Yaskawa SMCGUI-THK1 User Manual
THK VLA Indexer
Table of Contents
Introduction ................................................................1
Opening Screen ..........................................................2
To create a new project ..........................................3
To open an existing project .....................................3
THK Wizard .................................................................4
Main Screen ..............................................................11
Modules .....................................................................11
Sequences ................................................................13
Sequence Events ......................................................14
Start By Events: Expression, Input, and Variable .14
Change Events: Accel and Speed ........................14
Loop Events: Expression and Fixed Number ........14
Move Events: Start and End .................................15
Set Events: Output and Variable ...........................15
Wait For Events: Absolute Position, Distance, Input,
Time, and Variable ................................................16
Skip Event .............................................................16
Sequence Rules ........................................................16
Variables ...................................................................17
Menu Items ...............................................................17
Program Flow ...........................................................17
Sequence Terms .......................................................20
Hardware ...................................................................21
Start-up .................................................................21
Mounting Orientation .............................................21
Power/Connections Wiring - Single Phase ...........23
Power/Connections Wiring - Three Phase ............24
I/O Connections (50-pin CN5) ...............................25
Digital I/O ..............................................................26
Serial Communication ...........................................29
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THK VLA Indexer
Introduction
The THK VLA Indexer allows a user to “program” motion on a
VLA slide without ever learning or knowing a programming
language.
The user simply answers a series of questions about the slide
being used, the load connected to it, and what will cause it to
energize and home. Then the user creates one or more sequences
that the slide is required to perform using pre-defined events like
“Move Start”. Once all of the parameters are entered into the
events chosen by the user, a program can be generated and sent to
the controller by compiling and downloading.
The program created and downloaded will begin running
immediately. It will set all necessary parameters, wait for the
condition chosen to energize the servomotor, and then enter
either the manual or automatic mode. The manual or automatic
mode is dictated by the state of input 8. If input 8 is high or off
the program enters Manual mode, if it is low or on, Auto mode is
run; but only after the servo is enabled the first time.
Manual mode allows the user to enable and disable the servo (if
the choice to energize the servo was by input or variable), and
once the servo is enabled, to jog forward or reverse.
Auto mode will home the servo once after a po wer-up when the
condition to home is true, and then run sequences when their
individual start conditions are true. If there is more than one
sequence defined and the condition to start each sequence is true,
then the sequences will be run in order one after the other, and
will continue to run until the start condition is false. Remember,
in order to enter the Auto mode, the servo must be energized.
1
Opening Screen
When the application is started, the user is presented with the
opening screen, which allows the user to create a new project or
open an existing project.
2
To create a new project
Select the template name “THK VLA Indexer” and click on the
New Project button.
Enter a project name, select “OK”, and the THK Wizard will
appear.
To open an existing project
An existing project can be opened by selecting it from the list and
clicking on “Open Project”, or by clicking on “Browse…” to
locate the ***.yap file. A project can also be opened from the
controller (if it was previously saved using the save project to
controller option) by selecting “Retrieve Project From
Controller” while connected online.
3
THK Wizard
The THK Wizard will guide the user through entering the THK
part number of the VLA slide and selecting the load connected.
Locate the part number of the VLA slide. The part number is
located on the left side of the actuator if the motor is positioned
on the left.
Select the type of VLA slide by choosing either ST or CT. The
picture changes as the selection is changed. Navigate through the
screens using the Next button to advance.
4
Next enter the Slide Height.
5
A ball screw lead must be selected if using an ST type slide. For
the CT type, accept the 12mm default.
6
Enter the Stroke Length.
7
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