• Document: Motion Control G7 Drive Software Technical Manual
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Motion Control G7 Drive Software Technical Manual Software Number: VSG13306X, Drive Models: CIMR-G7UXXXXX-117 Document Number: TM.G7SW.117, Date: 05/16/08, Rev: 08-05 Contents: 1.0 Overview ................................................................................ 3 2.0 Changes from Standard Product ............................................ 4 3.0 Limitations .............................................................................. 4 4.0 Related Parameters and Functions ........................................ 5 5.0 Function Descriptions ........................................................... 14 6.0 Appendices .......................................................................... 35 This document is intended to provide proper installation and use of the Yaskawa drive with custom software. This document is a supplement to the standard drive technical manual. It describes the effects on the drive parameters and functions with the software installed. Read and understand this document and the standard drive technical manuals before attempting to install, adjust, operate, inspect or maintain the drive. Observe all cautions and warnings in this document and the standard drive technical manuals. Custom software is written to add functionality to a standard AC drive to enhance or enable use in a specific application. The software is loaded to the flash ROM area of the control board, and replaces the standard drive software. Custom software can add new functions, modify standard functions, or even inhibit standard functions. It can be used to modify display text or parameter names. Custom software is usually loaded to the drive before delivery. The control board and drive nameplate are assigned unique part numbers and the software is registered, archived, and retrievable. When seeking support for a drive with custom software, it is imperative to provide the unique part number shown on the drive nameplate. The software has been flashed to the control board memory and the operation of parameters, functions, and monitors is different from the standard drive software, as described herein. Date: 05/16/08, Rev: 08-05 Page 2 of 38 TM.G7SW.117 1.0 Overview The drive becomes a simple position regulator. The software does this by internally taking control of the drive’s frequency reference. All time-critical calculations are completed in a scan that is 2.5 ms or faster. This software gives the G7 simple position control capability. • Linear Absolute Motion • Rotary Absolute Motion • Relative Motion w/o Memory • Relative Motion with Memory • All position commands and position feedback monitors are displayed in engineering units. A parameter selects from the following list of engineering units: “inches,” “feet,” “centimeters,” “meters,” “degrees,” “revolutions,” or none. • Position command via modbus registers. • Absolute Incremental Encoder Support “TR ISI style Absolute Encoder” • Momentary or Maintained Move Command • Several different homing sequences to choose from. • Serial Communications Compatible • Incremental Encoder • Dual Incremental Encoders • Absolute Gray-Code Encoder Support (18 bit) • 16 Preset Positions Plus Home • Distance Command via High-speed Frequency Reference Register (in engineering units) • “Pre-Activation” Digital Output (settable in engineering units) • Ability to monitor and command a 32 bit (31 bits + sign) bi-polar position over network communication. • An additional “Distance Select” selection is added, which when selected, re-purposes two existing Modbus registers to be combined into one 32 bit (31 bits + sign) position register. • Two read-only 16 bit Modbus registers are added to monitor position with offset (distance from home) in encoder quadrature counts, for a total of 32 bits (31 bits + sign). • A read-only 16 bit Modbus motion control status register is added sequentially after the 32 bit position registers so that the position and the status of the drive can be read with one Modbus “Read Multiple” command. Date: 05/16/08, Rev: 08-05 Page 3 of 38 TM.G7SW.117 2.0 Changes from Standard Product • Due to parameter limitations, the “User” access level and all of the associated “A2” parameters are deleted

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