Re: [Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Curtis Dutton]

I have 8i20's right now. I would use STMBL but I've already spent the money
on the 8i20's.

I'm willing to do some coding. I implemented halports in linuxcnc and
intended to extend that into hostmot2. Possibly for UARTS and I also need
to create an interface with datapainter so I can move my laser engraver
rastering into hardware.

These encoders are the incremental type so I suppose that the protocol will
be slightly different. So how can I turn an rs422 7i84 into rs485 uart.







On Sat, Feb 22, 2020 at 8:12 PM Rene Hopf via Emc-users <
emc-users@lists.sourceforge.net> wrote:

>
>
> > On 22. Feb 2020, at 19:30, Curtis Dutton  wrote:
> >
> > Rene thanks,
> >
> > This will help a lot. I'll study that implementation.
> >
> > I would like to get my 5i25 to be able to process the encoder data.
> >
> > Is the protocol direction only one direction from the encoder? If it
> were I
> > could just hook up the read signals in the 7i74 and create a vhdl
> component
> > that could process the signal.
>
> No, you need to request it. Line 89 is the request. You can use only the
> f4 part of the stmbl, and convert the signal to sserial.
> Or just use a stmbl.
>
> What driver do you use?
>
> >
> >
> >> On Sat, Feb 22, 2020 at 12:28 PM Andrew  wrote:
> >>
> >> It's not directly relevant, but there's a Linuxcnc compatible PCI card
> for
> >> Yaskawa Mechatrolink protocol http://yurtaev.com/ymtl2p.html
> >> I mean, Mechatrolink drives can be cheap sometimes.
> >>
> >> сб, 22 лют. 2020, 17:04 користувач Curtis Dutton 
> >> пише:
> >>
> >>> I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and
> >> 8i20. I
> >>> want to read the encoder of the motor with hostmot2 SSI.
> >>>
> >>> I have all of my firmware set up, but I just cannot find the encoder
> >>> protocol out in the wild.
> >>>
> >>> Does anyone know it?
> >>>
> >>>
> >>> Also I would like to start a wiki page that collects known SSI
> >>> configurations for hostmot2 SSI. Anyone who has used an SSI module
> please
> >>> send me details about your encoder and your config string and I'll get
> >> them
> >>> onto a wiki page.
> >>>
> >>>
> >>> Thanks,
> >>>   Curt
> >>>
> >>> ___
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> >>>
> >>
> >> ___
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> >>
> >
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Re: [Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Rene Hopf via Emc-users]

> On 22. Feb 2020, at 19:30, Curtis Dutton  wrote:
> 
> Rene thanks,
> 
> This will help a lot. I'll study that implementation.
> 
> I would like to get my 5i25 to be able to process the encoder data.
> 
> Is the protocol direction only one direction from the encoder? If it were I
> could just hook up the read signals in the 7i74 and create a vhdl component
> that could process the signal.

No, you need to request it. Line 89 is the request. You can use only the f4 
part of the stmbl, and convert the signal to sserial.
Or just use a stmbl.

What driver do you use?

> 
> 
>> On Sat, Feb 22, 2020 at 12:28 PM Andrew  wrote:
>> 
>> It's not directly relevant, but there's a Linuxcnc compatible PCI card for
>> Yaskawa Mechatrolink protocol http://yurtaev.com/ymtl2p.html
>> I mean, Mechatrolink drives can be cheap sometimes.
>> 
>> сб, 22 лют. 2020, 17:04 користувач Curtis Dutton 
>> пише:
>> 
>>> I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and
>> 8i20. I
>>> want to read the encoder of the motor with hostmot2 SSI.
>>> 
>>> I have all of my firmware set up, but I just cannot find the encoder
>>> protocol out in the wild.
>>> 
>>> Does anyone know it?
>>> 
>>> 
>>> Also I would like to start a wiki page that collects known SSI
>>> configurations for hostmot2 SSI. Anyone who has used an SSI module please
>>> send me details about your encoder and your config string and I'll get
>> them
>>> onto a wiki page.
>>> 
>>> 
>>> Thanks,
>>>   Curt
>>> 
>>> ___
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>>> Emc-users@lists.sourceforge.net
>>> https://lists.sourceforge.net/lists/listinfo/emc-users
>>> 
>> 
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> 
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Re: [Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Curtis Dutton]

Rene thanks,

This will help a lot. I'll study that implementation.

I would like to get my 5i25 to be able to process the encoder data.

Is the protocol direction only one direction from the encoder? If it were I
could just hook up the read signals in the 7i74 and create a vhdl component
that could process the signal.


On Sat, Feb 22, 2020 at 12:28 PM Andrew  wrote:

> It's not directly relevant, but there's a Linuxcnc compatible PCI card for
> Yaskawa Mechatrolink protocol http://yurtaev.com/ymtl2p.html
> I mean, Mechatrolink drives can be cheap sometimes.
>
> сб, 22 лют. 2020, 17:04 користувач Curtis Dutton 
> пише:
>
> > I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and
> 8i20. I
> > want to read the encoder of the motor with hostmot2 SSI.
> >
> > I have all of my firmware set up, but I just cannot find the encoder
> > protocol out in the wild.
> >
> > Does anyone know it?
> >
> >
> > Also I would like to start a wiki page that collects known SSI
> > configurations for hostmot2 SSI. Anyone who has used an SSI module please
> > send me details about your encoder and your config string and I'll get
> them
> > onto a wiki page.
> >
> >
> > Thanks,
> >Curt
> >
> > ___
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
>
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Re: [Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Andrew]

It's not directly relevant, but there's a Linuxcnc compatible PCI card for
Yaskawa Mechatrolink protocol http://yurtaev.com/ymtl2p.html
I mean, Mechatrolink drives can be cheap sometimes.

сб, 22 лют. 2020, 17:04 користувач Curtis Dutton  пише:

> I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and 8i20. I
> want to read the encoder of the motor with hostmot2 SSI.
>
> I have all of my firmware set up, but I just cannot find the encoder
> protocol out in the wild.
>
> Does anyone know it?
>
>
> Also I would like to start a wiki page that collects known SSI
> configurations for hostmot2 SSI. Anyone who has used an SSI module please
> send me details about your encoder and your config string and I'll get them
> onto a wiki page.
>
>
> Thanks,
>Curt
>
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Re: [Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Rene Hopf via Emc-users]

> On 22. Feb 2020, at 16:03, Curtis Dutton  wrote:
> 
> I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and 8i20. I
> want to read the encoder of the motor with hostmot2 SSI.
> 
> I have all of my firmware set up, but I just cannot find the encoder
> protocol out in the wild.
> 
> Does anyone know it?

It doesn’t work because it’s not ssi.
Its hdlc over Manchester over rs485.
I fully reverse engendered the protocol(including crc).
Stmbl has support for yaskawa encoders, there is some documentation in the code.

https://github.com/rene-dev/stmbl/blob/master/src/comps/yaskawa.c

> 
> 
> Also I would like to start a wiki page that collects known SSI
> configurations for hostmot2 SSI. Anyone who has used an SSI module please
> send me details about your encoder and your config string and I'll get them
> onto a wiki page.
> 
> 
> Thanks,
>   Curt
> 
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[Emc-users] Yaskawa 20-bit Sigma V Incremental encoders

[Curtis Dutton]

I'm trying to run some Yaskawa Sigma V motors with a 5i25, 7i74 and 8i20. I
want to read the encoder of the motor with hostmot2 SSI.

I have all of my firmware set up, but I just cannot find the encoder
protocol out in the wild.

Does anyone know it?


Also I would like to start a wiki page that collects known SSI
configurations for hostmot2 SSI. Anyone who has used an SSI module please
send me details about your encoder and your config string and I'll get them
onto a wiki page.


Thanks,
   Curt

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Re: [Emc-users] Yaskawa Servopacks with Mesa

[Les Newell]

Hi Marius,

When you hit Estop do the drives power down completely? If so, you might 
as well stick with step/dir without encoder feedback. With step/dir the 
only thing encoder feedback will do for you is let you track the 
machine's movement when it is in estop. If the drives power down you 
lose that advantage.


For instance the SGDA drives on my Hurco are powered just from 220V AC. 
If I hit Estop that 220V goes away and the machine has no way of 
tracking it's movement. It then needs to be re-homed when taken out of 
estop. Some drives have a separate logic supply that keeps the encoders 
powered even in Estop. Both my router and lathe are set up that way so 
you only need to home once when you first power the machine up for the day.


For safety reasons I prefer to leave machines in estop if they are going 
to be left unused for more than a few minutes. This makes the Hurco a 
bit tedious as I often need to re-home.


Les


On 04/12/2019 19:16, Marius wrote:

Hi Les

Thanks for the feedback. I agree with using the analog option but in 
this case the motors are already tuned and wired. As long as I have 
the encoder feedback, I am sure that the system will be accurate 
enough (I hope)


I dont have a lot of time to do the conversion in so I might have to 
use the STEP/DIR option. The machine is working fine now but for the 
hand held (Chinese) controller that is erratic to say the least.


On 2019/12/04 13:51, Les Newell wrote:

Hi Marius,

If I was doing it I'd go with a 7I97 and use analog control for the 
drives. My Hurco mill uses older SGDA08 drives and I use analog 
control in torque mode. I used to run the drives in velocity mode but 
I found I got better accuracy in torque mode with no dithering at 
rest. With velocity mode you always end up with the drive hunting 
between encoder counts when at rest.


The only advantage of using a 7I95 is that you can use the existing 
drive tuning so you don't need to worry about setting up the PID 
loops. You'll probably get better accuracy with analog control but 
for a router the difference is probably too small to have a 
measurable effect on your final parts.


Les

On 04/12/2019 09:31, Marius wrote:

Hi

I have been requested to convert a router that has Yaskawa Servo 
Packs (SGD7S with analog and step/dir and encoders) already 
installed. The installation makes use of the STEP/DIR signals 
currently but with no encoder feedback.


I intend to use the Mesa 7I95 to replace the Chinese controller. My 
question is: Is it ok to use the STEP/DIR feature of this servo pack 
with encoder feedback to LCNC or should I go the Analog route and 
redo the complete system making use of the 7I97.



Regards

Marius






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Re: [Emc-users] Yaskawa Servopacks with Mesa

[Marius]

On 2019/12/04 18:41, Mark Johnsen wrote:

Marius,

You need to see what kind of encoder the Yaskawa motor has on it.  I recall
many of them were serial w/ a proprietary Yaskawa protocol, which would
make it hard to run the encoder directly back to the mesa.

Possibly, the servo pack has an 'encoder out' feature that you could run
back to the mesa.  Sometimes those encoder out features are standard
quadrature A, B, Z outputs...  That would work well.


Yes Mark that is the case here.



Mark

On Wed, Dec 4, 2019 at 1:31 AM Marius  wrote:


Hi

I have been requested to convert a router that has Yaskawa Servo Packs
(SGD7S with analog and step/dir and encoders) already installed. The
installation makes use of the STEP/DIR signals currently but with no
encoder feedback.

I intend to use the Mesa 7I95 to replace the Chinese controller. My
question is: Is it ok to use the STEP/DIR feature of this servo pack
with encoder feedback to LCNC or should I go the Analog route and redo
the complete system making use of the 7I97.


Regards

Marius



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Re: [Emc-users] Yaskawa Servopacks with Mesa

[Jon Elson]

On 12/04/2019 10:41 AM, Mark Johnsen wrote:

Marius,

You need to see what kind of encoder the Yaskawa motor has on it.  I recall
many of them were serial w/ a proprietary Yaskawa protocol, which would
make it hard to run the encoder directly back to the mesa.

Possibly, the servo pack has an 'encoder out' feature that you could run
back to the mesa.  Sometimes those encoder out features are standard
quadrature A, B, Z outputs...  That would work well.


Yes, the slightly older Servo Pack drives I worked with all 
had this feature.  they converted the proprietary
Yaskawa encoder signals to industry-compatible quadrature 
plus index signals in the drive.


Jon


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Re: [Emc-users] Yaskawa Servopacks with Mesa

[Mark Johnsen]

Marius,

You need to see what kind of encoder the Yaskawa motor has on it.  I recall
many of them were serial w/ a proprietary Yaskawa protocol, which would
make it hard to run the encoder directly back to the mesa.

Possibly, the servo pack has an 'encoder out' feature that you could run
back to the mesa.  Sometimes those encoder out features are standard
quadrature A, B, Z outputs...  That would work well.

Mark

On Wed, Dec 4, 2019 at 1:31 AM Marius  wrote:

> Hi
>
> I have been requested to convert a router that has Yaskawa Servo Packs
> (SGD7S with analog and step/dir and encoders) already installed. The
> installation makes use of the STEP/DIR signals currently but with no
> encoder feedback.
>
> I intend to use the Mesa 7I95 to replace the Chinese controller. My
> question is: Is it ok to use the STEP/DIR feature of this servo pack
> with encoder feedback to LCNC or should I go the Analog route and redo
> the complete system making use of the 7I97.
>
>
> Regards
>
> Marius
>
>
>
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Re: [Emc-users] Yaskawa Servopacks with Mesa

[Todd Zuercher]

There really isn't any issue I know of with using step/dir with encoder 
feedback.  (I currently am with a 5i25/7i85s combo.) And having the encoder 
feedback can be nice for tuning the drives, if the drive's set up software 
doesn't provide any internal "scope" feature.

Todd Zuercher
P. Graham Dunn Inc.
630 Henry Street 
Dalton, Ohio 44618
Phone:  (330)828-2105ext. 2031

-Original Message-
From: Marius  
Sent: Wednesday, December 04, 2019 4:31 AM
To: emc-users@lists.sourceforge.net
Subject: [Emc-users] Yaskawa Servopacks with Mesa

Hi

I have been requested to convert a router that has Yaskawa Servo Packs (SGD7S 
with analog and step/dir and encoders) already installed. The installation 
makes use of the STEP/DIR signals currently but with no encoder feedback.

I intend to use the Mesa 7I95 to replace the Chinese controller. My question 
is: Is it ok to use the STEP/DIR feature of this servo pack with encoder 
feedback to LCNC or should I go the Analog route and redo the complete system 
making use of the 7I97.


Regards

Marius



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[Emc-users] Yaskawa Servopacks with Mesa

[Marius]

Hi

I have been requested to convert a router that has Yaskawa Servo Packs 
(SGD7S with analog and step/dir and encoders) already installed. The 
installation makes use of the STEP/DIR signals currently but with no 
encoder feedback.


I intend to use the Mesa 7I95 to replace the Chinese controller. My 
question is: Is it ok to use the STEP/DIR feature of this servo pack 
with encoder feedback to LCNC or should I go the Analog route and redo 
the complete system making use of the 7I97.



Regards

Marius



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Re: [Emc-users] Yaskawa or not

[Marius Liebenberg]

The Servopack number is  SGDB-03VDY1 like I mentioned below
The motors are AC servos - USAGED-30V22 and USAGED-05V22K

The machine is a CNC glass cutter that has a horde of pneumatic and 
hydraulic functions. The model is an Intermac Fox 3700
I would attempot to just replace the pc and control software if I could 
lay my hands on a manual or wiring diagrams. There are several sub 
controllers or custom plc's that makes it impossible.


-- Original Message --
From: "Todd Zuercher" <zuerc...@embarqmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine 
Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: 2015-09-29 18:38:49
Subject: Re: [Emc-users] Yaskawa or not

>Yaskawa has been making motors and drives for a long time, and have 
>made a lot of different kinds, using all manor of controls.  Your going 
>to have to give us more information for us to give you a 
>recommendation.
>
>But on the surface I would have to suggest, if there isn't anything 
>wrong with the motors or drives keep them.
>
>Mesa makes hardware that can work with what ever you have, but you need 
>to figure out what you have before choosing the right control hardware.
>
>Most old Dos controllers I'm familiar with are just software step 
>generators, and as such can usually be replaced by Linuxcnc with a 
>minimum of hardware (most just using a parallel port or 2).
>
>- Original Message -
>From: "Marius Liebenberg" <mar...@mastercut.co.za>
>To: "Enhanced Machine Controller (EMC)" 
><emc-users@lists.sourceforge.net>
>Sent: Tuesday, September 29, 2015 11:55:55 AM
>Subject: [Emc-users] Yaskawa or not
>
>Hi All
>I have been asked to upgrade a machine that has a very old control
>system still running on DOS. It is fitted with Yaskawa SGDB-03VDY1
>drives. I cannot seem to find reference to that extract number. There
>are two 2.9Kw motors and one 0.45Kw. They all have incremental 
>encoders.
>>From the documentation that I could find I could not see how to drive
>these things. It looks like a communications protocol that they use.
>
>I have to decide how to go about retrofitting this machine. Do I keep
>the motors (they are still very good) and keep the drives (dont know 
>how
>to drive). Does Mesa have a solution to drive these?
>Or do I dump the drives and use another set of drives? What will I use
>or,
>Do I dump the lot and start fresh. What will I use in the place of
>Yaskawa?
>
>Has anyone on the forum used these with reasonable success?
>
>I would like to go 7i80 so that I can fit an industrial panel mount pc
>with touch screen.
>
>Any thought from the wise ones?
>
>
>
>-
>Regards / Groete
>
>Marius D. Liebenberg
>+27 82 698 3251
>+27 12 743 6064
>
>
>
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Re: [Emc-users] Yaskawa or not

[Andrew]

2015-09-29 19:49 GMT+03:00 Marius Liebenberg :

> The Servopack number is  SGDB-03VDY1 like I mentioned below
> The motors are AC servos - USAGED-30V22 and USAGED-05V22K
>
> The machine is a CNC glass cutter that has a horde of pneumatic and
> hydraulic functions. The model is an Intermac Fox 3700
> I would attempot to just replace the pc and control software if I could
> lay my hands on a manual or wiring diagrams. There are several sub
> controllers or custom plc's that makes it impossible.
>
> The question is how the servos connected to the controller - via analog or
step/dir, or some protocol like Mechatrolink.
Can you show some photos of the drives and their connections?

Also I doubt how 03 (0.3KW according to usual Yaskawa model ratings)
servopack works with 30 (3.0KW) motor.

-- 
Andrew
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Re: [Emc-users] Yaskawa or not

[Todd Zuercher]

Yaskawa has been making motors and drives for a long time, and have made a lot 
of different kinds, using all manor of controls.  Your going to have to give us 
more information for us to give you a recommendation.

But on the surface I would have to suggest, if there isn't anything wrong with 
the motors or drives keep them. 

Mesa makes hardware that can work with what ever you have, but you need to 
figure out what you have before choosing the right control hardware.

Most old Dos controllers I'm familiar with are just software step generators, 
and as such can usually be replaced by Linuxcnc with a minimum of hardware 
(most just using a parallel port or 2).

- Original Message -
From: "Marius Liebenberg" <mar...@mastercut.co.za>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: Tuesday, September 29, 2015 11:55:55 AM
Subject: [Emc-users] Yaskawa or not

Hi All
I have been asked to upgrade a machine that has a very old control 
system still running on DOS. It is fitted with Yaskawa SGDB-03VDY1 
drives. I cannot seem to find reference to that extract number. There 
are two 2.9Kw motors and one 0.45Kw. They all have incremental encoders.
>From the documentation that I could find I could not see how to drive 
these things. It looks like a communications protocol that they use.

I have to decide how to go about retrofitting this machine. Do I keep 
the motors (they are still very good) and keep the drives (dont know how 
to drive). Does Mesa have a solution to drive these?
Or do I dump the drives and use another set of drives? What will I use 
or,
Do I dump the lot and start fresh. What will I use in the place of 
Yaskawa?

Has anyone on the forum used these with reasonable success?

I would like to go 7i80 so that I can fit an industrial panel mount pc 
with touch screen.

Any thought from the wise ones?



-
Regards / Groete

Marius D. Liebenberg
+27 82 698 3251
+27 12 743 6064



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Re: [Emc-users] Yaskawa or not

[Marius Liebenberg]

>I replaced some 15-20 year old Yaskawa motor/drives this year.   We
>needed to get longer cables but they had used some special connectors
>that were obsolete.
>The price for the replacement cables (they were not sure they could 
>even
>get the connectors from Japan if we ordered new cable sets)  was more
>than the cost of new servo motors, drives, and cables.
>
>So we ripped out all of the Yaskawa equipment and went with all new 
>Teco
>servos and saved money.
>
>Although the motors and drives are working now, you might want to
>consider what replacing a component would cost, as eventually 
>everything
>fails.  And chances are that if you do the conversion, they will call
>you when a drive goes down in the future.

Exactly my fear. And then I cannot support the machine. I think you are 
right about replacing them. I will look at Teco and Xinje
>
>Dave
>
>On 9/29/2015 1:55 PM, Marius Liebenberg wrote:
>>  Ted
>>  The machine is 15 years old. DOS for sure. The screens look like the 
>>old
>>  pascal interface for cga screens. The new machines still have the 
>>same
>>  model number but it is not the same. The local agent does not have
>>  access to the manual as the supplier refuses to give it. They want 
>>the
>>  customer to buy a new machine. At 88000 euro against a 16.5:1 Rand, 
>>it
>>  is not funny. The machine is still fully functional and the mechanics
>>  are in pristine order but the controller keeps breaking and the
>>  manufacturer does not have spares to support it.
>>
>>  You must know when I get called in they have usually tried every 
>>other
>>  avenue. The last resort is an upgrade and the cost that that brings
>>  along.
>>
>>
>>  -- Original Message --
>>  From: "Todd Zuercher" <zuerc...@embarqmail.com>
>>  To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
>>  Controller (EMC)" <emc-users@lists.sourceforge.net>
>>  Sent: 2015-09-29 19:48:07
>>  Subject: Re: [Emc-users] Yaskawa or not
>>
>>>  Have you tried contacting Intermac to see if they could get you some
>>>  schematics?  I think your going to want them.  Unfortunately I think
>>>  I've heard they aren't the easiest company to work with so you might 
>>>be
>>>  out of luck, but it doesn't hurt to try.
>>>
>>>  And from the pictures google brings up of "Intermac Fox 3700" 
>>>machines,
>>>  it certainly isn't a DOS based control. (Just because at has a text
>>>  based display doesn't mean it has anything to do with DOS.)  I 
>>>wouldn't
>>>  be surprised to find any one of the possible servo control options 
>>>on
>>>  that.
>>>
>>>  - Original Message -
>>>  From: "Marius Liebenberg" <mar...@mastercut.co.za>
>>>  To: "Enhanced Machine Controller (EMC)"
>>>  <emc-users@lists.sourceforge.net>
>>>  Sent: Tuesday, September 29, 2015 1:34:38 PM
>>>  Subject: Re: [Emc-users] Yaskawa or not
>>>
>>>  It looks like a pulse and dir setup from what I see on page 544. 
>>>There
>>>  is mention of speed and torque reference but it does not make sense.
>>>
>>>  -- Original Message --
>>>  From: "andy pugh" <bodge...@gmail.com>
>>>  To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
>>>  Controller (EMC)" <emc-users@lists.sourceforge.net>
>>>  Cc: "Todd Zuercher" <zuerc...@embarqmail.com>
>>>  Sent: 2015-09-29 19:10:56
>>>  Subject: Re: [Emc-users] Yaskawa or not
>>>
>>>>  On 29 September 2015 at 17:49, Marius Liebenberg
>>>>  <mar...@mastercut.co.za> wrote:
>>>>> The Servopack number is  SGDB-03VDY1 like I mentioned below
>>>>  According to
>>>>  
>>>>http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf
>>>>
>>>>  That would be a 300W servo drive. As you have probably spotted the 
>>>>V
>>>>  and Y don't fit that manual. But the D shoiuld mean torque / speed 
>>>>or
>>>>  position control.
>>>>
>>>>  Looking at page 556 of that manual snd seeing which connectors are 
>>>>in
>>>>  use on 1CN may indicate how it is being controlled.
>>>>
>>>>  --
>>>>  atp
>>>>  If you can't fix it, you

Re: [Emc-users] Yaskawa

[Jack Coats]

Thinking a bit more, I see no reason that any drag knife software couldn't
be used.  If you use rectangular based cuts only, and you handle dong
breaks manually, it should be easily doable.

Cutting rounded or serpentine cuts are had due to the breaking methods that
need to be used.  Machines that will do automated breaking after scoring
are pricy, but if it is pretty much all you do and you do a lot of it, even
those can be cost effective.

A quick Google shows there are several other software and machines other
than DeMichele out there.  I didn't see any open software, but it could
still exist.


On Tue, Sep 29, 2015 at 4:51 PM, Jack Coats  wrote:

> Years ago I worked for DeMichele Systems in College Station, TX.  They are
> now DeMichele Systems in Mesa AZ.
> Their specialty was optimized cutting for the Flat Glass industry.  Back
> 'in the day' it was Fortran programs that ran on Cromemco Z80 systems, but
> that is ancient history.
>
> Their software was pricey back then, and if it is like it was then, it is
> good, but they charge a lot for it.  Before this software cutting was laid
> out by hand.  Good manual layout got about 80 to 85% yield.  They
> guaranteed 90% but we really saw 95 to 98% yield in optimum conditions
> (correct stock, orders that matched up nicely, etc).  It also took care
> with tong-long and tong-short tempering for tempered glass (the glass is
> cut before tempering, so it expands more depending on the direction it is
> hung in the tempering ovens ... but that was the tech of the day.  I have
> no clue what they do now.
>
> I don't know of any open software, but it might be out there.  There might
> be competitor software, but I have no real knowledge other than keeping up
> a little bit with an old employer. (I have no current ties to them other
> than a little emotional one.)
>
>


-- 
><> ... Jack

The Four Boxes of Liberty - "There are four boxes to be used in the defense
of liberty: soap, ballot, jury and ammo. Please use in that order."
"Whatever you do, work at it with all your heart"... Colossians 3:23
"Anyone who has never made a mistake, has never tried anything new." -
Albert Einstein
"You don't manage people; you manage things. You lead people." - Admiral
Grace Hopper, USN
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Re: [Emc-users] Yaskawa

[Jack Coats]

Years ago I worked for DeMichele Systems in College Station, TX.  They are
now DeMichele Systems in Mesa AZ.
Their specialty was optimized cutting for the Flat Glass industry.  Back
'in the day' it was Fortran programs that ran on Cromemco Z80 systems, but
that is ancient history.

Their software was pricey back then, and if it is like it was then, it is
good, but they charge a lot for it.  Before this software cutting was laid
out by hand.  Good manual layout got about 80 to 85% yield.  They
guaranteed 90% but we really saw 95 to 98% yield in optimum conditions
(correct stock, orders that matched up nicely, etc).  It also took care
with tong-long and tong-short tempering for tempered glass (the glass is
cut before tempering, so it expands more depending on the direction it is
hung in the tempering ovens ... but that was the tech of the day.  I have
no clue what they do now.

I don't know of any open software, but it might be out there.  There might
be competitor software, but I have no real knowledge other than keeping up
a little bit with an old employer. (I have no current ties to them other
than a little emotional one.)
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Re: [Emc-users] Yaskawa or not

[Jon Elson]

On 09/29/2015 10:55 AM, Marius Liebenberg wrote:
> Hi All
> I have been asked to upgrade a machine that has a very old 
> control system still running on DOS. It is fitted with 
> Yaskawa SGDB-03VDY1 drives. I cannot seem to find 
> reference to that extract number. There are two 2.9Kw 
> motors and one 0.45Kw. They all have incremental encoders.
>> From the documentation that I could find I could not see 
>> how to drive 
> these things. It looks like a communications protocol that 
> they use.
I did some work on Servo-Pak drives of about this vintage 
some time ago.  I seem to recall there are two flavors of 
drives, positioning and velocity.  I think they would have 
model numbers like SGDB-AP for positioning and SGDB-AS (S 
for speed=velocity) and the AS would take an analog velocity 
command from -10 V to +10 V.
>
> I have to decide how to go about retrofitting this 
> machine. Do I keep the motors (they are still very good) 
> and keep the drives (dont know how to drive).
The Servo-Pak motors (SGDM) have proprietary encoders.  A 
and B tracks are plain quadrature, the C track looks pretty 
much like A and B, but the phase of the signal shifts to 
indicate what magnetic quadrant you are in, so that's how 
they get their absolute commutation.  These apparently have 
magnetic recording on a thin material on a drum in the 
motor, and if oil or coolant gets into the encoder, it is 
trashed.

Jon

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Re: [Emc-users] Yaskawa or not

[Jon Elson]

On 09/29/2015 11:49 AM, Marius Liebenberg wrote:
> The Servopack number is  SGDB-03VDY1 like I mentioned below
> The motors are AC servos - USAGED-30V22 and USAGED-05V22K
>
>
Oh, the USA motors may well have industry-standard 
commutation signals, not the proprietary form I mentioned 
before.

Jon

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Re: [Emc-users] Yaskawa or not

[Marius Liebenberg]

It looks like a pulse and dir setup from what I see on page 544. There 
is mention of speed and torque reference but it does not make sense.

-- Original Message --
From: "andy pugh" <bodge...@gmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine 
Controller (EMC)" <emc-users@lists.sourceforge.net>
Cc: "Todd Zuercher" <zuerc...@embarqmail.com>
Sent: 2015-09-29 19:10:56
Subject: Re: [Emc-users] Yaskawa or not

>On 29 September 2015 at 17:49, Marius Liebenberg 
><mar...@mastercut.co.za> wrote:
>>  The Servopack number is  SGDB-03VDY1 like I mentioned below
>
>According to 
>http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf
>
>That would be a 300W servo drive. As you have probably spotted the V
>and Y don't fit that manual. But the D shoiuld mean torque / speed or
>position control.
>
>Looking at page 556 of that manual snd seeing which connectors are in
>use on 1CN may indicate how it is being controlled.
>
>--
>atp
>If you can't fix it, you don't own it.
>http://www.ifixit.com/Manifesto
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Re: [Emc-users] Yaskawa

[Marius Liebenberg]

Nothing special that I saw. It is a rotary knife type machine with a 
driven C axis for the knife rotation. I will attempt to use the old CAM 
software. It does generate some G code that I might have to convert 
somehow.
The trick come in the pressure and cutting speed and the angle of the 
cutting tool edge. The current tool table could be used as is.


The machine has a tilting table and a heap of hydraulics that makes it 
complicated.


-- Original Message --
From: "Belli Button" <be...@iafrica.com>
To: "'Marius Liebenberg'" <mar...@mastercut.co.za>; "'Enhanced Machine 
Controller (EMC)'" <emc-users@lists.sourceforge.net>

Sent: 2015-09-29 19:18:40
Subject: RE: [Emc-users] Yaskawa

Remember that CAM for glass cutting is very special and I don't know of 
any

CAM packages that can handle glass.

It's gonna bite you're a$$.

Cheers,


-Original Message-
From: Marius Liebenberg [mailto:mar...@mastercut.co.za]
Sent: 29 September 2015 18:49
To: Todd Zuercher; Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Yaskawa or not

The Servopack number is  SGDB-03VDY1 like I mentioned below The motors 
are

AC servos - USAGED-30V22 and USAGED-05V22K

The machine is a CNC glass cutter that has a horde of pneumatic and
hydraulic functions. The model is an Intermac Fox 3700 I would attempot 
to
just replace the pc and control software if I could lay my hands on a 
manual
or wiring diagrams. There are several sub controllers or custom plc's 
that

makes it impossible.


-- Original Message --
From: "Todd Zuercher" <zuerc...@embarqmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: 2015-09-29 18:38:49
Subject: Re: [Emc-users] Yaskawa or not


Yaskawa has been making motors and drives for a long time, and have
made a lot of different kinds, using all manor of controls.  Your 
going

to have to give us more information for us to give you a
recommendation.

But on the surface I would have to suggest, if there isn't anything
wrong with the motors or drives keep them.

Mesa makes hardware that can work with what ever you have, but you 
need
to figure out what you have before choosing the right control 
hardware.


Most old Dos controllers I'm familiar with are just software step
generators, and as such can usually be replaced by Linuxcnc with a
minimum of hardware (most just using a parallel port or 2).

- Original Message -
From: "Marius Liebenberg" <mar...@mastercut.co.za>
To: "Enhanced Machine Controller (EMC)"
<emc-users@lists.sourceforge.net>
Sent: Tuesday, September 29, 2015 11:55:55 AM
Subject: [Emc-users] Yaskawa or not

Hi All
I have been asked to upgrade a machine that has a very old control
system still running on DOS. It is fitted with Yaskawa SGDB-03VDY1
drives. I cannot seem to find reference to that extract number. There
are two 2.9Kw motors and one 0.45Kw. They all have incremental
encoders.

From the documentation that I could find I could not see how to drive

these things. It looks like a communications protocol that they use.

I have to decide how to go about retrofitting this machine. Do I keep
the motors (they are still very good) and keep the drives (dont know
how to drive). Does Mesa have a solution to drive these?
Or do I dump the drives and use another set of drives? What will I use
or, Do I dump the lot and start fresh. What will I use in the place of
Yaskawa?

Has anyone on the forum used these with reasonable success?

I would like to go 7i80 so that I can fit an industrial panel mount pc
with touch screen.

Any thought from the wise ones?



-
Regards / Groete

Marius D. Liebenberg
+27 82 698 3251
+27 12 743 6064



---
---

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Re: [Emc-users] Yaskawa or not

[andy pugh]

On 29 September 2015 at 17:49, Marius Liebenberg  wrote:
> The Servopack number is  SGDB-03VDY1 like I mentioned below

According to 
http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf

That would be a 300W servo drive. As you have probably spotted the V
and Y don't fit that manual. But the D shoiuld mean torque / speed or
position control.

Looking at page 556 of that manual snd seeing which connectors are in
use on 1CN may indicate how it is being controlled.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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[Emc-users] Yaskawa or not

[Marius Liebenberg]

Hi All
I have been asked to upgrade a machine that has a very old control 
system still running on DOS. It is fitted with Yaskawa SGDB-03VDY1 
drives. I cannot seem to find reference to that extract number. There 
are two 2.9Kw motors and one 0.45Kw. They all have incremental encoders.
From the documentation that I could find I could not see how to drive 

these things. It looks like a communications protocol that they use.

I have to decide how to go about retrofitting this machine. Do I keep 
the motors (they are still very good) and keep the drives (dont know how 
to drive). Does Mesa have a solution to drive these?
Or do I dump the drives and use another set of drives? What will I use 
or,
Do I dump the lot and start fresh. What will I use in the place of 
Yaskawa?


Has anyone on the forum used these with reasonable success?

I would like to go 7i80 so that I can fit an industrial panel mount pc 
with touch screen.


Any thought from the wise ones?



-
Regards / Groete

Marius D. Liebenberg
+27 82 698 3251
+27 12 743 6064


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Re: [Emc-users] Yaskawa

[Belli Button]

Remember that CAM for glass cutting is very special and I don't know of any
CAM packages that can handle glass.

It's gonna bite you're a$$.  ;-)

Cheers,


-Original Message-
From: Marius Liebenberg [mailto:mar...@mastercut.co.za] 
Sent: 29 September 2015 18:49
To: Todd Zuercher; Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Yaskawa or not

The Servopack number is  SGDB-03VDY1 like I mentioned below The motors are
AC servos - USAGED-30V22 and USAGED-05V22K

The machine is a CNC glass cutter that has a horde of pneumatic and
hydraulic functions. The model is an Intermac Fox 3700 I would attempot to
just replace the pc and control software if I could lay my hands on a manual
or wiring diagrams. There are several sub controllers or custom plc's that
makes it impossible.


-- Original Message --
From: "Todd Zuercher" <zuerc...@embarqmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: 2015-09-29 18:38:49
Subject: Re: [Emc-users] Yaskawa or not

>Yaskawa has been making motors and drives for a long time, and have 
>made a lot of different kinds, using all manor of controls.  Your going 
>to have to give us more information for us to give you a 
>recommendation.
>
>But on the surface I would have to suggest, if there isn't anything 
>wrong with the motors or drives keep them.
>
>Mesa makes hardware that can work with what ever you have, but you need 
>to figure out what you have before choosing the right control hardware.
>
>Most old Dos controllers I'm familiar with are just software step 
>generators, and as such can usually be replaced by Linuxcnc with a 
>minimum of hardware (most just using a parallel port or 2).
>
>- Original Message -
>From: "Marius Liebenberg" <mar...@mastercut.co.za>
>To: "Enhanced Machine Controller (EMC)" 
><emc-users@lists.sourceforge.net>
>Sent: Tuesday, September 29, 2015 11:55:55 AM
>Subject: [Emc-users] Yaskawa or not
>
>Hi All
>I have been asked to upgrade a machine that has a very old control 
>system still running on DOS. It is fitted with Yaskawa SGDB-03VDY1 
>drives. I cannot seem to find reference to that extract number. There 
>are two 2.9Kw motors and one 0.45Kw. They all have incremental 
>encoders.
>>From the documentation that I could find I could not see how to drive
>these things. It looks like a communications protocol that they use.
>
>I have to decide how to go about retrofitting this machine. Do I keep 
>the motors (they are still very good) and keep the drives (dont know 
>how to drive). Does Mesa have a solution to drive these?
>Or do I dump the drives and use another set of drives? What will I use 
>or, Do I dump the lot and start fresh. What will I use in the place of 
>Yaskawa?
>
>Has anyone on the forum used these with reasonable success?
>
>I would like to go 7i80 so that I can fit an industrial panel mount pc 
>with touch screen.
>
>Any thought from the wise ones?
>
>
>
>-
>Regards / Groete
>
>Marius D. Liebenberg
>+27 82 698 3251
>+27 12 743 6064
>
>
>
>---
>---
>
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Re: [Emc-users] Yaskawa or not

[Todd Zuercher]

Have you tried contacting Intermac to see if they could get you some 
schematics?  I think your going to want them.  Unfortunately I think I've heard 
they aren't the easiest company to work with so you might be out of luck, but 
it doesn't hurt to try.

And from the pictures google brings up of "Intermac Fox 3700" machines, it 
certainly isn't a DOS based control. (Just because at has a text based display 
doesn't mean it has anything to do with DOS.)  I wouldn't be surprised to find 
any one of the possible servo control options on that. 

- Original Message -
From: "Marius Liebenberg" <mar...@mastercut.co.za>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: Tuesday, September 29, 2015 1:34:38 PM
Subject: Re: [Emc-users] Yaskawa or not

It looks like a pulse and dir setup from what I see on page 544. There 
is mention of speed and torque reference but it does not make sense.

-- Original Message --
From: "andy pugh" <bodge...@gmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine 
Controller (EMC)" <emc-users@lists.sourceforge.net>
Cc: "Todd Zuercher" <zuerc...@embarqmail.com>
Sent: 2015-09-29 19:10:56
Subject: Re: [Emc-users] Yaskawa or not

>On 29 September 2015 at 17:49, Marius Liebenberg 
><mar...@mastercut.co.za> wrote:
>>  The Servopack number is  SGDB-03VDY1 like I mentioned below
>
>According to 
>http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf
>
>That would be a 300W servo drive. As you have probably spotted the V
>and Y don't fit that manual. But the D shoiuld mean torque / speed or
>position control.
>
>Looking at page 556 of that manual snd seeing which connectors are in
>use on 1CN may indicate how it is being controlled.
>
>--
>atp
>If you can't fix it, you don't own it.
>http://www.ifixit.com/Manifesto
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Re: [Emc-users] Yaskawa or not

[Marius Liebenberg]

Ted
The machine is 15 years old. DOS for sure. The screens look like the old 
pascal interface for cga screens. The new machines still have the same 
model number but it is not the same. The local agent does not have 
access to the manual as the supplier refuses to give it. They want the 
customer to buy a new machine. At 88000 euro against a 16.5:1 Rand, it 
is not funny. The machine is still fully functional and the mechanics 
are in pristine order but the controller keeps breaking and the 
manufacturer does not have spares to support it.

You must know when I get called in they have usually tried every other 
avenue. The last resort is an upgrade and the cost that that brings 
along.


-- Original Message --
From: "Todd Zuercher" <zuerc...@embarqmail.com>
To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine 
Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: 2015-09-29 19:48:07
Subject: Re: [Emc-users] Yaskawa or not

>Have you tried contacting Intermac to see if they could get you some 
>schematics?  I think your going to want them.  Unfortunately I think 
>I've heard they aren't the easiest company to work with so you might be 
>out of luck, but it doesn't hurt to try.
>
>And from the pictures google brings up of "Intermac Fox 3700" machines, 
>it certainly isn't a DOS based control. (Just because at has a text 
>based display doesn't mean it has anything to do with DOS.)  I wouldn't 
>be surprised to find any one of the possible servo control options on 
>that.
>
>- Original Message -
>From: "Marius Liebenberg" <mar...@mastercut.co.za>
>To: "Enhanced Machine Controller (EMC)" 
><emc-users@lists.sourceforge.net>
>Sent: Tuesday, September 29, 2015 1:34:38 PM
>Subject: Re: [Emc-users] Yaskawa or not
>
>It looks like a pulse and dir setup from what I see on page 544. There
>is mention of speed and torque reference but it does not make sense.
>
>-- Original Message --
>From: "andy pugh" <bodge...@gmail.com>
>To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
>Controller (EMC)" <emc-users@lists.sourceforge.net>
>Cc: "Todd Zuercher" <zuerc...@embarqmail.com>
>Sent: 2015-09-29 19:10:56
>Subject: Re: [Emc-users] Yaskawa or not
>
>>On 29 September 2015 at 17:49, Marius Liebenberg
>><mar...@mastercut.co.za> wrote:
>>>   The Servopack number is  SGDB-03VDY1 like I mentioned below
>>
>>According to
>>http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf
>>
>>That would be a 300W servo drive. As you have probably spotted the V
>>and Y don't fit that manual. But the D shoiuld mean torque / speed or
>>position control.
>>
>>Looking at page 556 of that manual snd seeing which connectors are in
>>use on 1CN may indicate how it is being controlled.
>>
>>--
>>atp
>>If you can't fix it, you don't own it.
>>http://www.ifixit.com/Manifesto
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Re: [Emc-users] Yaskawa or not

[Dave Cole]

I replaced some 15-20 year old Yaskawa motor/drives this year.   We 
needed to get longer cables but they had used some special connectors 
that were obsolete.
The price for the replacement cables (they were not sure they could even 
get the connectors from Japan if we ordered new cable sets)  was more 
than the cost of new servo motors, drives, and cables.

So we ripped out all of the Yaskawa equipment and went with all new Teco 
servos and saved money.

Although the motors and drives are working now, you might want to 
consider what replacing a component would cost, as eventually everything 
fails.  And chances are that if you do the conversion, they will call 
you when a drive goes down in the future.

Dave

On 9/29/2015 1:55 PM, Marius Liebenberg wrote:
> Ted
> The machine is 15 years old. DOS for sure. The screens look like the old
> pascal interface for cga screens. The new machines still have the same
> model number but it is not the same. The local agent does not have
> access to the manual as the supplier refuses to give it. They want the
> customer to buy a new machine. At 88000 euro against a 16.5:1 Rand, it
> is not funny. The machine is still fully functional and the mechanics
> are in pristine order but the controller keeps breaking and the
> manufacturer does not have spares to support it.
>
> You must know when I get called in they have usually tried every other
> avenue. The last resort is an upgrade and the cost that that brings
> along.
>
>
> -- Original Message --
> From: "Todd Zuercher" <zuerc...@embarqmail.com>
> To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
> Controller (EMC)" <emc-users@lists.sourceforge.net>
> Sent: 2015-09-29 19:48:07
> Subject: Re: [Emc-users] Yaskawa or not
>
>> Have you tried contacting Intermac to see if they could get you some
>> schematics?  I think your going to want them.  Unfortunately I think
>> I've heard they aren't the easiest company to work with so you might be
>> out of luck, but it doesn't hurt to try.
>>
>> And from the pictures google brings up of "Intermac Fox 3700" machines,
>> it certainly isn't a DOS based control. (Just because at has a text
>> based display doesn't mean it has anything to do with DOS.)  I wouldn't
>> be surprised to find any one of the possible servo control options on
>> that.
>>
>> - Original Message -
>> From: "Marius Liebenberg" <mar...@mastercut.co.za>
>> To: "Enhanced Machine Controller (EMC)"
>> <emc-users@lists.sourceforge.net>
>> Sent: Tuesday, September 29, 2015 1:34:38 PM
>> Subject: Re: [Emc-users] Yaskawa or not
>>
>> It looks like a pulse and dir setup from what I see on page 544. There
>> is mention of speed and torque reference but it does not make sense.
>>
>> -- Original Message --
>> From: "andy pugh" <bodge...@gmail.com>
>> To: "Marius Liebenberg" <mar...@mastercut.co.za>; "Enhanced Machine
>> Controller (EMC)" <emc-users@lists.sourceforge.net>
>> Cc: "Todd Zuercher" <zuerc...@embarqmail.com>
>> Sent: 2015-09-29 19:10:56
>> Subject: Re: [Emc-users] Yaskawa or not
>>
>>> On 29 September 2015 at 17:49, Marius Liebenberg
>>> <mar...@mastercut.co.za> wrote:
>>>>The Servopack number is  SGDB-03VDY1 like I mentioned below
>>> According to
>>> http://www1.yaskawa.com/site/dmservo.nsf/link2/MNEN-5CLKHC/$file/TSE-S800-16E.pdf
>>>
>>> That would be a 300W servo drive. As you have probably spotted the V
>>> and Y don't fit that manual. But the D shoiuld mean torque / speed or
>>> position control.
>>>
>>> Looking at page 556 of that manual snd seeing which connectors are in
>>> use on 1CN may indicate how it is being controlled.
>>>
>>> --
>>> atp
>>> If you can't fix it, you don't own it.
>>> http://www.ifixit.com/Manifesto
>> --
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Re: [Emc-users] Yaskawa or not

[Karlsson & Wang]

> ...  And chances are that if you do the conversion, they will call 
> you when a drive goes down in the future.
> 
> Dave

Could rotate the motor with a drill or similar and measure the voltages with an 
oscilloscope?

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Re: [Emc-users] Yaskawa Motorman robot absolute encoders (andy pugh)

[Rudy du Preez]

 I now have to use the value to set the absolute position for the joint,
but
 have not found the best way to do this in Linuxcnc yet.
 Any ideas from the experienced Linuxcnc users on this?

I _think_ that might be as simple as just wiring the value to
axis.N.motor-pos-fb

-- 
atp

Thanks Andy - tried it and seems to work fine. Will see how it works when
the robot is all together again.

Rudy



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Re: [Emc-users] Yaskawa Motorman robot absolute encoders

[Rudy du Preez]

I have managed to read the initial serial data which defines the absolute
position of an axis. The A and B channels of the absolute encoder are taken
to the 7i33 on P2 of a MESA 5i23 as usual, The A channel which also carries
the serial data when enabled initially, is also taken to a GPIO input on P4
of a Mesa 5i23, which also has a 7i37 on P3 for other purposes.

A component running at a thread rate matching the baud rate of 9600 of the
serial data catches the serial data and interprets it to give the number of
full revs Nf of the encoder from its set ref point. After the eight bytes of
serial data is received, the encoder also sends out a number of A/B pulses
providing the increment count C for a fraction of a rev. This count is given
by the 5i23 encoder count. The total number of revs from ref point is then
Nt = Nf + C/400, for 400 counts per rev.

With Nt and the joint scale of degrees/encoder-turn I have the joint
position as degrees from its absolute ref point.

I now have to use the value to set the absolute position for the joint, but
have not found the best way to do this in Linuxcnc yet.
Any ideas from the experienced Linuxcnc users on this?

Rudy


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Re: [Emc-users] Yaskawa Motorman robot absolute encoders

[andy pugh]

On 26 September 2013 09:12, Rudy du Preez r...@asmsa.co.za wrote:

 I now have to use the value to set the absolute position for the joint, but
 have not found the best way to do this in Linuxcnc yet.
 Any ideas from the experienced Linuxcnc users on this?

I _think_ that might be as simple as just wiring the value to
axis.N.motor-pos-fb

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If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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[Emc-users] Yaskawa Sevo Drives?

[Todd Zuercher]

Can a Yaskawa servo drive be used with other servo motors?

 

I have some motors and I need to find some drives to work with them.

 

The motors specs are:

Torque Constant (Kt) : 1.8 in-lbs/ amp 

Voltage Constant (Ke) : 19.9 - 23.1 V/KRPM 

Rated Voltage : 230 volts 

Continuous Speed (no load) : 6000 rpm 

Peak Torque : 18.5 in-lbs 

Continuous Torque : 6.1 in-lbs 

Inductance : 5.8 mH 

Encoder count: 2,000 ppr 

Encoder Voltage : 5 Vdc 

Encoder current: 225 mA

 

I am saw some Yaskawa SGDA-04AS drives on ebay but looking through the
manual I downloaded gives me the impression they are only intended to
work with their motors.  Any one have any experience mixing and matching
other motors with this kind of drive?

 

Anyone have any other drive recommendations?  

 

Todd Zuercher

P. Graham Dunn Inc. http://www.pgrahamdunn.com/index.php 

630 Henry Street 

Dalton, Ohio 44618

Phone:  (330)828-2105ext. 2031

 



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Re: [Emc-users] Yaskawa Sevo Drives?

[andy pugh]

On 12 July 2012 13:49, Todd Zuercher to...@pgrahamdunn.com wrote:

 I have some motors and I need to find some drives to work with them.

Brushed or Brushless motors?

Are you intending to use them with LinuxCNC?

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Re: [Emc-users] Yaskawa Sevo Drives?

[jcloase]

We use these on our machines and they must use the motor from Yaskawa designed 
for them. another caution is that not all motors wrk with all drives.

Jim
 Todd Zuercher to...@pgrahamdunn.com wrote: 
 Can a Yaskawa servo drive be used with other servo motors?
 
  
 
 I have some motors and I need to find some drives to work with them.
 
  
 
 The motors specs are:
 
 Torque Constant (Kt) : 1.8 in-lbs/ amp 
 
 Voltage Constant (Ke) : 19.9 - 23.1 V/KRPM 
 
 Rated Voltage : 230 volts 
 
 Continuous Speed (no load) : 6000 rpm 
 
 Peak Torque : 18.5 in-lbs 
 
 Continuous Torque : 6.1 in-lbs 
 
 Inductance : 5.8 mH 
 
 Encoder count: 2,000 ppr 
 
 Encoder Voltage : 5 Vdc 
 
 Encoder current: 225 mA
 
  
 
 I am saw some Yaskawa SGDA-04AS drives on ebay but looking through the
 manual I downloaded gives me the impression they are only intended to
 work with their motors.  Any one have any experience mixing and matching
 other motors with this kind of drive?
 
  
 
 Anyone have any other drive recommendations?  
 
  
 
 Todd Zuercher
 
 P. Graham Dunn Inc. http://www.pgrahamdunn.com/index.php 
 
 630 Henry Street 
 
 Dalton, Ohio 44618
 
 Phone:  (330)828-2105ext. 2031
 
  
 
 
 
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 Phone:  330-828-2105
 E-mail: to...@pgrahamdunn.com
 630 Henry St.
 Dalton, OH 44618
 www.pgrahamdunn.com
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Re: [Emc-users] Yaskawa Sevo Drives?

[Eric Keller]

On Thu, Jul 12, 2012 at 8:49 AM, Todd Zuercher to...@pgrahamdunn.comwrote:

 Can a Yaskawa servo drive be used with other servo motors?

 According to the docs I have found, there isn't even compatibility between
a wide range of Yaskawa motors and their own drives.  Once I get my power
supply issues straightened out, I'll probably go with the Mesa 8i20
Eric
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Re: [Emc-users] Yaskawa Sevo Drives?

[Todd Zuercher]

My motors are brushless, and I intend to use Linuxcnc.

It sounds like (as I suspected) Yaskawa drives are not an option.
 

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Phone:  330-828-2105
E-mail: to...@pgrahamdunn.com
630 Henry St.
Dalton, OH 44618
www.pgrahamdunn.com
-Original Message-
From: andy pugh [mailto:bodge...@gmail.com] 
Sent: Thursday, July 12, 2012 9:02 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Yaskawa Sevo Drives?

On 12 July 2012 13:49, Todd Zuercher to...@pgrahamdunn.com wrote:

 I have some motors and I need to find some drives to work with them.

Brushed or Brushless motors?

Are you intending to use them with LinuxCNC?

-- 
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If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto




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Re: [Emc-users] Yaskawa Sevo Drives?

[Jon Elson]

Todd Zuercher wrote:
 Can a Yaskawa servo drive be used with other servo motors?

 snip

 I am saw some Yaskawa SGDA-04AS drives on ebay but looking through the
 manual I downloaded gives me the impression they are only intended to
 work with their motors.  Any one have any experience mixing and matching
 other motors with this kind of drive?
   
The ServoPak drives/motors use a proprietary scheme where the 
commutation data is
encoded on the index track of the encoder, so there are only 3 signals 
from the
encoder.  This is Yaskawa's own proprietary scheme, and incompatible 
with anybody
else's.

AMC and Copley make industry compatible drives for a variety of motors,
although most won't do 230 V.  You can check eBay for what models
are currently available.  Are these brushless motors?  If so, they need
to provide commutation (Hall) signals.

Jon

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Re: [Emc-users] Yaskawa Sevo Drives?

[Jon Elson]

Todd Zuercher wrote:
 My motors are brushless, and I intend to use Linuxcnc.

 It sounds like (as I suspected) Yaskawa drives are not an option.
   
If you don't need 6000 RPM, then I might suggest the Pico Systems brushless
PWM servo amp and our PWM controller.  They are good to 120 V, so
you can still get 3000 RPM.  The motor must provide commutation signals
either from the motor or the encoder for most drives.  There are sensorless
drives that can work without those signals, they do cost extra.

Jon

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Re: [Emc-users] Yaskawa Sevo Drives?

[James Louis]

My CNC Mill uses Yaskawa analog input servo drives with Pico Systems PPMC.  You 
need to use a PI/P (not PID) cascaded control scheme. There are articles in 
Digital Machinist magazine that describe the entire build, but Part Three is 
most relevant to your concern.  It also has a full schematic:

Building a Simple Servo Mill - Part Three: Powering it Up Computer Numerical 
Control (CNC) Louis, Jim DM Vol. 6 No. 3 Fall 2011

Building a Simple Servo Mill - Part Four: Making it Work Computer Numerical 
Control (CNC) Louis, Jim DM Vol. 6 No. 4 Winter 2011

Jon was a big help in doing the servo tuning on my mill as well.

Jim
-Original Message-
From: Jon Elson [mailto:el...@pico-systems.com]
Sent: Thursday, July 12, 2012 11:06 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Yaskawa Sevo Drives?

Todd Zuercher wrote:
 My motors are brushless, and I intend to use Linuxcnc.

 It sounds like (as I suspected) Yaskawa drives are not an option.

If you don't need 6000 RPM, then I might suggest the Pico Systems brushless
PWM servo amp and our PWM controller.  They are good to 120 V, so
you can still get 3000 RPM.  The motor must provide commutation signals
either from the motor or the encoder for most drives.  There are sensorless
drives that can work without those signals, they do cost extra.

Jon

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