Product Support Group

P.O. Box 368 Herzliya B. 46103 Israel

Tel: 972-9-960-8222
Fax: 972-9-960-8223
www.scitexvision.com
Motion System: Servo drive
Overview:
The VLX motion system is a 4 Axle motion system:
X-Belt driven linear bar
Y- r e v o l v i n g r u b b e r s h a f t f o r m e d i a f o r w a r d i n g
Z-revolving rubber shaft for media tension
T- r e v o l v i n g s h a f t f o r c o l l e c t i n g t h e m e d i a o n b a c k w a r d r o t a t i o n
The VLX motion system is an AC Servo system and it consists of
3 basic elements:
1 . A n A C S e r v o m o t o r, r e f e r e d t o a s t h e m o t o r
2 . A S e r v o A m p l i f i e r, w h i c h p r o c e s s e s t h e f e e d b a c k s i g n a l s f r o m
t h e m o t o r, c o m p a r e s i t w i t h r e f e r e n c e s i g n a l s a n d p o w e r s t h e
motor to correct its position. Refered to as the Driver.
3 . A h o s t c o n t r o l l e r, w h i c h c o n t r o l s t h e d r i v e r a n d i s r e f e r e d t o a s
the Controller
In the VLX printer there are 4 identical servo drives that power the X,Y,Z and
T shafts.
Each servo drive consists of:
YASAKAWA ############# AC Servomotor
YASAKAWA ############# driver
Each servo drive is loaded with different settings for the different type of work
they perform.
All 4 are connected to an ACS Controller.
All 3 elements of the motion system are located on the opposite side to the
computer console (Home).
An additional motor is located at the back of the machine on the Home side.
This motor is rotating the collecting shaft, it is referred to as the motor
collector and it is not connected to the motion control system.

In this chapter we will review the specs of the servo drive hardware, and the
operation of the software included.
Motor:
UNITS
TYPE
SGME08VF14
VOLTAGE
VAC
200
PHASE
3
OUTPUT
KW
750
TORQUE
N*M
2.39
PEAK TORQUE
N*M
7.1
CURRENT
A
4.4
SPEED
RPM
3000
ENCODER
INCREMENTAL
DRIVER:
TYPE
POWER SUPPLY
FEEDBACK
WEIGHT
REFERENCE VOLTAGE

SGDA08VS
230 VAC single phase
1024p/r absolute encoder
1.5 Kg
+\- 10VDC

The power supply to the driver is filtered through:

Single phase RFI filter-RS 1010J7,Rasmi Electronic

CONTROLLER:
ACS- details will be supplied later

SYSTEM STRUCTURE:
Each of the motors is mechanically connected to one rotating shaft using an

On the rear of the motor two cables with a permanent

:connection to the motor block
wire 3-phase power supply to the motor 4 .1
Encoder cable .2
:Both cables connect to the driver
:On cable number one each wire is also numbered
Wire #1 will connect to U port
will connect to V port #2
will connect to W port #3
is com #4
Cable number two has a serial plug, which connects,
to serial port labeled: 2CN

Ports L1 and L2 are the single

phase power supply from the PDU
(via the RF filter)
Ground

Note:
Each drive has a 10A
circuit breaker

located on the PDU

appropriate coupling
type

Serial port labeled "operator" is

for transferring data between
the driver and the Yasakawa
software interface
The serial port labeled 1CN
Is the connection port for
the two cables that route to the
controller
one cable is encoder the other
is axis motion commands

The controller is also fed from a 10A circuit breaker on the PDU
The Green led indicates power is ON
The Red led indicates "ALARM" system
malfunction
When shutting down driver C.B make sure
leds are OFF before turning on
again
The Driver is also equipped with cooling
ribs as shown below

On the controller we find 4 Axis and 4 Encoder ports for each of the 4
computer controlled axis on the machine

Operation
The drivers control the mode of operation of the motor they are connected to.
The Yasakawa drivers arrive with identical operation settings
There are two categories of settings:
One category of settings that define a general operation mode for the motor
Another category of settings which changes the motor s performance in a
more Precise manner- a sort of fine-tuning.
The general mode of operation set for the VLX motors is defined as TorqueMode:
An Analog voltage of values that range between +10 to 10 volts is fed into
the driver from the controller. The driver than powers the motor with a 3phase voltage until the desired torque and position demand is met.
However each motor differ in the more precise settings that were
programmed into.
This chapter is an introduction to the Yasakawa Drivers software, and it
includes:
1.Introduction to the software interface
2.Basic operations
3.Basic description of the driver settings
Note : The software works only with a direct connection to the driver.
Therfore,before entering the software ,unplug the COM cable on the comuter
and connect this COM port to the OPERATOR port on the driver
1.1 Locate the YASAKAWA shortcut icon on the desktop and enter the
software. A dialog box will appear, with info on the type of hardware that
has been detected by the software.OK it if it is correct.

1.2 The main software window will appear

Main Menu
Toolbar
Available
Screens

In the main menu you will find all available options to you.
More useful is the toolbar under the Main Menu in which the more commonly
used functions are displayed
Under the Toolbar is the screen display:
User Parameters: View and altar driver settings
Commutators and Encoders: A Real-time display of motor Commutators and
Encoder status
Alarms: Display of alarm history, from current status-backwards
I/O: Displays current memory switch selection
Servo status: A Real-time display of Servo Status
Toolbar:

10 9 8 7 6 5 4 3 2 1

1.Monitor \ Parameter section : The main data screens,it is grayed when the
screen is on display
2.Tuning section : Graphic display of the motor performance
Note: When Monitor section is displayed the Tuning section button is in
colors, and when the Tuning section is displayed the Monitor button is in
colors
3.Scan for servo Amp : The software automatically searches for a servo
driver when it is turned on. However clicking on the binocular button will
prompt a new search
4.Go offline
5. Close Servo Amp : will close the current driver display

6. Read: Read the current value programmed in the driver for the marked
field in the User Parameter screen
7.Read All: Read All the values set in the driver
8.Send: Send a new parameter value setting on a chosen field to the driver
9.Send All: Replace all current settings in the driver with ones entered in the
user parameter screen
10. Jog: Opens the Jog dialog box .The Jog command is a direct command to
move the motor
User
Cn01
02
03

Parameters:
Code&Units
ME M1
ME M2
V RE FG N

r/ min

04
05
06

L O OP HZ Hz
P I TI ME
1 ms
E MG TRQ %

07
08

S FSA CC
TL MTF

ms
%

09

TL MTR

0A
0B
0C

P G RAT
TG O NLV
TRQ MS W

p/r
r/ min
%

0D

RE FMS W

r/ min

0E

14

A CCMS W
1 0 (r/ min )/ s
ZCLVL
r/ min
JO G SP D
r/ min
P ULS NO
P/ R
B RK TI M
1 0 ms
TCRFG N
0 .1 V / ra te d to rqu e
TCRL MT
r/ min

15
16
17
18

B RKS P D
B RK WA I
TRQ FI L
CL MI F

19

CL MI R

1A
1F
20

P OS G N
S PE E D1
S PE E D2

1/s
r/ min
r/ min

0F
10
11
12
13

r/ min
10 ms
0 .1 ms
%

Description
Se e ch a rt be lo w
Se e ch a rt be lo w
Sp ee d ref e ren ce ga in de te rmin e t he re la t io n be t wee n th e
Vo lta ge in pu t an d t he mo t o r sp e ed in r/ min
Not re le van t fo r To rq u e mo d e
Not re le van t fo r To rq u e mo d e
Pe rce nt a ge of t he con t inu o s to rq ue t ha t will be ap p lie d whe n
E me rg en cy swit ch is p re sse d
Time in te rva l 0 sp ee d to ma x sp e ed
Pe rce nt a ge of ra t ed to rq ue t ha t will be ap p lied on a f o rwa rd
ro ta t ion
Pe rce nt a ge of ra t ed to rq ue t ha t will be ap p lied on a
ba ckwa rd s ro t a t io n
Th e ou tp u t nu mbe r of pu lse s to th e co n t ro lle r
Th e min imu m sp ee d be fo re d rive r will fa ll
To rq ue limit a ft e r wh ich t he mo t o r will swit ch f ro m P I co nt ro l
to P con t ro l , th a t will re du ce th e se rvo g ain wh ile
acce le ra t in g ,d ise le ra t ing In ot he r wo rd s: Ke e p t he syst e m
mo re st ab le wh ile ch a ng in g d ire ct ion s
Th e sa me f un ct ion a s Cn 0 C b ut fo r S pe ed mo de t he re f o re is
no t re le va nt (Th e ma ch in e s mo t o rs a re set o n To rq u e mo de )
Th e sa me f un ct ion a s Cn 0 C b ut fo r S pe ed mo de t he re f o re is
no t re le va nt (Th e ma ch in e s mo t o rs a re set o n To rq u e mo de )
Not re le van t fo r o u r ch o se n wo rk mod e
Jo g fu n ct io n sp e ed
Nu mb e r o f p u lse s e xe rt e d by t he mo to r
Th e a mo u nt o f t o rqu e we will g et fo r th e ce rt a in a na lo g
vo lt a ge we in p ut
A sp e ed limit , if t he spe e d will e xce e d t he e nt e red va lue th e
mo to r will n ot in crea se th e t o rqu e eve n if it h as n ot re a ch ed
th e ma ximu m to rq ue le ve l

Ad ju st s th e t o rqu e co n t ro l re sp on se t ime
Fo llo win g a co nt ro lle r co mma n d , will a llo w in cre a se o f to rq ue
limit to th e va lu e e nt e re d
Fo llo win g a co nt ro lle r co mma n d , will a llo w in cre a se o f to rq ue
limit to th e va lu e e nt e re d fo r b a ckwa rd s ro ta t io n
Se t by t he con t ro lle r

S PE E D3
V CMP LV
S FS DE C
NFB CC
A XI S NO

21
22
23
28
29

Memory
MEM1:
Bit No
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

MEM2:
Bit No.
0
1
2
3
4
5
6
7
8
9

r/ min
r/ min
ms

Th e ran g e a llo wed b et we en re fe re n ce a nd mo to r spe e d

Time in te rva l b et we en ma x sp e ed to mo t o r sto p
Not re le van t fo r in cre me nt a l e ncod e r
Not re le van t fo r in cre me nt a l e ncod e r

switch settings:
Description
If switched motor is automatically enabled
Not in use
Not in use ,switched only when Limit Switches are not connected to
the controller
Not in use ,switched only when Limit Switches are not connected to
the controller
Define the specific output route for either speed or torque output
If switched Servo Alarm will automatically reset at recovery from
power loss
If switched Dynamic Brake will activate on Emergency.If not motor
will cruse to a stop
If not switched ,Dynamic Brake will automatically release at recovery
from emergency
If switched motor will stop always according to torque value on Cn-6
if not Driver will apply Dynamic Brake
If switco hed motor will stop at overtravel according to Cn-6.If not
,Zero Clamp will be activated afterwards
A combination of the two defines the control mode.In our case: 0;1
For torque control
Relates to the acceleration\Deceleration smoothening action .The
combination of the two will switch between, not using this mode
switch, and using torque, speed or pulses as the detection point.
In our case relates to the torque value in Cn-0C
Defines the type of Encoder on the motor
If switched activates the torque feed forwards function for fine tuning
of positioning time

Description
When checked, defines CCW rotation as forward
Contact input speed control, allows using 3 preset speeds
Cn1F,Cn20,Cn21
Currently not in use
Currently not in use
Currently not in use
Currently not in use
Currently not in use
Defines the type of motor in use
Not in use

A
B
C
D
E
F

Not in use
When checked sets time constant unit for integration at 0.01ms
,when not time unit will remain 1 ms
Currently not in use
Currently not in use
Defines the mode according to which the torque will change, when
not checked uses analog voltage reference

The User Parameter list described above is an informative use only. None of
the parameters are ment to be altered!
The only user parameters that are open to some alteration ( for examination
porpuses only ) are Cn08 and Cn09.
The VLX machine is supplied with each drivers setting already installed.
Attached here are the *ypm files for each driver:
The first tool to be used when examining a motor should be the JOG
command:
1. Click on the JOG icon on the toolbar,the JOG dialog box will open

2. Adjust the motor speed

3. Enable the JOG :Click Enable for Mode and Servo-The Jog speed will be
grayed ,the Jog buttons will be blue

4. Click for rotation direction you desire

The Tuning Section in the software is allowing us to build a graphic display of the motor speed
and torque while in motion.
A graph display may be helpful in detecting \ isolating problems .
1.In the toolbar, click on the Tuning Section icon

2.Open the Setup dialog box,and adjust the sampling time (recommended 20000us)

3.On the trace setup , choose the parameter range and the graph color for the
Torque (Analog Trace 1),and the Speed (Analog Trace 2)

4.OK your setup, return to the main tuning section window, and click on the
Start button to commence the Data Tracing

5.A display of the results will appear soon after the data tracing is done with:
Note: Recommended range of parameter for the feedback speed and torque
reference is as displayed in the graph below (X motor double speed mode)