OpticDirect 120112 User Guide
Updated 2/8/13
Overview
or Delta ASDA-A2 servo drives. OpticDirect simplifies wiring to compatible drives and eliminates long runs of
wire that can pick up electrical noise.
The OpticDirect interface board allows MPU11 based control systems to interface to Yaskawa Sigma 5
OpticDirect Features
Application: Third Party Drive Interface
Code Name: YASINTF
Number of Axes: 1
Maximum number of Axes:
DAC resolution: 16 bits
Analog Output Voltage: -10 to +10 Volts
Control Interface: 2 fiber optics or wire
Dimensions (W*D*H): 6.13 * 4.32 * 0.95 inches
8 with 8
OpticDirect
cards in series
OpticDirect Connection Overview
will negotiate their axis numbers based on the order they are connected. The last OpticDirect in the
communication chain will initiate communication and start numbering axes at 1. LED1 will flash one segment
at a time during startup while each OpticDirect determines its location in the communication chain. After about
10 seconds negotiation completes, LED1 shows the axis number, and normal operation begins. If the decimal
point is lit and a number is flashing on LED1, this indicates an error condition that can be found in the “LED1
Error Codes” section.
Fiber optic or wire connections are available on OpticDirect to allow connection to various other drive
devices. For optimum noise immunity, fiber optic connections should be used between OpticDirect boards.
“Drive Communication In” and “Drive Communication Out” headers are provided for wire connection to
devices that do not support repeating on fibers.
Designator Jumper Name Function with jumper block in place Function with jumper block removed
Up to eight OpticDirect boards can be connected to a MPU11 motion control card. The OpticDirect’s
Jumper Functions
J5 Wired Input Communicate with another drive over wires
(this
OpticDirect
MPU11)
J4 Fiber Repeat DriveBus out to another drive connects with
fiber optics
J10 Config Offset and gain trim - NEVER INSTALL
THIS JUMPER
J11 Feedback Disable Disables closed loop correction of DAC
output - NEVER INSTALL THIS JUMPER
is not connected to
Communicate with MPU11 or another drive through
fiber connectors
DriveBus out connects to another drive over wires
Normal operation
Normal operation
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Fiber Repeat Connection Example
MPU11
Fiber 4
Fiber 5
Drive
Communication In
OpticDirect OpticDirect
Fiber Repeat
Axis 2
Wired Input
Drive
Communication Out
Axis 1
Communication In
Communication Out
Fiber Repeat
Wired Input
Drive
Drive
Wire Repeat Connection Example
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Typical System Connection Example
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Motor Holding Brake Output
A brake driver relay is included on the OpticDirect. The drive’s brake request output is monitored to
determine when to activate the relay. The relay is not controlled by the PLC program.
The brake solenoid will require a power supply separate from the OpticDirect supply. Noise
suppression, such as a resistor and capacitor network for AC solenoids or a diode for DC solenoids is also
needed. The noise suppression devices should be connected as close as possible to the solenoid coil to
effectively reduce emissions.
Typical Brake Wiring Example
Pin 1
External Power Supply
H1
24 VDC
24 COM
Brake Release
Solenoid
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OpticDirect PLC Communication
Inputs and outputs can be accessed from the PLC program. Because OpticDirect communicates on the
drive protocol, inputs must be accessed through SV_DRIVE_STATUS_1 - SV_DRIVE_STATUS_8 and
outputs must be written through SV_DRIVE_CONTROL_1 - SV_DRIVE_CONTROL_8. A PLC program
written for use with OpticDirect will need to be installed, as other drive types are not I/O compatible.
PLC Input Map
SV_DRIVE_STATUS_x Bits Description
0 Not implemented
1 Not implemented
2 Not implemented
3 Not implemented
4 Not implemented
5 Alarm bit 3
6 Alarm bit 2
7 Alarm bit 1
8 /TGON
9 Brake state
10 /S_RDY
11 Quadrature error
12 Rotation direction
13 Index pulse
14 Differential error
15 Drive fault
* These bits are not used in standard systems, but are available for possible custom applications.
** These bits are handled by the CNC11 software and do not need to be read by the PLC program.
SV_DRIVE_CONTROL_x Bits Description
0 Not implemented
1 Not implemented
2 Not implemented
3 Not implemented
4 Not implemented
5 Not implemented
6 Not implemented
7 /POS_CLR
8 P-OT
9 N-OT
10 /P-CON
11 /P-CL
12 /N-CL
13 Absolute send
14 Alarm reset
15 Enable
* These bits are not used in standard systems, but are available for possible custom applications.
*** This bit is controlled by the MPUl1 firmware. Do not attempt to change it in the PLC program.
* Alarm code type reporting
* Alarm code type reporting
* Alarm code type reporting
* Motor above requested speed
* State of OpticDirect brake relay
Drive is ready to accept commands (1 = not ready, 0 = ready)
** Encoder signals have made an invalid transition
** Encoder rotation direction
** Encoder index pulse
** A and /A or B and /B encoder signals are not opposite states
An alarm condition is present on the drive (1 = fault, 0 = ok)
PLC Output Map
Position clear (Precision mode only) (1 = run, 0 = clear)
* Open collector output on H1
* Open collector output on H1
* Control method switching
* Positive torque limit
* Negative torque limit
* Send absolute position
Alarm reset (1 = reset, 0 = run)
*** Axis Enable (1 = enable, 0 = disable)
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CNC11 Software Setup
as displayed on LED1 is entered
Drive and encoder assignment parameters must be set for each OpticDirect board. Parameters 300 to
307 define the OpticDirect number that will be used for each axis in the software. When setting up OpticDirect,
the drive assignment parameter values may be 1 through 8. For example, parameter 300 may be set to 1 to use
OpticDirect number 1 (displayed on LED1) as the first axis. If parameter 300 is set to 2, OpticDirect number 2
will be the first axis in the software.
Encoder parameters 308 to 315 define the encoder port that will be used for each axis in the software.
OpticDirect boards transmit encoder information over the DriveBus protocol, so the numbers entered into
parameters 308 to 315 will be from 7 to 14. For example, parameter 308 will be set to 7 to use the encoder from
OpticDirect number 1 for axis 1 in the software.
drive assignment and encoder assignment parameters.
The configuration chapter of the M-Series Operator’s Manual contains additional information on the
CNC11 Parameters for OpticDirect
Parameter Description Valid Values Notes
300 CNC11 axis 1 assignment 1 to 8
301 CNC11 axis 2 assignment 1 to 8
302 CNC11 axis 3 assignment 1 to 8
303 CNC11 axis 4 assignment 1 to 8
304 CNC11 axis 5 assignment 1 to 8
305 CNC11 axis 6 assignment 1 to 8
306 CNC11 axis 7 assignment 1 to 8
307 CNC11 axis 8 assignment 1 to 8
308 CNC11 encoder 1 assignment 7 to 14
309 CNC11 encoder 2 assignment 7 to 14
310 CNC11 encoder 3 assignment 7 to 14
311 CNC11 encoder 4 assignment 7 to 14
312 CNC11 encoder 5 assignment 7 to 14
313 CNC11 encoder 6 assignment 7 to 14
314 CNC11 encoder 7 assignment 7 to 14
315 CNC11 encoder 8 assignment 7 to 14
The OpticDirect Axis number
into these parameters to arrange
the axis order as needed.
OpticDirect encoder numbers
start at 7 for OpticDirect 1 and
continue through 14.
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OpticDirect Specifications
Characteristic Min. Typ. Max. Unit
Supply Voltage 22 24 26 V
Supply Current 0.25 - - A
Relay Output Current 0.1 - 10 A @ 125VAC
Relay Output Current 0.1 - 5 A @ 30VDC
Input Operating current 9 11 15 mA
Analog Output Resolution - 16 - bits
Analog Output Voltage -10 - 10 V
Analog Output Current 0 1 5 mA
Fiber Optic Length - - 100 feet
Drive Communication Cable Length - - 30 feet
Size: 6.13 * 4.32 * 0.95 Inches
OpticDirect Troubleshooting
Symptom Possible Cause Corrective Action
+24V LED not lit power connection to H1 is faulty correct wiring or power supply problem
ENABLE LED not lit and no
error on LED1
Incorrect Axis Number or
Communication Failure
Error
Number
1 Communication
2 Not Used
3 Not Used
4 Not Used
5 Not Used
6 Power Supply Off +12v or -12v supplies have not
7 Not Used
8 Not Used
9 Not Used
Meaning Cause Corrective Action
Failure
Main enable off Check for errors in software preventing
MPU11 from enabling drives
Axis not enabled Move axis
Incorrect communication connection Make sure "FIBER REPEAT" and
"WIRED INPUT" jumpers are set properly
LED1 Error Codes
OpticDirect
communication from the
MPU11
started yet
has lost
Make sure MPU11 is connected and
running. Check fiber 4 or wired
connection. Make sure "WIRED
INPUT" jumper is set properly.
Wait a few seconds for supplies to start.
Start up is sequenced, so this condition
can only be seen on the last few axes.
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OpticDirect Connections
OpticDirect 120112
H1
Pin 1
+24VDC
24V Return
Brake Relay 1
Brake Relay 2
Reserved
Reserved
Reserved
Delta Drive
Connector
Yaskawa Drive
Connector
Fiber 5
Fiber 4
Fiber 5 Repeat
Fiber 4 Repeat
Drive
J4
J5
Wired Input
Fiber Repeat
Communication
Out
Drive
Communication
In
Pin 1
Pin 1
Drive Out TX-
Drive Out TX+
Drive Out RX+
Logic GND
Drive Out RX-
Drive In RX-
Drive In TX-
Drive In TX+
Drive In RX+
Logic GND
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0.700"
(88.4mm)
(17.8mm)
OpticDirect Dimensions
4.352"
(110.5mm)
3.480"
(88.4mm)
0.950"
(24.1mm)
0.180"
(4.6mm)
4.520"
(114.8mm)
6.152"
(156.3mm)
2.276"
(57.8mm)
OpticDirect 120112
5.910"
(150.1mm)
J5
J4
Pin 1Pin 1
3.480"
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OpticDirect Setup with Delta ASDA-A2 Drive
OpticDirect Mechanical Mounting on Delta ASDA-A2
The following parts are required:
1. Your Delta ASDA-A2 series drive
2. OpticDirect board
3. Optic Direct mounting plate with (5) 6-32 x 3/8” standoffs installed
4. Optic Direct cover plate
5. (5) 6-32 x 1” standoffs
6. (5) 6-32 nylon insert lock nuts
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7. 5 inch long ribbon cable labeled “DELTA”
Installation:
1. Fit the OpticDirect over the 6-32 standoffs on the mounting plate (only one way it will fit).
2. Secure the OpticDirect to the OpticDirect mounting plate with 6-32 x 1” standoffs.
3. Install the Optic Direct Cover plate with 6-32 nylon insert lock nuts.
4. You are now ready to install the OpticDirect onto the Delta Drive. When doing this you want to line up
the ribbon cable connection on the OpticDirect and the CN1 connection on the delta as close to straight
as possible. On larger drives this will be the mounting height for the OpticDirect. On smaller drives such
as the 750watt drive you must mount the OpticDirect flush with the top of the drive and flush with the
front of the drive.
A. Install the ribbon cable, plugging into the 2nd connection back marked “DELTA”.
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B. Now turn the unit over and remove the red cover from the double sided tape.
5. Install the OpticDirect unit on to the Delta Drive on the right side flush with the front and the ribbon
cable lined up with the CN1 connector, not exceeding flush with the top. Making sure the tape is well
seated. A 750 watt drive is shown.
6. Now plug the ribbon cable into the CN1 connector. This completes the mechanical installation.
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Parameter Setup for OpticDirect and Delta ASDA-A2 in Precision Mode
Install the OpticDirect boards and set up CNC11 before continuing with parameter setup. CNC11
version 3.07 rev 14 or higher is required for precision mode.
The following section describes settings that must be changed to run the Delta ASDA-A2 drives in
precision mode. See Tech Bulletin 268 for further information on Delta precision mode setup.
Delta ASDA-A2 Settings
Delta Parameter Value Notes
P1-00 0x1000 AB Phase pulse, line drivers, fastest filter
P1-00 0x1000 Encoder is AB Pulse output
P1-01 0x0100 position mode Pt, CW Negative
P1-01 2 Velocity Mode control
P1-40 * Motor Maximum Commanded RPM
P1-41 200 Maximum Analog Torque command
P1-44 320000 Delta encoder PPR (lines, or counts/4), the gear ratio numerator
P1-45 8192 Centroid encoder PPR (lines, or counts/4), the gear ratio denominator
P1-46 8192 Encoder output PPR (lines, or counts/4)
P1-55 * Maximum allowed RPM of motor
P2-10 0x0101 DI1 = Drive Enable
P2-11 0x0000 DI2 = not used
P2-12 0x0000 DI3 = not used
P2-13 0x0000 DI4 = not used
P2-14 0x0102 DI5 = Reset Servo Drive
P2-15 0x0000 disable DI6
P2-16 0x0000 disable DI7
P2-17 0x0000 Disable EMGS function
P2-18 0x0103 DO1 = zero speed
P2-19 0x0101 DO2 = /S ready
P2-21 0x0108 DO4 = Motor Brake Output
P2-66 0x0004 Auto-reset Undervolt error
* The value for P1-40 should be set to 10% over the max rate that CNC11 will command at 10VDC on the analog output. This means that if the motor will be
commanded at 3000 RPM, this parameter should be set to about 3300 RPM. Also, Parameter 01-55 should be set about 5% above P1-40, or 3450 RPM in this example,
to avoid issues at max rate.
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CNC11 Settings
CNC11 Setting Value Notes
Kp 0 CNC11 PID Menu
Ki 0 CNC11 PID Menu
Kd 0 CNC11 PID Menu
Limit 2560000 CNC11 PID Menu
Kg 0 CNC11 PID Menu
Kv1 0 CNC11 PID Menu
Ka 0 CNC11 PID Menu
Parameter 256 2 CNC11 Parameter, Enable Precision Mode
Encoder counts / rev 32768 CNC11 Motor Parameters Menu
After the listed settings are changed to the correct values, run CNC11’s Tune (<F1>, <F3>, <F4>,
<F5>) function to automatically set remaining CNC11 parameters.
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Repeater Fibers daisy
Chained from last to
First drive
Flat Cable from OpticDirect
To Delta CN1 Connector
CN2 encoder cable
From Delta Motor
MPU11 to OpticDirect to Delta Drives Rev6/13/2012
Fibers From MPU11
To Last Axis
See Close-up
Logic
24VDC GND
Logic Power Supply
24VDC
Logic
+24VDC
Motor Brake
Connector
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OpticDirect to Delta Hookup
Closeup Rev6/13/2012
Fiber repeater daisy-chained
To lower number drive axis
Switched Motor
Brake Output
Attention:
Min Bend Radius
For Fibers
38mm/1.5”
Fibers from MPU11 to last
Highest number axis
From Brake
24VDC
Logic 24V
Common
Logic 24VDC
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To motor brake connection
24VDC Brake Power Supply
OpticDirect Setup with Yaskawa Sigma 5 Drive
OpticDirect Mechanical Mounting on Yaskawa Sigma 5
The following parts are required:
1. Your Yaskawa Sigma 5 series drive
2. OpticDirect board
5. Optic Direct cover plate
8. (5) M3 x 0.5 x 5mm standoffs
9. (5) M3 x 0.5 x 20mm standoffs
10. (5) M3 x 0.5 x 5mm screws
11. 2.75 inch long ribbon cable
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Installation:
1. Install the M3 x 0.5 x 5mm standoffs into the option board mounting holes on the right side of the drive.
2. Secure the OpticDirect to the drive with the M3 x 0.5 x 20mm standoffs.
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3. Plug the ribbon cable into the connector near the edge of the board labeled “YASKAWA”.
4. Install the Optic Direct Cover plate with the M3 x 0.5 x 5mm screws.
5. Plug the ribbon cable into the drive’s CN1 connector to complete the mechanical installation.
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Parameter Setup for OpticDirect and Yaskawa Sigma 5 in Precision Mode
Install the OpticDirect boards and set up CNC11 before continuing with parameter setup. CNC11
version 3.07 rev 14 or higher is required for precision mode.
The following section describes settings that must be changed to run the Yaskawa Sigma 5 drives in
precision mode. See Tech Bulletin 267 for additional Yaskawa drive setup information.
Yaskawa Sigma 5 Settings
Yaskawa Parameter Value Notes
Pn000 0x0010
Pn10B 0x0004
Pn170 0x1400
Pn200 0x0004
Pn20A 8192
Pn20E 1048576 Yaskawa encoder counts, the gear ratio numerator
Pn210 32768 Centroid encoder counts, the gear ratio denominator
Pn212 8192
Pn50A 0x8101
Pn50E 0x3200
Direction of Motor Rotation and Encoder Output Pulse
Application Function for Gain Select Switch
Tuning-less Function Related Switch
Reference Pulse Form
Number of pitches for the external encoder
Encoder output PPR (lines, or counts/4)
Input Signal Selection 1
Output Signal Selection 1
CNC11 Settings
CNC11 Setting Value Notes
Kp 0 CNC11 PID Menu
Ki 0 CNC11 PID Menu
Kd 0 CNC11 PID Menu
Limit 2560000 CNC11 PID Menu
Kg 0 CNC11 PID Menu
Kv1 0 CNC11 PID Menu
Ka 0 CNC11 PID Menu
Parameter 256 2 CNC11 Parameter, Enable Precision Mode
Encoder counts / rev 32768 CNC11 Motor Parameters Menu
After the listed settings are changed to the correct values, run CNC11’s Tune (<F1>, <F3>, <F4>,
<F5>) function to automatically set remaining CNC11 parameters.
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