YASKAWA SERVOPACK Speed-Control instead Postion Control

Hey I have done several yaskawa servo retrofits to Linuxcnc

I found I had to use torque control to get good enough accuracy and power

I'll try check back here later to see any replies as I can probably save you some time

Hello Becksvill,

you are welcome - i'm waiting for my mesa-card then i think i have so many questions
But for now i will first take the connection.
Have you some special informations for the connection of the yaskawas to mesa cards and configure in linuxcnc?

Regards,
Philipp

Hello ehb,

so these days my mesa-card arrived.
I study your datasheet and compare with mine on page 35 of yours you see the output Signals of CN1:

PHA 4 (1)
PHB 37 (2)
PHC 21 (3)
AL01 25 (1)
AL02 40 (2)
AL03 42 (3)

On my Datasheet is some different on Page 25:

PHA 42 (1)
PHB 40 (2)
PHC 25 (3)
AL01 4 (1)
AL02 21 (2)
AL03 37 (3)

So is this a Typo-Mistake of the Sheets? But your sheet is not for special type is more a general-datasheet?

My datasheet is special for the CACR-SR__AC and AE types.
I have a Yaskawa CACR-SR03AC1ER

Hello,so here i have my first idea for connection - the fields with the green-color are the connection my machine have before i made the retrofit - here i see not all the others is connected to the Yaskawas.. so no need for most of them.
The N-OT and P-OT are limit-switches on the machine and here directly connected to the CN2 connector of the Yaskawa Servopack
Then the +24V voltage for the optocoupler is connected to the Yaskawa Servopack on Pin 7. That is all.



 

• Pin 7: 24 V
• 8: Enable signal, needs to be connected to ground to enable (on my machine another relay is switched, called "K125")
• 26 & 41, beyond limit switch (drives will show "Pot" on the display if I remember correctly, for positive over travel.
• 43: Drive reset (? not sure when this is used)
• 28: 24 V
• 27: Output from drive to say "Axis OK, drive ready"
• 9 & 10: No idea really
• 11: 0V
• 15: GND for +-10V input
• 14: +-10 V
• 18: Wire shield
• 19, 20, 33, 34, 35, 36 are encoder outputs from drive to Mesa
  
  
  @ehb
  Pin 9&10 are Monitoring - you don't need connect.
  Have a look on my connection-table the green ones are the only ones i need
  And the extra relay - you don't need it - you can connect to the optocoupler of the yaskawa servopack.

 

Have someone an iformation how to set the jumper of 7i97 for the encoder to use Differential mode? The Datasheet have no info about this and the mesa-website have problems for downloading pdf from other cards like a 7i77. So missing informations about the function of the 7i97 is very frustaing...

Hello,

no - on page 7 of the manual i have the P1 Connectors of the 7i97. And also your image show not the Jumper on the Board - so which position is what?

Okay - it looks like you don't understand me.
Is there a logcial table or something like this?

Like:
Jumper Connected Function
W2 1-2 something
W2 2-3 something

Because what means right Hand position in the text? Right Hand from what position? That is all trash information and not usable... i have found some mistakes also and here i will be absolutely sure to set correct.
And if you look at the image - can you read something of the numbers?

On the image from the manual - looks like Default-Config of the Jumper - but who knows?
And what this Default of the image mean? TTL or Differential?