Control Yaskawa servo drive using TRIO motion controller

Thesis Proposal

By

Neel C. Gandhi

Submitted to College of Graduate Studies

MASTER OF SCIENCE

December 2016

Major Subject: Electrical Engineering

A Thesis Proposal
By
Neel C. Gandhi

Approved as to Style and Content by:

xxxxxxxxxxxxx xxxxxxxxxxxxxx
(Member of Committee) (Member of Committee)

Dr. Rajab Challoo, Ph.D.

Dr. George Allen Rasmussen Ph.D.

Control Yaskawa servo drive using TRIO motion controller

Motion control is a part of the Automation system which is used to deal with servo motion. This

theory defines the methods for motion control of velocity/analogue, pulse, and torque controlling

modes between the motion controller and servo drive. As per this study, the motion controller is

developed by TRIO motion technology and the servo drive is developed by YASKAWA

respectively. Here, the high speed fieldbus known as Mechatrolink is used for connecting the

controller. Furthermore, the motion controller used for a field device such as servo drives controls

the motion of a machine in the industrial automation system. This research determines a method

of communication between the TRIO motion controller and YASKAWA servo drive using the

Mechatrolink-III protocol.
ABBRIVATION

PLC Programmable Logic Controller

CNC Computer Numerical Control

AC Alternating Current

DC Direct Current

HMI Human Machine Interface

PPR Pulse Per Revolution

SG Signal Ground

V-REF Speed reference input

T-REF Torque reference input

SOPC System on a programmable chip

Page

ABSTRACT . III

ABBRIVATIONIV

TABLE OF CONTENTS ...V

CHAPTER I. INTRODUCTION . 1

CHAPTER II. METHODOLOGY .3

ANALOGUE/VELOCITY MODE .3

PULSE MODE 3

TORQUE MODE 4

MECHATROLINK .4

CONCLUSION...5

REFERANCES ..6
Chapter-1. Introduction

In the industrial automation world, many automation products are used for machine control and

robotics. Products corresponding to Programmable Logic Controllers (PLC), Motion controller,

Servo drives, and variable frequency drive (AC and DC) are useful in machine control, CNC, and

robotics. Here, the PLC and motion controllers are the heart of any types of industrial automation.

These days, PLCs are useful for only some small level applications corresponding to normal input

and output control. However, the motion controllers are useful for forming the motion profiles

controlling various types of Servo motions.

The TRIO motion technology is a multinational company which manufactures only motion

controllers and HMIs while, YASKAWA is a manufacturer of servo drives. According to the

study, the TRIO motion technology have already done number of applications. In those

applications the TRIO motion controller controls different brands of servo drives like Siemens,

ABB, Delta, and Schneider as well. However, the TRIO motion technology never controlled

YASKWA servo drive.

Here according to this research, it can be figured out that there are four modes which control the

YASKAWA servo drive using a TRIO motion controller. These following modes can be illustrated

below:

1. Analogue/Velocity Mode

2. Pulse Mode

3. Torque Mode

4. Mechatrolink
Figure-1. TRIO Motion Controlling methods

Mechatrolink, developed by Yaskawa is a very different type of controlling mode as compared to

other three modes. Moreover, it is high speed fieldbus used for high speed communication.
Chapter-2. Methodology

According to the study of Yaskawa servo drive technical manual, it can be figured out that the -

V series of servo drive can communicate with TRIO motion controller.

2.1 Velocity/Analogue Mode:

In the velocity mode, reference voltage is applied to operating servo motor. As per the research,

TRIO generates up to +/- 20 VDC from the host controller. However, Yaskawa -V series servo

drive could accept +/- 12 VDC. To generate control between the host controller and Fieldbus

device, V+ and V- pins should be connected to servo drive pins V-REF and SG respectively.

However, on software side of the research, Motion Perfect and SigmaWin+ softwares are used

for programming purposes.

Figure-2. Connection between host controller and servo drive for velocity mode

2.2 Pulse Mode

In pulse mode, control of the servo drive depends on the pulse command which could be generated

from the host controller. Yaskawa -V series servo drives maximum PPR is 1048576.

For programming, the same software mentioned in velocity mode is used. Connection between the

host controller and servo drive is shown as under:

2.3 Torque Mode

In automation field, torque plays a vital role in widespread applications. Torque mode is similar to

velocity mode. In this method, reference voltage will be applied on the T-REF and SG pins at field

device side. Torque methods maximum capacity is +/- 12 volt. Programming software remains

the same as mentioned.

2.4 MECHATROLINK

MECHATROLINK is a different type of fieldbus which is used mainly for high speed applications

like CNC machines and robotics. The maximum communication speed of Mechatrolink-III is 100

Mbps. As per study, SOPC seems suitable for the development of master bus station. Hence, a

method based on SOPC will be proposed for designing master station.

At the end of this thesis, YASKAWA servo drive will be able to communicate with TRIO motion

controller. Moreover, it will prove useful for many types of CNC and Robotics applications

because of high speed fieldbus (Mechatrolink).

1. DANG, T. T., KIM, J. H., NGUYEN, D. D., & JEON, J. W. (2012). A Geteway for multi-

device communication between mechtrolink-iii and rs-485 . automation and system.

2. TRIO MOTION TECHNOLOGY. (2016). MC664 Power and I/O terminals. TRIO.

3. TRIO MOTION TECHNOLOGY. (n.d.). SYSTEM WIRING. TECHNICAL MANUAL.

4. XIUMIN, X. (2010). Design and Implementation of MECHATROLINK-III Bus Slave Station.

International Conference on Computational and Information Sciences, 4.

5. YASKAWA. (n.d.). E-V SERIES USER'S MAUAL.