Speed, Torque, Position - Best practice configuration for MESA help PLEASE

Well the more I learn the less I know. Doing a retrofit, and have these Yaskawa AC Sigma servo drives and they can be configured several different ways.

Speed - Analog
Torque - Analog
Position - Pulse train with PUL /PUL SIGN /SIGN CLR /CLR

You can even switch between Position and Torque on the fly.

How I should I configure the drivers for these options for a large plasma torch table?

Currently wired as such.
V-REF
PAO /PAO PG divided output A-Phase
PBO /PBO PG divided output B-Phase
PCO /PCO PG divided output C-Phase

I currently have
4 of these amps/servos
2 of unknown servos for the torch lifters. May replace

Want to be able to add one more axis in the future.

So my question is what do I need for Mesa cards? I do need encoders for them all unless I would want to run analog and blind... Correct? Given the current wiring seems they are setup for position, pulse and I just need to leave them setup as is and rewire to the Mesa cards.

Will need 2 THC cards
7i76E with a 7i85S (how do connect cleanly?) most likely will need more i/o as well given all the automated gas / water and sensors there currently are.
or
7i80HD-16 or -25 (what's the difference?) with a 7i52S, and what for i/o can a simple 50pin connection cable to some terminal block work? (Does one exist?)

Again thanks for any and all feedback.

Analog control + simulated encoder feedback from the drives may be the simplest

For analog control I would suggest velocity mode

Using Mesa Ethernet hardware I would probably use a 7I92M or 7I92H and a 7I77

You might need to add a 7I85 or 7I85S for more encoder inputs depending on whether all encoders need Index inputs

A 7I92+ 7I77 gives you
Ethernet host connection
6 Analog +-10V outputs
6 encoder inputs with index
RS-422 serial expansion port
32 12/24V inputs
16 12/24V outputs
4 of the inputs can be used for two real time MPG encoders (A0,B0,A1,B1)
Connecting a 7I85S to the second 7I92 header adds
4 encoder inputs
4 step/dir or PWM/dir outputs
1 RS-422 serial expansion port
alternatively, a 7I85 would add
4 encoder inputs
5 RS-422 serial expansion port

I did a few retrofits with these drives. Definately use 7i77. I always use 5i25. These drives are industructable. Yaskawa sgdb

I use them in velocity mode.

PCW wrote:

Analog control + simulated encoder feedback from the drives may be the simplest

Thank you both so much! Now I have a plan and direction. I knew I was fighting myself on this.

Have 2 remaining questions.

This is how they are currently wired and used correct?

Can I get an example of a AC Servo Drive and amp combination brand where you would use the Mesa's in digital? Seem most everyone is using steppers when you read these forums.

scubawarm wrote:

PCW wrote:

Analog control + simulated encoder feedback from the drives may be the simplest

Thank you both so much! Now I have a plan and direction. I knew I was fighting myself on this.

Have 2 remaining questions.

This is how they are currently wired and used correct?

Can I get an example of a AC Servo Drive and amp combination brand where you would use the Mesa's in digital? Seem most everyone is using steppers when you read these forums.

Not sure what you mean but, i will say this:

Ac servo motor 3 wires to drive
Ncoder from motor to drive
Drive simulated encoder output to 7i77 encoder input

Enable out 7i77 to drive enable input
+-0v out 7i77 to drive ref velocity input

Setup your limit switches and home switch and

Bobs your uncle.

Didnt notice is this a router type machine or a milling machine?


/EDIT. I just reread original post to notice a plasma table.

Yes a large plasma table with two heads.

I have a huge amount of HAL programming to do if I want to replicate the Smart Flow gas and water curtain system on it. But not doing everything... Screen with toggles for different processes and then nested or2 logic for setting the variables.