Yaskawa GPD515C-ZZZZ-CS104 User Manual

For GPD 515/G5

ustable Frequency Drives

Spindle Orientation Software

FLASH Memory Software Option (114740)

Part Number: GPD515C-ZZZZ-CS104

Software Revised: 07/21/00

This software enhances a GPD515 AC drive with the ability to control the stopped position of the motor’s shaft; the targeted application is for spindle equipment with automatic tool changers. Orientation is achieved by processing feedback from a quadrature encoder connected to the spindle shaft. The positioning is based on a defined zero point which may be the marker pulse from the encoder or a switch.

The enhancements provided include:

Open Loop Vector Operation

The drive may be used without an encoder attached to the motor, the feedback encoder can be used on the spindle.

Closed Loop Vector Operation

The drive may be used with an encoder attached for better low speed control and positioning characteristics. This provides for better control when using the gearing option. If the motor is not directly coupled to the spindle shaft or gearing is used a feedback encoder on the spindle is required.

Gearing Ratio

The spindle to motor ratio may be adjusted between 1:10 to 10:1. This option may be used with open loop control, although closed loop control provides better performance.

Orient Command Input

This input initiates the orientation process and will stop the shaft in the desired position.

Marker Pulse Input

This input is provided through the PG option card. The marker or Z pulse from the encoder may be used to identify actual position. An external switch may also use this input.

Marker Offset Parameter

This parameter contains the actual stopping position and is measured in the number of counts since the marker pulse.

Oriented Output

This output indicates that the spindle shaft is oriented.

(1)

Two monitors are provided to indicate relative position to the marker and the angle relative to the orient position.

(1) ZZZZ refers to the base Model Number of the drive in which the software is installed.

This document is an addendum to the Technical Manual TM4515, listing the effect of this software on the parameters in the drive and the function descriptions in the manual.

Yaskawa Electric America Inc-www.drives.com

02Y00025-0526 Sheet 1 of 9

Date: 09/19/00

Example Applications

Example 1 Example 2 Example 3

For GPD 515/G5

ustable Frequency Drives

Encoder

GPD515

Controller

with

PG-X2

Option Card

Motor

Tool

Chuck

Spindle Shaft

Tool

Spindle Shaft

Encoder

GPD515

Controller

with

PG-X2

Option Card

Motor

Tool

Chuck

Belt or Gear (Gear Ratio)

Tool

Spindle Shaft

Encoder

GPD515

Controller

with

PG-W2

Option Card

Motor

Tool

Chuck

Belt or Gear (Gear Ratio)

Tool

These examples show typical applications. In these examples the encoder Z or Marker pulse is used to indicate the zero position. An external switch may be used as the Marker pulse to indicate the zero position.

Example 1 This is a direct drive system where the encoder, motor and spindle shafts are directly coupled. This system can use the encoder for positioning and closed loop vector operation to provide the best performance.

Example 2 This is an indirect drive system where the motor to spindle shaft connection may change. This method also provides for gearing. The encoder is coupled to the spindle shaft to eliminate possible positioning errors. This method must use open loop vector speed control and will not provide the performance of a closed loop system.

Example 3 This is an indirect drive system where the motor to spindle shaft connection may change. This method also provides for gearing. The encoder is coupled to the spindle shaft to eliminate possible positioning errors. The encoder on the motor allows for closed loop vector speed control. This method will provide the best indirect positioning performance.

NOTE: This software requires a PG-X2 – Speed Control Card (MagneTek part # DS003) be installed on the drive for examples 1 and 2. For example 3 a PG-W2 – Dual Encoder Feedback Option Board (MagneTek part # DS014) is required.

1.0 Wiring

Wire the incoming power, motor, accessories and control wiring as specified in the GPD515 Technical Manual TM4515.

Wire the encoder(s) to the PG-X2 or the PG-W 2 according to the instruction sheets 02Y00025-0398 or 02Y00025-0397 respectively.

NOTE: The +12V supply on the PG-W2 card is capable of only 200mA, be sure not to overload it.

Yaskawa Electric America Inc-www.drives.com

02Y00025-0526 Sheet 2 of 9

Date: 09/19/00

1.1 Encoder Wiring Examples

For GPD 515/G5

ustable Frequency Drives

Channel 1 Channel 2Channel 1

Run

Orient

Spindle Encoder

+12Com A+ A- B+ B-1Z+ Z-

2453 678910

PG-X2

4CN

11 Common

(48v 50ma Max.) (48v 50ma Max.)

TA1

Run

Orient

Oriented

Motor Encoder

+12 C A+ A- B+ B-

2453 678910

TP1

11 Common

4CN

Spindle Encoder

Com

External

+12A+ A- B+ B- Z+ Z-

11 12 13 14 15 16 17 18 21 22 23 24

PG-W2

Power

2019

GPD515GPD515

Oriented

The diagrams shown indicate the default setup that will result from an initialize. The multifunction inputs and outputs may be redefined within the limits of the GPD515 to accommodate the application.

1.2 Marker Pulse Wiring Examples

If a proximity switch is going to be used as the marker pulse this is the recommended wiring.

Sinking Proximity SwitchSourcing Proximity Switch

Switch

+Z Input

-Z Input +12 vdc

1K 1/8 W

- Com

+Z Input

-Z Input

1K 1/8 W

- Com

+12 vdc

Switch

+Z Input

-Z Input -Z Input

Switch

Marker

Pulse

+Z Input

Switch

Marker

Pulse

The diagrams show how either a sourcing or sinking proximity switch may be used to trigger the marker pulse. It is recommended that an external power supply be used to power the switching device.

Yaskawa Electric America Inc-www.drives.com

02Y00025-0526 Sheet 3 of 9

Date: 09/19/00

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