SMC-3010 LEGEND-MC

SMC-3010 LEGEND-MC - YAI

Single-axis motion controller

The SMC-3010 LEGEND-MC is a legacy product and no longer promoted in the Americas. The SMC-3010 series was a single-axis machine controller with Ethernet communcation that attached to any Yaskawa LEGEND amplifier. Featured 100% digital design, multi-axis control via software, dual programming screens, and high performance and reliability.

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Question	Posted Date
I’ve had great success with the Z1000. Why the HV600? Posted Date: 09/03/2019 Answer: We’ve listened to our customers - contractors, building automation designers, consultants, and of course, our own people to design a better HVAC drive from Yaskawa. The HV600 will provide customers with several new features to improve both the ease of use and operation of our HVAC drives. These include a greatly enhanced keypad design, a status ring on every drive for clear status indication, and programming with mobile smart devices. Product Group/Line: Inverter Drives, HV600 Drive, HV600 Enclosed Bypass, HV600 Enclosed Configured, HV600 Narrow Bypass, HV600 Narrow Configured Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-64C666 Published Date: 09/03/2019 Share \| Rate Rate this article :	09/03/2019
I’m using a third-party EtherCAT master. What do I need to know in regards to the Yaskawa drive interface? Posted Date: 03/16/2015 Answer: Refer to the attachment, or the text below. PRELIMINARY: Start with AN.MTN.02 “Best Practices Using Yaskawa EtherCAT Drives”. Obtain the user’s manuals listed in the Appendix of AN.MTN.02. Although the information below may exist in other documents, the following addresses commonly asked questions. ESI File Usage: The Master interface may or may not require the Yaskawa drive ESI file. If the Master interface does not utilize the ESI file, the Yaskawa drive’s manufacturer specific objects may not be visible to be read or written (example: SGDV Yaskawa drive parameters, like object 250Ah “Input Signal Selection 1”). The Master documentation should indicate where the ESI file must be loaded for the master to read the file. For SGDV, loading the PDO map (CoE objects 1600h-1603h and 1A00h-1A03h) from the device will allow assigning 2 PDO maps per Sync Manager PDO Assignment Object (CoE objects 1C12h and 1C13h), allowing a total of 16 objects Tx and 16 objects Rx. COMMUNICATIONS: IN/OUT Ports: Proper EtherCAT topology mandates that the Ethernet cable from the Master must be plugged into the IN port of the first slave device. The OUT port of the first slave must be plugged into IN port of next slave, and so on. If this mandate is not followed, communication errors may occur resulting in poor motion. Refer to Yaskawa.com document number SRV-R91T82. Distributed Clock Setting: See Yaskawa.com document number AN.MTN.01 for usage and settings of DC. For SGDV, the DC mode may be verified by reading “Synchronization Type” (CoE object 1C32:01), or by reading SigmaWin Motion Monitor “1C32h:01:Synchronization type”. 1C32:02 = 0 means Free Run (DC disabled) 1C32:02 = 2 means DC Mode (Synchronous with Sync0) Addressing: The EtherCAT master might not support automatic addressing, which means setting drive addresses would be required. Because the Yaskawa drive has two 16-position rotary switches, the number of Yaskawa axes possible on one EtherCAT network is 256. Cycle Time: For SGDV, the Yaskawa drive supports communication cycle times ranging from 125us to 4ms, with 125us increments. To select optimal cycle time for the application, refer to AN.MTN.01. Hot Connect: The Yaskawa drive works with Hot Connect, tested with TwinCAT. The process information for the hot connect slave is separated into a different packet, rather than being grouped together in 1 packet with the rest of the slaves. This has been evidenced using Wireshark to trace the network data. CiA DSP402 (also in CoE) State Machine: The Yaskawa drive follows the EtherCAT CiA DSP402 state machine, and is also shown in the user’s manual (for SGDV, SIEPC72082904, chapter titled “Device Control”). Not all drive vendors follow the state machine. For example, another drive vendor’s servos may be enabled when the EtherCAT state reaches Operational state. This does not follow the CiA DSP402 state machine published by the EtherCAT organization. The following items have been found to prevent or slow the state machine transitions: HWBB – When the drive is in HWBB state, the CiA DSP402 state machine will not transition to “Ready To Switch On”. Refer to the topic “HWBB” in this FAQ (In the “Drive Features” subsection). Linear Motors with Pn080 = xxx1 (force pole detection) – This setting will prevent the state machine from changing to “Operation Enabled” for a few seconds while pole detection is being performed. However, pole detection only needs to occur once per power up. Missed/Lost/Dropped Packets, and Noise: If the application misses packets using the known working master described in AN.MTN.03, and changing machine design to reduce EMI or other countermeasures described in Yaskawa.com FAQ# SRV-R91T82 is not desirable, consider using the MECHATROLINK network and enable the “Data Retry” feature. This feature re-sends data that has been corrupted, in the same communication cycle. Contact your Yaskawa sales representative if there is interest in developing a MECHATROLINK application. Maximum Cyclic Objects: For the SGDV, a total of 16 Tx and 16 Rx objects is possible, with no limitation of number of bytes. Refer to the topic “ESI File Usage” in this FAQ for further information. To utilize 16 objects in each Sync Manager Assignment, assigning 2 PDO maps to each Sync Manager PDO Assignment Object (CoE objects 1C12h and 1C13h) must be supported by the master. Otherwise, the limit is 8 objects to each Tx and Rx (each Sync Manager PDO Assignment Object is assumed to support only 1 PDO map). If more than 16 Tx or 16 Rx objects is required for the application, refer to AN.MTN.01, section “Optimizing Cyclic Data”. *APPLICATION:* Drive-Based Homing or Controller-Based Homing: Drive-based homing will utilize the CoE Homing mode of operation (for SGDV, CoE object 6060h = 6). The “Position Actual Value” (for SGDV, CoE object 6064h) will be set to 0 on the home signal. The home signal (for SGDV, CoE object 6098h “Homing Method”) can be specified as the C-phase, OT, Home Switch, or use the current position as Home. Controller-based homing with the C-phase is not possible by the controller directly reading the C-phase. This is not a limitation of a drive, rather a preference of implementation because the network introduces delays which results in not precise latching of the C pulse. To latch the C-phase precisely, either use drive-based homing, or use the “Touch Probe Function” (for SGDV, CoE object 60B8h) to latch the C-phase position (for example, bit 2 of CoE object 60B8h). When using an absolute encoder, either use the cable with the battery built-in, or put a power source into the battery inputs into the drive inputs (for SGDV, CN1). Refer to the topic “Reading Full Absolute Position On Startup:” in this FAQ for details about reading “Position Actual Value” (for SGDV, CoE object 6064h) accurately. The “Home Offset” (for SGDV, CoE object 607Ch) can be used to set the motor’s position to zero (“Position Actual Value” (for SGDV, CoE object 6064h) will appear as 0). When the motor with an absolute encoder is first powered up (or if the battery has been disconnected from the encoder), the multi-turn must be initialized (reset), indicated by alarm A.810. This reset function is available through EtherCAT. Refer to the “SERVOPACK Adjusting Command” (for SGDV, CoE object 2710h). The Yaskawa configuration software SigmaWin can also perform the reset function. Yaskawa created a TwinCAT PLC function block (Yaskawa.com document number TM.SGDV.01) that can also perform the reset function. This function block library can be opened in TwinCAT to view the logic used to perform the reset. I/O: High-Speed Latch: 2 high-speed latch inputs are available to utilize. They must be assigned to the correct inputs of the drive (for SGDV, the drive has 7 inputs, 3 of which have hardware to support high-speed input). The defaults are assigned correctly, and the third assignment is the home switch default input (remove the home assignment from the input and assign the latch input if using the input for latch). To latch both the high and low signals, utilize both latch inputs and wire the signal into both inputs. General Purpose: The inputs and outputs (for SGDV, 7 inputs and 3 outputs) can be assigned as programmable inputs and outputs as opposed to their default assignments. Modes Of Operation: For SGDV, the Yaskawa servo drive supports servo-based modes of operation (see CoE object 6502h “Supported Drive Modes”). The non-servo-based mode is Velocity Mode, which is an Inverter-based command (the Yaskawa EtherCAT Inverters like A1000 and V1000 support Velocity Mode). Velocity Mode is not to be confused with Cyclic Synchronous Velocity (supported by the Yaskawa servo drive) and Profile Velocity (also supported by the Yaskawa servo drive). DRIVE FEATURES: SGDV Tuning: Default tuning out of the box uses “Tuningless” tuning mode. Default tuning with SigmaWin enables “Model Following Control”. In “Model Following Control”: A lag is introduced into the system. During this lag, the Yaskawa drive stores the commanded points so that it can apply precise motor power to achieve those positions. This contrasts to traditional servo control where the drive immediately applies motor power to try to move the encoder to the commanded position. The lag value itself is not a parameter, it is set by a series of parameters (Pn14x parameters). As long as the other axes have the correct inertia ratio, if all Pn14x parameters are set to the same value in all drives, then the lag will be the same time for all drives. The lag does not vary as long as parameters are not changed. The side effect of using this method of tuning is that the “Following Error Actual Value” (CoE object 60F4h) becomes very large (the “Position Actual Value” (CoE object 6064h) has a large deviation from “Position Demand Value” (CoE object 6062h)). “Following Error Actual Value” (CoE object 60F4h) is expected to be large when using Model Following Control, so this object “Following Error Actual Value” becomes misleading. Consider ignoring “Following Error Actual Value” (CoE object 60F4h) and implementing a controller-sided method of measuring following error (introduce a lag between the commanded position and the feedback position). In the case where the EtherCAT master does not provide an interface to assist with tuning the drives (and setting drive parameters), the Yaskawa drive configuration software SigmaWin may be used though USB connection (not through EtherCAT). Tuning though SigmaWin does not include controller-sided tuning such as setting “Velocity Offset” (for SGDV, CoE object 60B1h, also known as VFF – Velocity Feed Forward), or “Torque Offset” (for SGDV, CoE object 60B2h, also known as TFF – Torque Feed Forward). For choosing to use VFF/TFF on the drive or on the controller, this is depends on the application. For SGDV, although Pn217 (Average Movement Time of Position Reference) is stated as “reserved” in the Yaskawa drive’s user’s manual SIEPC72082904, it is in fact implemented, and can be used to implement S-Curve motion. Details about Pn217 can be found in the Yaskawa.com document number SIEPS80000045. Refer to Yaskawa.com document number SRV-LY43O3. HWBB: There is no method to directly determine if the drive is in “bb” state. However, if the following conditions are both true, then the drive can be concluded to be in “bb” state: CoE state is either “Switch On Disabled”, “Ready to Switch on”, “Switched on”. Read the StatusWord to determine CoE state. HWBB is not applied. Read the “Digital Inputs” (for SGDV, CoE object 60FD,) HWBB1 and HWBB2 bits. Reading Full Absolute Position On Startup: Because the following are true, the 32-bit value for Position may encounter rollover: CoE objects for the DSP402 profile are limited to 32-bits. The Yaskawa motor encoder is capable of 20-bits for some models. The Yaskawa motor encoder is capable of storing 16-bits of multiturn data. This means the Yaskawa drive may report position values up to 36 bits. Either set Pn205 “Multiturn Limit” to 4095 (thus “Position Actual Value” (for SGDV, CoE object 6064h) will rollover in 32-bits), or, implement a method to determine the precise value of the absolute position. Below is an example for SDGV: The target is to get the full 36-bit value of the “Position Actual Value” (thus, 1:1 user units) Change User Units to 2048:1. 0x2701:01 = 2048 “Numerator” 0x2701:02 = 1 “Denominator” Issue User Parameter Configuration for the new User Units to take effect. Write “1” to object 2700h. Wait in the program until 2700h reads back as “0”. Read “Position Actual Internal Value” (CoE object 6063h). Example: 5253220. This is in encoder counts, but the 32-bit rollover may have been imposed. Read “Position Actual Value” (CoE object 6064h). Example: 4196869. This includes user units, so this increments by 1 every 2048 encoder counts with user units as 2048:1. Because this value does not match the “Position Actual Internal Value”, the rollover has been imposed. Calculate the “Position Actual Value” without the 32-bit restriction for 1:1 user units: Example equation: [Scaling] x [6064h] + [6063h] - [Scaling] x floor( [6063h] / [Scaling] ) Where [Scaling] = User Units = 2048/1 [6063h] = 5253220 [6064h] = 4196869 Result: 8595177572 Attachments: 754KB Product Group/Line: Servo Products, SGDV EtherCAT, Network-Comm-EtherCAT Topic/Sub Topic: Applications, Ask a Technical Question, Hardware, Inputs - Outputs, Instructions, Network Communications, Networks, Operation, Parameters, Start Up, Wiring, Start Up - Installation Document Number: SRV-E17E47 Published Date: 03/16/2015 Share \| Rate Rate this article :	03/16/2015
I want the motor never to run below a certain speed and I am using PID, but there may be times when this low speed will be "too much". Is there a solution for this? Posted Date: 11/29/2005 Answer: The GPD506/P5 has a feature called the "Sleep" function. This is commonly used when a pump is being utilized that cannot run below a certain speed without incurring damage to itself. Simply enter the desired "minimum" speed into parameter n094 along with the desired delay time (if any) in parameter n095. If the PID loop calls for an output lower than the value in n094, the output will go to zero until the PID loop calls for an output higher than n094. This feature can only be used when PID is enabled. Product Group/Line: Inverter Drives, P5 GPD506 Drive, P5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, PID Application Document Number: DRV-5GVS8N Published Date: 11/29/2005 Share \| Rate Rate this article :	11/29/2005
It is possible to install a single licensed copy of MotionWorks IEC on multiple computers and move the license from computer to computer? Posted Date: 01/26/2016 Answer: Yes, the license can be moved between computers with installations of the same major version. The major versions are: - MotionWorks IEC Express [1.x.x] - MotionWorks IEC Pro [1.x.x] - MotionWorks IEC 2 Express [2.x.x] - MotionWorks IEC 2 Pro [2.x.x] License transfer for MotionWorks IEC version 3 and up, see document PN.MWIEC.06 (partner login required). There are two license transfer methods available: - Method #1: eCheck In / eCheck Out to Yaskawa's software license server - Method #2: Network Drive, USB Drive, or Floppy Drive Please see the attached .PDF file for full step-by-step instructions. Attachments: 426KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Software, Start Up - Installation, Troubleshooting, Upload - download software Document Number: MTN-7MCN6U Published Date: 01/26/2016 Share \| Rate Rate this article :	01/26/2016
I there a list of troubleshooting items to follow when using the SMC4000 and a Sigma Absolute Encoder? Posted Date: 12/21/2011 Answer: Yes. The following conditions are required for the absolute encoder to be read successfully. 1) Sigma Pn002.2 must be set to "2" - Use absolute encoder as absoute. 2) Battery must be installed in Sigma Amplifier 3) Battery alarm A.81 must be cleared using amplifier Fn008 - mode 5. 4) Use SMCCBLH cable between the SMC4000 and Sigma amplifier. Product Group/Line: Controllers, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: MTN-6ZNKJB Published Date: 12/21/2011 Share \| Rate Rate this article :	12/21/2011
Is upgrading from Sigma to Sigma II the best option? Posted Date: 04/13/2006 Answer: There are generally three service choices available to existing users of Sigma I: repair, replace, or upgrade to the latest technology. Yaskawa Customer Service will be happy to provide price and current availability for any or all three of the above options. It is only important to have a complete description of existing P/N numbers that require servicing (Example: Motor P/N# SGM-01U3B4L and Amp P/N# SGDA-01AS). Custom servo systems have part numbers that typically end with a special code, such as SGM-01U3B-Y22 or SGDA-01AS-Y13. See the document below titled Service Options for Customized Servos which will help determine the best course of action. The Upgrade Option: Yaskawa's latest generation products (Sigma II servo systems) closely parallel the previous product offering and are designed to provide an option for upgrade. Generally, these upgrades install in the same mounting locations, have similar wiring arrangements, and subsequently run the machine with performance equal to or better than the previous system. However, good planning is always a prerequisite to a successful upgrade. To decide if upgrading is the best option, read the attached summary of the upgrade process for summary comparisons of mounting, wiring, and performance. For any additional price and availability information required for the decision to upgrade, use the Part Number Converter utility (Sigma I to Sigma II) and Yaskawa's customer service will be able to provide those estimates as an alternative to repair or replace. To simplify the process, these summary documents and utilities are classified by the particular Sigma products being replaced. For determining price and availability for an upgrade, both the motor and amp P/N#s are required. What's Next? If upgrading is chosen as the best option, a more detailed description of the upgrade process is available in a subsequent FAQ in this database titled "What steps are required to upgrade Sigma products to Sigma II?". This FAQ will provide step-by-step instructions on upgrading an existing Sigma installation to Sigma II. Attachments: 72KB 455KB 62KB 71KB 63KB 568KB 558KB 516KB 62KB 507KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Maintenance, Parts or Replacement Document Number: MNEN-5CJMS4 Published Date: 04/13/2006 Share \| Rate Rate this article :	04/13/2006
Is the Z1000 the same physical size as E7 Posted Date: 11/29/2011 Answer: On average, the Z1000 is slightly smaller than the E7 with minimal differences on the small HP ratings and significant differences on larger ratings. Your specific ratings of interest must be compared. The Z1000 can also be mounted side-by-side, further reducing panel space. Product Group/Line: Inverter Drives, Z1000 Drive Topic/Sub Topic: Ask a Technical Question, Drive Size Document Number: DRV-8P2Q8E Published Date: 11/29/2011 Share \| Rate Rate this article :	11/29/2011
Is the V1000-4X rated for outdoor use? Posted Date: 06/21/2010 Answer: No, the V1000-4X meets the requirements of UL Type 4X and IP66, which are both indoor specifications. Product Group/Line: Inverter Drives, V1000-4X Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-86MPQP Published Date: 06/21/2010 Share \| Rate Rate this article :	06/21/2010
Is the V1000-4X corrosion-resistant? Posted Date: 06/21/2010 Answer: Yes. Product Group/Line: Inverter Drives, V1000-4X Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-86MQRH Published Date: 06/21/2010 Share \| Rate Rate this article :	06/21/2010
Is the V1000-4X coated with food-grade paint? Posted Date: 06/21/2010 Answer: No, the paint system has not been tested to meet the specification. Product Group/Line: Inverter Drives, V1000-4X Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-86MQTA Published Date: 06/21/2010 Share \| Rate Rate this article :	06/21/2010

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SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!

Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.

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