manuais YASKAWA FSP Amplifier FlexWorks

Yaskawa FSP Amplifier FlexWorks Manual do Utilizador (258 páginas)

Marca: Yaskawa | Categoria: Equipamento | Tamanho: 5.89 MB |

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Índice

Software User’s Manual

1

FlexWorks User’s Manual

3

: www.yaskawa.com

3

Table of Contents

10

1. Introduction

11

Installation

13

3.1. Title Bar (A)

15

3.2.1. File Menu

16

The Main Screen Interface

17

3.2.2. Edit Menu

18

3.2.3. View Menu

19

3.2.4. Run Menu

20

3.3. Communication Menu

21

3.3.2. Maintenance Menu

22

3.3.3. Window Menu

23

3.4. Status Bar (D)

24

3.5. Work Area (E)

24

3.5.1.1. Project Tab

25

3.5.1.2. Command Tab

25

 To select a command:

26

3.5.1.3. Command Groups

26

3.5.2. Program Window

28

3.5.3. History Window

28

3.5.4. Parameters Window

29

3.5.5. Cam Window

30

FlexWorks

31

4.2. Setup Wizard

32

 To operate the wizard:

33

4.3. Parameter Control

35

Figure 14: Parameters Window

36

Setting Parameters Online

37

4.4.1. Writing a Program

38

Arguments

40

4.4.2.1. Example

41

4.4.3. Running a Program

43

4.5. Program Modes

44

4.6.1. Manual Tuning

45

4.6.2. Auto-tuning

45

 To perform fast tuning:

46

Performing Fine Tuning

47

4.7. Charts

50

4.7.1.2. Graph Settings

52

4.7.1.3. Show

52

4.7.1.4. Caption

52

4.7.1.5. Chart Toolbar

52

4.7.2. Using Zoom

53

4.7.3. Starting the Trace

54

4.7.4. Printing a Chart

55

4.8. Mechanical Analysis

56

PTION ICON DESCRIPTION

59

ARNING:

60

4.9. ECAM (Electronic Cam)

61

4.9.3. ECAM Profiles

62

4.9.4. Creating a Profile

63

 To set the resolution:

64

4.9.4.6. Specifying an Array

66

4.9.5. Loading a Profile

69

4.9.6. Editing a Profile

70

4.9.7. Deleting a Profile

71

Figure 41: Data Graph

72

4.9.11. The Cam List Window

73

4.9.13.1. ECAM_ENGAGE

74

4.9.13.2. ECAM_DISENGAGE

74

4.9.14.1. Profile Scaling

75

 To apply scaling:

76

4.9.14.2. Shift

77

 To apply a shift:

77

4.9.14.3. Offset

78

 To apply an offset:

78

Table 14: Sample ECAM Table

82

4.10.1. Latching Workflow

84

4.10.2. Troubleshooting

85

4.10.3. Commands

85

4.10.4.3. Motion_status

87

4.10.5. Registration Example

88

4.11. Interrupts

89

4.11.4. Interrupt Masks

90

4.11.5. Interrupt Handling

90

4.11.6. Interrupt Variables

91

4.11.6.3. Interrupt_pending

92

Interrupt_mask:

92

Interrupt_request:

92

4.11.7. Interrupt Commands

93

4.11.7.2. INT

94

4.11.7.3. INT_RETURN

94

4.11.8. Interrupt Example

95

Response Time

98

Application

99

Command Reference

100

5. Command Reference

101

5.1. FlexWorks Modes

103

5.3. Motion Modes

104

5.4. Motion Command Buffer

107

5.5. FlexWorks Commands

108

ACCELERATION

109

ALARM_RESET

110

CALL

111

CONTROL

112

DELAY

113

ECAM_DISENGAGE

114

ECAM_ENGAGE

115

ELECTRONIC_GEAR

116

END

117

ENGAGE_VIRTUAL_AXIS

118

EXT_INT

119

FAST_OUTPUT_SETTING

121

Condition Code

122

FAULT_MANAGER

124

FAULT_MANAGER_RETURN

126

FAULT_MESSAGE_CLEAR

127

GAIN

128

GO

129

GO_D

130

GO_H

131

GO_TO

133

HOME Commands

134

HARD_HOME

134

HOME_C

135

HOME_SW

136

HOME_SW_C

137

IF

138

139

IF_INPUT

140

INPUT_CASE

142

INT

144

INT_RETURN

146

JERK_TIME

147

LABEL

149

LATCHING_TRIGGER

150

LOOP

152

MATH

154

MOVE

156

MOVE_D

158

MOVE_H

160

MOVE_R

162

READ_FROM_ARRAY

164

REGISTRATION_DISTANCE

165

RETURN

167

RUN

168

SET_OUTPUT

169

SET_OUTPUTS

171

SET_VAR

172

SET_ZERO_POSITION

173

SLIDE

174

SLIDE_ANALOG

175

SPEED

176

SPEED_CONTROL

177

START

180

STOP_EX

180

RGUMENTS

181

TORQUE

183

TORQUE_ANALOG

184

TORQUE_LIMITS

185

WAIT_EXACT

186

WAIT_FOR_START

187

WAIT_INPUT

188

WAIT_STOP

189

WAIT_VAR

190

WRITE_TO_ARRAY

191

CLEAR_BUFFER

192

ECAM_POINTS

192

ECAM_PROFILE

193

ECAM_SEGMENT

194

ECAM_TABLE_BEGIN

195

ECAM_TABLE_END

195

GET_FROM_ARRAY

195

GET_PAR

196

GET_VAR

196

GET_VERSION

196

POLLING

197

SAVE_PRG_ECAM

197

SET_PAR

197

6.2. Protocol Specifications

199

6.2.2. Master Message

201

Serial Interface Protocol

203

bytes

204

CONTROL ON command

204

MOVE command

205

6.2.3. Response Message

207

C 5 CR

213

MOVE Command

214

GET_VAR command

215

6.3. Troubleshooting

216

7. Error Messages

217

Error Messages

218

8. Parameter Reference

225

8.2. Table 18: Switches

230

1: x10 2: x100

232

4: x1/100

232

Pn50B.0=8

236

Selection

238

Parameter Reference

239

9. List of System Variables

241

Position

242

List of System Variables

243

List of Status Word Bits

247

11. List of Operation Codes

249

List of Operation Codes

250

12.1. Electronic Gear

253

12.2. Motion Profile

254

12.2.2. Profile Acceleration

255

Command Name

256

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