ：Max motor torque [Nm]
θ’：Angular velocity (rated revolution [rps]×２π[rad]) [rad/s]
ｔ ：Acc/Dec time [s]
Ｍ ：Mass (load + slider masses) [kg]
Ｔ ：Max motor thrust [N]
θ’：Rated velocity [m/s]
Dec time
Acc time
Rated speed
(Positioning velocity)
t
V
Acc/dec time computed here will be used for creation of move
profile at STEP 5-2 and STEP 6-2.
It is better to calculate the value in advance!
See also “6.1.9 Velocity Profile” in the TI
Max speed
3-1

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
STEP 4. Scaling
Very important item!
Set appropriate scaling for optimized operation commands.

What’s “scaling”:
This is the function to set the amount of command pulses from PLC for 1 turn
(DYNASERV) or 1m (LINEARSERV)to a any value. This function allows users to set
move command without complicated computation.
Note: Described as [axis command pulses] hereinafter
4.1 Recommended scaling value
Scaling value can be set freely, however, it is recommended to set it a value,
which makes you easier to calculate for move distance, such as below examples.
Rotation (DYNASERV)：
For angular command...
Multiple number of 360 [deg] simplifies to calculate move distance [deg] since
it is number of pulses for 1 turn.
Recommendation：360000
（1/1000 [deg] for 1 [axis command pulses]）
・Rotate 90 degrees ⇒ Command pulse 90000
・Rotate 206.32°degrees ⇒ Command pulse 206320
For index command...
If total number of indexing points can not be divided by 360°, it helps to simplify
computation for axis command pulses against move distance [deg] if a multiplied number of such
total number of indexing points.
・For positioning 7 indexing points per revolution
Recommendation：700000
（Amount of command pulses per revolution: 100000）
Linear (LINEARSEV)：
Computation can be simplified by setting as move distance per pulse since it is
number of pulses per 1m.
Recommendation：1000000
（1 [μm] per 1 [axis command pulse）
・For 20 [mm] move Amount of command pluses: 20000
・For 1008.2 [mm] move Amount of command pluses: 1008200
Setup method will be explained in the next page!
See also “6.1.7 Coordinate Systems” in the TI
Notice Recommended scaling value is over 100000.
If a lower scaling value is set, motor may moves unstably, such as overshoot,
because the command becomes rough.
PLC
DRIVE MOTOR
4-1

《目次》 《索引》
TI 71M01D03-03 1st Edition : 2007.03.12-00
4.2 How to setup scaling

Position control mode
・Command by pulse trains Go to “STEP 5-2 Moveing command by pulse trains”
・Command by table data Go to “STEP 6-2 Moveing command by table data”
Set the scaling data fixed in the previous page.
Proceed the setup with referring to [0.4 Change parameters via terminal
window].
Example of terminal window
Edit box
##112=360000 Axis command unit is set for 360000.
@96 Drive software is reset.
Example
Remark
4-2