From RSI - Robotic Systems Integration - SynqNet Systems
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To access general IO User Input/User Output from Yaskawa SGDS SynqNet drive
Please use the following RapidCode axis method – DigitalInGet(RSIMotorGeneralIo bitNumber) to access User Input and user Output on SGDS Yaskawa drive:
The enumerations to be used in axis method - DigitalInGet method are as follows:
- Yaskawa SGDS general IO Input 1 - RSIMotorGeneralIo6
- Yaskawa SGDS general IO Output 2 – RSIMotorGeneralIo7
- Yaskawa SGDS general IO Input 2 – RSIMotorGeneralIo8
RapidSetup Only: To Capture axis position using Yaskawa Dedicated User Input signals (USERIN0, USERIN1)
On connector CN1 of SGDS drive, connect as follows:
- Pin1: 24Vdc
- Pin19: 24Vdc Return
- Pin7: This is USERIN0. By default, STATE is HIGH. When 24Vdc Return from Pin19 is connected, state goes low.
- Pin8: This is USERIN1. By default, STATE is HIGH. When 24Vdc Return from Pin19 is connected, state goes low.
We are assuming that user is using USERIN0 (pin7 of CN1 connector).
Now we will configure in RapidSetup:
1. Go to the axis to which sensor is connected.
2. Go to Homing Tab as shown below and set it up as follows:
3. Now when you trigger USERIN0, State will change to Captured and state will also change in Inputs tab.
4. NOTE: In our example we captured Primary encoder position of Axis 0. However you can change the axis number accordingly.
Monitor torque values in MotionScope
On a Yaskawa drive, Monitor A will monitor torque.
- 10,000 counts equals rated torque of motor
- 32,767 counts equals peak torque of motor
Once you have Monitor A selected for specific yaskawa node. Click on Edit so you can modify trace properties as shown below:
RapidSetup & Using Motion Scope to monitor SGDS User Inputs
RapidSetup can be used to monitor SGDS User Inputs:
First step is to setup traces. Create a new Trace by clicking on New. Next select 'All others (user-defined) and make changes as shown below. The address for User Input varies on each system depending on the topology. Will need to use VM3.exe utility to get address for RinconBufferInternal: RX_1.Status.Motor[0].GeneralIn:
Now also add the Ax 1 Act Pos (you can simply select from the list). At this point you should have two traces as shown below:
The values for User Inputs are assigned as follows:
- 320 (USERIN_0 is HIGH & USERIN_1 is HIGH)
- 64 (USERIN_0 is HIGH & USERIN_1 is LOW)
- 256 (USERIN_0 is LOW & USERIN_1 is HIGH)
- 0 (USERIN_0 is LOW & USERIN_1 is LOW)
Scoped using Motion Scope and below is the result:
