Yaskawa SMC-2000 User Manual
SMC-2000 Multi-Axis Motion Controller
User’s Guide Version 3.1
Overview
Introduction
The SMC-2000 Series are packaged motion controllers designed for stand-alone operation. Features include
coordinated motion profiling, uncommitted inputs and outputs, non-volatile memory for stand-alone operation
and RS232/RS422 communication. Extended performance capability includes: fast 8 MHz encoder input
frequency, precise 16-bit motor command output DAC, +/-2 billion counts total travel per move, faster sample
rate, and multitasking of up to four programs. The controllers provide increased performance and flexibility
featuring plug and play operation.
Designed for maximum system flexibility, the SMC-2000 is available in one, two, four, and eight axes
configurations.
Each axis accepts feedback from a quadrature linear or rotary encoder with input frequencies up to 8 million
quadrature counts per second. For dual-loop applications that require one encoder on both the motor and the
load, auxiliary encoder inputs are included for each axis.
The powerful controller provides several modes of motion including jogging, point-to-point positioning, linear
and circular interpolation with infinite vector feed, electronic gearing and user-defined path following. Several
motion parameters can be specified including acceleration and deceleration rates, and slew speed. To eliminate
jerk, the SMC-2000 provides S-curve profiling.
For synchronizing motion with external events, the SMC-2000 includes 8 optically isolated inputs, eight
programmable outputs and seven analog inputs (eight optional). I/O expansion boards provide additional inputs
and outputs. Event triggers can automatically check for elapsed time, distance and motion complete.
Despite its full range of sophisticated features, the SMC-2000 is easy to program. Instructions are represented
by two letter commands such as BG for Begin and SP for Speed. Conditional Instructions, Jump Statements,
and arithmetic functions are included for writing self-contained applications programs.
To prevent system damage during machine operation, the SMC-2000 provides several error handling features.
These include software and hardware limits, automatic shut-off on excessive error, abort input, and
user-definable error and limit routines.
SMC-2000 User's Guide Overview
1
••••
SMC-2000 Functional Elements
The SMC-2000 circuitry can be divided into the following functional groups as shown in Figure 1.1 and
discussed below.
To Host
RS-232 / RS-422 Serial
Communication FIFO
80 Bytes
8 24V Out
8 Digital In
8 Analog In
I/O
Interface
68340
Microcomputer
1024K RAM
256K EPROM
1024 EEPROM
Watch Dog
Timer
4-Axes
Motor/Encoder
Inte rface
To Amps
From
Limits
From
Encoders
Figure 1.1 - SMC-2000 Functional Elements
Microcomputer Section
The main processing unit of the SMC-2000 is a specialized 32-bit Motorola 68340 Series Microcomputer with
256K RAM, 64 K EPROM and 128 K bytes EEPROM. The RAM provides memory for variables, array
elements, and application programs. The EPROM stores the firmware of the SMC-2000. The EEPROM allows
parameters and programs to be saved in non-volatile memory upon power down.
Motor Interface
For each axis, a sub-micron gate array performs quadrature decoding of the encoders at up to 8 MHz, generates
the +/-10 Volt analog signal (16-Bit D-to-A) for input to a servo amplifier. Interface to hardware limits and
home inputs is also included.
Communication
Communication to the SMC-2000 is via two separately addressable RS232 ports. The factory may also
configure the ports for RS422. The serial ports may be daisy-chained to other SMC-2000 controllers.
General I/O
The SMC-2000 provides interface circuitry for eight opto-isolated inputs, eight general outputs, and seven (or
eight) analog inputs (14-Bit ADC). The eight axis SMC-2000 provides 24 inputs and 16 outputs. Additional
I/O is optional.
System Elements
As shown in Fig. 1.2, the SMC-2000 is part of a motion control system that includes amplifiers, motors, and
encoders. These elements are described below
Computer SMC-2000 Controller Driver
Figure 1.2 - Elements of Servo systems
Motor
A motor converts current into torque, which produces motion. Each axis of motion requires a motor sized
properly to move the load at the required speed and acceleration. (Yaskawa's "YSize" software can help you
with motor sizing).
Power Supply
Encoder Motor
The servo motor and can be brush-type or brushless, rotary or linear. Please refer to Yaskawa catalogs for more
information.
Amplifier
For each axis, the power amplifier converts the +/-10 Volt signal from the controller into enough current to drive
the motor. As such, the amplifier should be sized properly to meet the power requirements of the motor. For
brushless motors, an amplifier that provides electronic commutation is required. The amplifier should be set up
to operate in a torque control mode. Set the torque reference gain so that 10 Volts at the torque reference input
will allow the amplifier/motor to operate at peak torque (typically 200-300% of rated torque). See Yaskawa
technical manuals for specifications. Please call Yaskawa if you need help configuring your amplifier.
Encoder
An encoder translates motion into an electrical signal to be fed back into the controller. The SMC-2000 accepts
feedback from either a rotary or linear encoder. The preferred encoder is the one with two channels in
quadrature, CHA and CHB. This encoder may also have a third channel (or index) for synchronization. When
necessary, the SMC-2000 can interface to encoders with pulse and direction signals.
There is no limit on encoder line density, however, the input frequency to the controller must not exceed
2,000,000 full encoder cycles/second (8,000,000 quadrature counts/sec). For example, if the encoder line
density is 10000 cycles per inch, the maximum speed is 200 inches/second.
The encoder type may be either single-ended (CHA and CHB) or differential (CHA,CHA-,CHB,CHB-). The
SMC-2000 decodes either type into quadrature states or four times the number of cycles.
SMC-2000 User's Guide Overview
3
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The standard voltage level is TTL (zero to five volts), however, voltage levels up to 12 Volts are acceptable. (If
using differential signals, 12 Volts can be input directly to the SMC-2000. Single-ended 12 Volt signals require
a bias voltage input to the complementary inputs)
SMC-2000 User's Guide Overview
1
••••
Getting Started
Elements You Need
Before you start, you must get all the necessary system elements. These include:
1. SMC-2000 Series Controller
2. Servo motors and amplifiers
3. 24 Volt Class 2 Power Supply for SMC-2000 and Amplifiers
4. PC (Personal Computer with RS232 port) with at least 4MB of RAM and Windows 3.1 or higher.
5. Communication Disk (YTerm-2000 software) from Yaskawa
6. All interface and communication cables
Warning: Follow the “Tuning Servo System” procedure before applying power to the SMC
unit and the servo amplifier at the same time. Applying power to the SMC unit and the
amplifiers at the same time may result in damage to the mechanical system if the initial gain
parameters for the SMC unit are not properly set.
Installing the SMC-2000
Connecting AC and DC Power to the Controller
The SMC-2000 requires a single AC supply voltage, single phase, 50 Hz or 60 Hz, from 85 volts to 264 volts,
and a +24 (±10%) Volt Class 2 DC supply for I/O. It is also recommended that AC and DC wiring is kept
separate in order to avoid noise and interference.
Warning: Do NOT use the I/O 24 VDC power supply to power any holding brakes that may
be connected to your servo motors. Use a dedicated supply for that purpose.
Warning
associated amplifier(s) and servo motor(s). Extreme caution should be exercised in the application of this
equipment. Only qualified individuals should attempt to install, set up and operate this equipment.
SMC-2000 User's Guide Getting Started
: Dangerous voltages, current, temperatures and energy levels exist in this product and in its
1
••••
The AC and DC power is applied to the power connector at the bottom of the front panel. The power connector
is a 6-pin black screw-type terminal. Note that the AC power is applied to the LEFT side while the DC power is
applied to the RIGHT. The five connections are:
Pin Connect to:
GND Earth Ground
N & L AC In, 85V - 264V
0 & 24V 24 Volt DC and Common
Warning
Applying AC power will turn on the green light power indicator.
: Never open the controller box when AC power is applied to it.
Connecting Servo Motors and the Amplifiers
Before connecting the amplifier to the controller, you need to verify that the ground level of the amplifier is
either floating or at the same potential as earth.
WARNING: When the amplifier ground is not isolated from the power line or when it has a
different potential than that of the computer ground serious damage will result to the
computer controller and amplifier.
If you are not sure about the potential of the ground levels, connect the two ground signals by a 10 KΩ resistor
and measure the voltage across the resistor. Only if the voltage is zero, proceed to connect the two ground
signals directly.
Establishing Communication - RS232
Use the 9-Pin RS232 cable to connect the MAIN (Com 1) SMC-2000 serial port to your computer Com port.
Your computer must be configured for a baud rate setting of 19.2 KB, full duplex, no parity, 8 bits data, one
start bit, and one stop bit. The Yaskawa software “YTerm-2000” will accomplish this configuration.
At this point you should install YTerm-2000 software. This software requires the use of Windows 3.1 or above,
and at least 4M of RAM. The YTerm-2000 communication disk from Yaskawa provides a terminal emulator /
configuration program for your computer. Follow the steps below to install and run the terminal emulator.
Installation
:
1. Insert Disk in drive A: ( or B)
2. From Windows Program Manager or Start Menu, select <Run> command.
3. Run: A:\Setup ( or B:\Setup)
4. After the Yaskawa group is created, make sure the SMC-2000 has AC power connected to it then
double-click the YTerm-2000 icon to start the program.
Encoder Interface
Encoder interface is part of the Yaskawa supplied cable that connects the SMC with the Yaskawa amplifier.
See the pinout for connector AE1 or AE2 for Auxiliary Encoder interface connection, found in the appendix.
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Getting Started SMC-2000 User's Guide
••••
Tuning Servo System
Step 1. Setting servo(s) parameters
Yaskawa servo amplifier models SGD, SGDA, SGDB need to be set up to operate in a Torque Mode.
Parameter ( SGD, SGDA ) Function Setting
Cn-01, bit B , A Torque Control Mode Selection 1,0
Cn-13 Torque Reference Gain 30
Cn-01, bit 2,3 Limit Switch Disable 1,1
Parameter ( SGDB ) Function Setting
Cn-2B Torque Control Mode Selection 2
Cn-13 Torque Reference Gain 30
Cn-01, bit 2,3 Limit Switch Disable 1,1
NOTE: When using a motor with an absolute encoder please see the Absolute Encoder
section in chapter 12 for additional parameter settings.
Step 2. Applying Power to SMC unit and servos
Apply power to SMC-2000. Input the command MO (CR), this will shut off control of the SMC to the servo(s).
Apply power to the servo amplifier.
Step 3. Setting Gain values in SMC unit
Set gains to default values:
Command Function Default value for
SG** servo
KD Derivative Constant 10
KP Proportional Constant 1
KI Integrator 0
Step 4. Enable Servo
In order to properly tune the servo system, enable one servo at a time with the
E, F, G, H
). After enabling a servo, maximize the gains.
SH*
command (
*=X, Y, Z, W,
Step 5. Maximize Gains
For more damping, you can increase KD (maximum is 4095). Increase gradually and stop after the motor
vibrates. A vibration is noticed by the audible sound or by interrogation. If you send the command
TE X (CR) Tell error
SMC-2000 User's Guide Getting Started
3
••••
a few times, and get varying responses, especially with reversing polarity, it indicates system vibration. When
that is the case, simply reduce KD.
Next you need to increase the value of KP gradually (maximum allowed is 1023). You can monitor the
improvement in the response with the Tell Error instruction.
KP 10 (CR) Proportion gain
TE X (CR) Tell error
As the proportional gain is increased, the error decreases.
Here again, the system may vibrate if the gain is too high. When that is the case, reduce KP. Typically, KP
should not be greater than KD/4.
Finally, increase the value of KI, start with zero value and increase it gradually. The integrator eliminates the
position error, resulting in improved accuracy. Therefore, the response to the instruction
TE X (CR)
becomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. When that occurs, simply
reduce KI.
After tuning one axis, disable the servo with the MO* command (
tuning process for the remaining axes.
After each servo has been properly tuned, the values now need to be burned into the EEROM. This is done by
issuing the BN command. After the BN command has been issued the new values will remain effective.
Next, you are ready to try a few motion examples.
Motion Examples
Here are a few examples for using your controller.
Example 1- Profiled Move
Objective: Rotate the X-axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an
acceleration and deceleration rates of 100,000 counts/s
Instruction Interpretation
PR 10000 Distance
SP 20000 Speed
DC 100000 Deceleration
AC 100000 Acceleration
BG X Start Motion
X, Y, Z, W, E, F, G, H), and repeat the
*=
2
.
In response, the motor turns and stops.
Example 2 - Multiple Axes
Objective: To move four axes independently.
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Getting Started SMC-2000 User's Guide
••••
Instruction Interpretation
PR 500,1000,600,-400 Distances of X,Y,Z,W
SP 10000,12000,20000,10000 Slew speeds of X,Y,Z,W
AC 100000,10000,100000,100000 Accelerations of X,Y,Z,W
DC 80000,40000,30000,50000 Decelerations of X,Y,Z,W
BG XZ Start X and Z motion
BG YW Start Y and W motion
Example 3 - Independent Moves
The motion parameters may be specified independently as illustrated below.
Instruction Interpretation
PR ,300,-600 Distances of Y and Z
SP ,2000 Slew speed of Y
DC,80000 Deceleration of Y
AC,100000 Acceleration of Y
SP ,,40000 Slew speed of Z
AC ,,100000 Acceleration of Z
DC ,,150000 Deceleration of Z
BG Z Start Z motion
BG Y Start Y motion
Example 4 - Position Interrogation
The position of all axes may be interrogated with the instruction
TP Tell position all axes
which returns all of the positions of the motors separated by commas.
Individual axis may be interrogated with the instructions:
TP X Tell position - X axis only
TP Y Tell position - Y axis only
TP Z Tell position - Z axis only
TP W Tell position - W axis only
TP E Tell position - E axis only (SMC-2000-8 only)
TP F Tell position - F axis only (SMC-2000-8 only)
TP G Tell position - G axis only (SMC-2000-8 only)
TP H Tell position - H axis only (SMC-2000-8 only)
The position error, which is the difference between the commanded position and the actual position, can be
interrogated by the instructions
SMC-2000 User's Guide Getting Started
5
••••
TE Tell error - all axes
TE X Tell error - X axis only
TE Y Tell error - Y axis only
TE Z Tell error - Z axis only
TE W Tell error - W axis only
Example 5- Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction Interpretation
DP 0,2000 Define the current positions of X,Y as 0 and 2000
PA 7000,4000 Sets the desired absolute positions
BG X Start X motion
BG Y Start Y motion
After both motions are completed, command:
PA 0,0 Move to 0,0
BG XY Start both motions
Example 6 - Velocity Control
Objective: Drive the X and Y motors at specified speeds.
Instruction Interpretation
JG 10000,-20000 Set Jog Speeds and Directions
AC 100000, 40000 Set accelerations
DC 50000,50000 Set decelerations
BG XY Start motion
after a few seconds, command:
JG -40000 New X speed and Direction
TV X Returns X speed
and then
JG ,20000 New Y speed
TV Y Returns Y speed
These cause velocity changes, including direction reversal. The motion can be stopped with the instruction
ST Stop
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Getting Started SMC-2000 User's Guide
••••
Example 7 - Operation under Torque Limit
The magnitude of the motor command may be limited independently by the instruction TL. The following
program illustrates that effect.
Instruction Interpretation
TL 0.2 Set output limit of X axis to 0.2 volts
JG 10000 Set X speed
BG X Start X motion
The X motor will probably not move as the output signal is not sufficient to overcome the friction. If the motion
starts, it can be stopped easily by the touch of a finger.
Increase the torque level gradually by instructions such as
TL 1.0 Increase torque limit to 1 volt.
TL 9.998 Increase torque limit to maximum, 9.998 Volts.
The maximum level of 10 volts provides the full output torque.
Example 8 - Interrogation
The values of the parameters may be interrogated. For example, the instruction
KP ? Return gain of X-axis.
returns the value of the proportional gain of the X axis. Similarly, the instruction
KP ,,? Return gain of Z-axis.
returns the value of the Z axis gain.
KP ?,?,?,? Return gains of all axes.
returns the gain values for the four axes.
The same procedure applies to other parameters such as KI, KD, FA, etc.
Example 9 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
PR 600000 Distance
SP 10000 Speed
WT 10000 Wait 10000 milliseconds before reading the next
instruction
BG X Start the motion
SMC-2000 User's Guide Getting Started
7
••••
Example 10 - Motion Programs
Motion programs may be edited and stored in memory using Yaskawa’s YTerm-2000 software. They may be
executed at a later time.
#A Define label
PR 700 Distance
SP 2000 Speed
BGX Start X motion
EN End program
Now the program may be executed with the command
XQ #A Start the program running
Example 11 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction Interpretation
#A Label
DP 0 Define current position as zero
V1=1000 Set initial value of V1
#LOOP Label for loop
PA V1 Move X motor V1 counts
BG X Start X motion
AM X After X motion is complete
WT 500 Wait 500 ms
TP X Tell position X
V1=V1+1000 Increase the value of V1
JP #LOOP,V1<10001 Repeat if V1<10001
EN End
After the above program is entered and downloaded to the SMC-2000, use the following command to run the
program:
XQ #A Execute Program #A
Example 12 - Motion Programs with Trippoints
The motion programs may include trippoints as shown below.
Instruction Interpretation
#B Label
DP 0,0 Define initial positions
PR 30000,60000 Set targets
SP 5000,5000 Set speeds
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Getting Started SMC-2000 User's Guide
••••
BGX Start X motion
AD 4000 Wait until X moved 4000
BGY Start Y motion
AP 6000 Wait until position X=6000
SP 2000,50000 Change speeds
AP ,50000 Wait until position Y=50000
SP ,10000 Change speed of Y
EN End program
To start the program, command:
XQ #B Execute Program #B
Example 13 - Control Variables
Objective: To show how control variables may be utilized.
Instruction Interpretation
#A;DP0 Label; Define current position as zero
PR 4000 Initial position
SP 2000 Set speed
BGX Move X
AMX Wait until move is complete
WT 500 Wait 500 ms
#B
V1 = _TPX Determine distance to zero
PR -V1/2 Command X move 1/2 the distance
BGX Start X motion
AMX After X moved
WT 500 Wait 500 ms
V1= Report the value of V1
JP #C, V1=0 Exit if position=0
JP #B Repeat otherwise
#C;EN End
To start the program, command
XQ #A Execute Program #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half the distance.
Note that _TPX is an internal variable that returns the value of the X position. Internal variables may be
created by preceding a SMC-2000 instruction with an underscore, _.
Example 14 - Control Variables and Offset
Objective: Illustrate the use of variables in iterative loops and use of multiple instructions on one line.
SMC-2000 User's Guide Getting Started
9
••••
Instruction Interpretation
#A;KI0;DP0;V1=8 Set initial values
#B;OF V1;WT 200 Set offset value
V2=_TPX;JP #C,@ABS[V2]<2;V2= Exit if error small, report position
V1=V1-1;JP #B Decrease Offset
#C;EN End
This program starts with a large offset and gradually decreases its value, resulting in decreasing error.
Example 15 - Linear Interpolation
Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely,
motors start and stop together.
Instruction Interpretation
LM XYZ Specify linear interpolation axes
LI 7000,3000,6000 Relative distances for linear interpolation
LE Linear End
VS 6000 Vector speed
VA 20000 Vector acceleration
VD 20000 Vector deceleration
BGS Start motion
Example 16 - Circular Interpolation
Objective: Move the XY axes in circular mode to form the path shown on Fig. 2.3.
Instruction Interpretation
VM XY Select XY axes for circular interpolation
VP -4000,0 Linear segment
CR 2000,270,-180 Circular segment
VP 0,4000 Linear segment
CR 2000,90,-180 Circular segment
VS 1000 Vector speed
VA 50000 Vector acceleration
VD 50000 Vector deceleration
VE End vector sequence
BGS Start motion
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Getting Started SMC-2000 User's Guide
••••
Y
R=2000
X
Figure 2-3 - Motion Path for Example 16
SMC-2000 User's Guide Getting Started
••••
11
SMC-2000 User's Guide Hardware Interface
Hardware Interface
Cable Shielding, Segregation and Noise Immunity
Yaskawa recommends the following shielding and wiring precautions to maximize the performance of the SMC2000:
a) Signal cables (encoder, communication, I/O) should be routed away from AC power/signal wiring such
as motor power and amplifier power wiring
b) Separate metal conduit should be used for running signal and power wiring from the enclosure
c) Parallel runs of signal and power wiring should be avoided. If unavoidable, parallel runs should be in a
separate wire-way spaced at least 2 inches apart.
d) Signal and power wires should cross at right angles.
e) Shielded cables should be properly terminated by grounding the shielding conductor at one end only.
f) The shield should continue throughout the cable from device to device. The shield should be
continuous across plugs/receptacles and terminal blocks, or the shields may be grounded separately by
grounding one end and tying the shield back at the other (See Fig. 3-1a).
DO NOT
DO NOT
noise.
To improve noise immunity, all inductive loads (Brakes, Relay Coils, etc.) should have a flyback diode
connected across them to absorb and back EMF produced by that load. The flyback diode should be placed as
close to the load as possible (See Fig. 3.2a).
ground shields at both ends as this can create ground loops (See Fig. 3-2a).
allow the shield to remain ungrounded, this causes the shield to actually pick up and transmit
1
••••
Proper Shield Terminations
I
P
P
P
I
r
SMC 2000 D1 or I/O
Connector
Case
Terminal Block
a)
SMC 2000 D1 or
/O Connector
Case
Terminal Block
b)
ROPER
Shield t ied back at
terminal block.
Figure 3-1 – Proper shield terminations
Improper Shield Terminations
Shields tied
back at device
ROPER
Shield connected across
terminal block.
Shields tied
back at device
ROPER
Sh i el ds o f f i e ld
cables grounded at
one point
SMC 2000 D1 or I/O
Connector
Case
a)
WR O NG
Shield grounded at
more th an one point.
SMC 2000 D1 or
/O Connecto
Case
b)
Figure 3-2 – Improper shield terminations
Termina l Block
Termina l Block
Shields tied
back at device
Shields tied
back at device
WR O NG
Sh i e l d s o f fi e ld
cables ungrounded
2
Hardware Interface SMC-2000 User's Guide
••••
Encoder Interface
For each axis of motion, the SMC-2000 accepts inputs from incremental encoders with two channels in
quadrature, or 90 electrical degrees out of phase. The SMC-2000 performs quadrature decoding of the two
signals, resulting in bi-directional position information with a resolution of four times the number of full encoder
cycles. For example, a 500 cycle encoder is decoded into 2000 quadrature counts per revolution. An optional
third channel or index pulse may be used for homing or synchronization. Several types of incremental encoders
may be used: linear or rotary, analog or digital, single-ended or differential. Any line resolution may be used,
the only limitation being that the encoder input frequency must not exceed 2,000,000 full cycles/sec (or
8,000,000 quadrature counts/sec). The SMC-2000 also accepts inputs from an additional encoder for each axis.
These are called auxiliary encoders and can be used for dual-loop applications.
The encoder inputs are not isolated
Connections for the various types of encoders are described below.
Pin # of X, Y, ... Signal
1 Channel B
2 Channel B complementary
3 Channel A
4 Channel A complementary
5 Index
6 Index complementary
Use the above table to connect the signals as needed. For example, when connecting an encoder with Channels
A, B single ended, use pins 1 and 3, and ignore 2 and 4-6.
In a similar manner, the auxiliary encoders may be connected by using the pin-out for connector AE1 or AE2
found in the appendix.
The SMC-2000 can interface to incremental encoders of the pulse and direction type, instead of two channels in
quadrature. In that case, replace Channel A by the pulse signal, and Channel B by the direction, and use the CE
command to configure the SMC-2000 for pulse and direction encoder format. For pulse and direction format,
the SMC-2000 provides a resolution of 1X counts per pulse.
Note that while TTL level signals are common, the SMC-2000 encoder inputs accept signals in the range of +/12V. If you are using a non-TTL single-ended encoder signal (no complement), to assure proper bias, connect a
voltage equal to the average signal to the complementary input. For example, if Channel A varies between 2 and
12V, connect 7 volts to Channel A complement input.
.
Opto-isolated Inputs
The SMC-2000 provides opto-isolated digital inputs for limit, home, abort, and the uncommitted inputs. All
inputs have the same common ground and are sinking inputs.
If nothing is connected to the inputs, no current flows, resulting in a logic one. A logic zero is generated when
at least 1 mA of current flows through the input.
The 8-Axis SMC provides 16 isolated inputs and 8 additional TTL inputs.
SMC-2000 User's Guide Hardware Interface
3
••••
Figure 3-3 - Digital input diagram
Outputs
The SMC-2000 provides several output signals including eight general outputs, and four amplifier enable signals
AEN. All the output signals are 24 volts and are sinking outputs. The maximum current draw is 600 mA per
point, and a total of 800 mA per group of eight i.e. outputs 1-8, 9-16 ... The 8-Axis SMC provides an additional
eight outputs.
WARNING: All inductive loads (Brakes, Relay Coils,...) should have a flyback diode
connected across them to absorb any back EMF produced by that load. The flyback diode
should be placed as close to the load as possible.
+24
VDC
SWITCH
0 V
SMC
I/O
SWITCH
0 V
+24
VDC
LOAD
0 V
Figure 3-4 - Digital output diagram
Analog Inputs
The SMC-2000 has seven analog inputs configured for the range between -10V and 10V. The inputs are
decoded by a 14-bit A/D decoder. The impedance of these inputs is 10 KΩ.
SMC
I/O
LOAD
+24
VDC
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Hardware Interface SMC-2000 User's Guide
••••
Amplifier Interface
The SMC-2000 generates +/-10 Volt range analog signal, ACMD, and ground for each axis. This signal is input
to power amplifiers which have been sized to drive the motors and load. For best performance, the amplifiers
should be configured for a current mode of operation with no additional compensation. The gain should be set
such that a 10 Volt input results in the maximum required current.
The SMC-2000 also provides an AEN, amplifier enable signal, to control the status of the amplifier. This signal
toggles when the watchdog timer activates, when a motor-off command is given, or when OE1 (Off-on-error is
enabled) command is given and the position error exceeds the error limit. As shown in Figure 3-3, AEN can be
used to disable the amplifier for these conditions.
The standard configuration of the AEN signal is 24 VDC active low.
SMC-2000
Figure 3-5 - Connecting AEN to an amplifier
Motors with Brakes
A separate 24 VDC power supply should be used to power the brakes because holding brakes typically generate
large power spikes when they are de-energized.
Severe damage may result when connecting the same power supply to the SMC and the
brake!
Yaskawa recommends that all inductive loads have a diode across them to absorb back EMF.
Step Motors
ACMD
AEN
GND
INPUT
ENABLE
GND
AMP
To connect step motors to the SMC 2000 you must follow this procedure:
1. For each axis that is a stepper, a jumper wire is necessary between ground pin 23 on the AE1 or AE2
connector and the axis stepper mode jumper pin on the AE connector. Newer controllers already have this
jumper wire installed during assembly.
2. Connect step and direction signals from the axis connector pins with the labels, STEP (pin 12) and
SEN/DIR (pin 13) to respective signals on your step motor amplifier. The signals are 5V TTL level.
Consult the documentation for your step motor amplifier.
3. Configure the SMC 2000 for motor type using the MT command. You can configure the SMC 2000 for
active high or active low pulses. Use the command MT 2 for active high step motor pulses and MT -2 for
active low step motor pulses. See the Commands section of this manual for details.
SMC-2000 User's Guide Hardware Interface
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The pulse output signal has a 50% duty cycle. Step motors operate open loop and do not require encoder
feedback. When a stepper is used, the auxiliary encoder for the corresponding axis is unavailable for an external
connection. If an encoder is used for position feedback, connect the encoder to the main encoder input
corresponding to that axis. The commanded position of the stepper can be interrogated with RP or DE. The
encoder position can be interrogated with TP.
The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS parameter has a
range between 1 and 16, where 16 implies the largest amount of smoothing.
The SMC 2000 profiler commands the step motor amplifier. All SMC 2000 motion commands apply such as
PR, PA, VP, CR and JG. The acceleration, acceleration, slew speed, and S-curve filtering are also used.
However, since step motors run open loop, the PID filter does not function and the position error is not
generated.
When configured for stepper motor operation, the SMC 2000 can accept encoder signals into the main encoder
inputs. This is useful for monitoring encoder position to insure that encoder position is consistent with
commanded position.
Note: When configured for step motors, the encoder inputs can not be used for closed loop position control and
the auxiliary encoder inputs are not available.
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Hardware Interface SMC-2000 User's Guide
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SMC-2000 User's Guide Communication - RS232
Communication - RS232
RS232 Ports
The SMC-2000 has two RS232 ports. The main port can be configured by the factory, and the auxiliary port
can be configured with the software command CC. The auxiliary port can either be configured as a general port
or for the daisy-chain communications. The auxiliary port configuration can be saved using the Burn (BN)
instruction. The RS232 ports also have a clock synchronizing line that allows synchronization of motion on
more than one controller.
The RS232 pin-out description for the main and auxiliary port is given below. Note, the auxiliary port is
essentially the same as the main port except inputs and outputs are reversed. The SMC-2000 may also be
configured by the factory for RS422. These pin-outs are also listed below.
RS232 - Main Port {COM 1}
1 CTS (-) output 6 CTS (-) output
2 Transmit Data (-) output 7 RTS (-) input
3 Receive Data (-) input 8 CTS (-) output
4 RTS (-) input 9 No connect - or - (5V or sample clock with jumpers)
5 Ground
RS232 - Auxiliary Port {COM 2}
1 CTS (-) input 6 CTS (-) input
2 Transmit Data (-) input 7 RTS (-) output
3 Receive Data (-) output 8 CTS (-) input
4 RTS (-) output 9 5V - or - (no connect or sample clock with jumpers)
5 Ground
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*RS422 - Main Port {COM 1}
1 CTS (-) output 6 CTS (+) output
2 Transmit Data (-) output 7 Transmit Data (+) output
3 Receive Data (-) input 8 Receive Data (+) input
4 RTS (-) input 9 RTS (+) input
5 Ground
*RS422 - Auxiliary Port {COM 2}
1 CTS (-) input 6 CTS (+) input
2 Transmit Data (-) input 7 Transmit Data (+) input
3 Receive Data (-) output 8 Receive Data (+) output
4 RTS (-) output 9 RTS (+) output
5 Ground
*Configured for RS422 by factory
Configuration
Configure your PC for 8-bit data, one start-bit, one stop-bit, full duplex and no parity. The baud rate for the
RS232 communication is 19.2 K baud. A lower baud rate may be configured at the factory.
The RS232 main port is configured for handshake mode. In this mode, the RTS and CTS lines are used. The
CTS line will go high whenever the SMC-2000 is not ready to receive additional characters. The RTS line will
inhibit the SMC-2000 from sending additional characters. Note the RTS line goes high for inhibit.
The auxiliary port of the SMC-2000 can be configured either as a general port or for the daisy chain. When
configured as a general port, the port can be commanded to send ASCII messages to another SMC-2000
controller or to a display terminal or panel.
(Configure Communication) at port 2. The command is in the format of:
CC m,n,r,p
where m sets the baud rate, n sets for either handshake or non-handshake mode, r sets for general port or the
auxiliary port, and p turns echo on or off.
m - Baud Rate - 300,1200,4800,9600,19200,38400
n - Handshake - 0=No; 1=Yes
r - Mode - 0=General Port; 1=Daisy-chain
p - Echo - 0=Off; 1=On; Valid only if r=0
Note, for the handshake of the auxiliary port, the roles for the RTS and CTS lines are reversed.
Example:
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Communication - RS232 SMC-2000 User's Guide
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CC 1200,0,0,1
Configure communication at port 2, with 1200 baud, no
handshake, general port and echo turned on.
Daisy-Chaining
Up to eight SMC-2000 controllers may be connected in a daisy chain. The daisy-chain connection is
straightforward. One SMC-2000 is connected to the host terminal via the RS232 at port 1, or the main port.
Port 2, or the auxiliary port, of that SMC-2000 is then brought into port 1 of the next SMC-2000, and so on.
The default address of the SMC-2000 is zero, if another address is required each of the SMC-2000’s must be
configured by the factory. Please contact Yaskawa if your application requires daisy-chaining.
To communicate with any one of the SMC-2000s, give the command of %A, where A is the address of the SMC
that you want to communicate with. All instructions following this command will be sent only to the SMC with
that address. Only when a new %A command is given will the instruction be sent to another SMC. The only
exception is "!" command. To talk to all the SMC-2000s in the daisy-chain at one time, insert the character "!"
before the software command. All SMCs receive the command, but only address 0 will echo.
Note: The CC command must be specified to configure the port {P2} of each unit.
Example:
Problem: 6-axis motion system. Address 0 is a 4-axis
SMC-2000-4. A 2-axis SMC-2000-2 is set for Address 1.
Address 0 X Axis is 500 counts
Address 1 X Axis is 700 counts
Software Command Interpretation
%0 Talk only to controller 0 (SMC-2000-4)
PR 500,1000,2000,1500 Specify X,Y,Z,W distances
%1 Talk only to controller 1 (SMC-2000-2)
PR 700,1500 Specify X,Y distances
!BG Begin motion on both controllers
Required Motion:
Y Axis is 1000 counts
Z Axis is 2000 counts
W Axis is 1500 counts
Y Axis is 1500 counts
Synchronizing Sample Clocks
It is possible to synchronize the sample clocks of all SMC-2000's in the daisy chain. This involves burning in
the command, TM-1, in all SMC-2000's except for one SMC-2000, which will be the source. If it is necessary
to synchronize the sample clocks please contact Yaskawa.
Operator Interface
To program an operator interface you need to select a port (either 1 or 2), If you select port 2 it must be
configured by using the Configure Communication (CC) command as shown on page 26. You must also decide
if the port will be a general port or an operator data entry port. NOTE: configuring a port as an operator data
SMC-2000 User's Guide Communication - RS232
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entry port will disable ALL commands sent to that port, see Operator Data Entry Mode in chapter 7 for a
complete description. All serial commands, such as message (MG) or input variable (IN) default to port 1. To
assign serial commands to port 2, you must follow the command with a “{P2}” such as:
IN {P2} “Enter a value”,VALUE
Which will send out the prompt “Enter a value” to port 2, then wait until a return or semi-colon is sent out port
2, and assign the value of the preceding characters to the variable VALUE.
Controller Response to Data
Most SMC-2000 instructions are represented by two characters followed by the appropriate parameters. Each
instruction must be terminated by a carriage return or semicolon.
Instructions are sent in ASCII, and the SMC-2000 decodes each ASCII character (one byte) one at a time. It
takes approximately .5 msec for the controller to decode each command.
After the instruction is decoded, the SMC-2000 returns a colon (:) if the instruction was valid or a question mark
(?) if the instruction was not valid or was not recognized.
For instructions requiring data, such at Tell Position (TP), the SMC-2000 will return the data followed by a
carriage return, line feed and : .
It is good practice to check for : after each command is sent to prevent errors. An echo function is provided to
enable associating the SMC-2000 response with the data sent. The echo is enabled by sending the command EO
1 to the controller.
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Communication - RS232 SMC-2000 User's Guide
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