Yaskawa YTerm User Manual

YTerm Software ManualFigure 1: YTerm Software Manual

4YTerm Software ManualGetting StartedInstalling YTermSoftware Kit ContentsThe YTerm software kit (SMCGUI1) should include the following:• One CD ROM l

YTerm Software ManualTo run the INSTALL program:1. Start Microsoft Windows.2. Insert CD ROM into CD ROM drive.3. Select the Run option from the Start

6YTerm Software ManualUpon completion of a successful installation, the YTerm icon will appear on the PC desktop window:Figure 2: YTerm Program Group

7YTerm Software ManualLaunching YTermTo run YTerm, double click on the YTerm icon.The following screen (Figure 4) will appear, while the application l

8YTerm Software ManualIf the communication access attempt was successful, the following screen appears:Figure 5: Communication Setup Screen Showing Su

9YTerm Software ManualIf the communication access attempt failed, this screen will display the "No Connection" message as follows:Figure 6:

10YTerm Software ManualBaud Rate: Select the baud rate that has been set by either DIP switches or jumpers on the SMC, depending on the controller. Fo

11YTerm Software ManualEditor Only: If YTerm is to be used for viewing or editing programs while a controller is not present, select Editor Only. This

12YTerm Software ManualUsing YTermThe Programming ScreenFigure 8: Programming Screen.After YTerm is running and communication with the SMC has been es

13YTerm Software ManualTo edit one of the programs in full screen view, click the full screen button in the upper-right corner of the program window.

14YTerm Software ManualMost of the tools look like and have the same function as the tools in other Windows programs. The ones that do not are explai

15YTerm Software Manual• Select Print to print out the program or selected text (in the active window) on the default printer. To change the default p

16YTerm Software ManualIf detailed descriptions on SMC commands is needed, press the Manual (A) button. The SMC Online Manual (if installed) will come

17YTerm Software ManualThe Terminal WindowThe Terminal window functions as a terminal emulator connected to the SMC. Commands typed here are executed

18YTerm Software ManualThe pop-up menu has the following options:• Execute: Starts the current program in the controller.• Stop: Sends an “ST” comman

19YTerm Software ManualThe Event LoggerDouble clicking on the status bar at the bottom of the YTerm screen shows the Event Logger. The Event Logger t

20YTerm Software ManualEthernet StatusThe Ethernet Status window will show the connection status of each handle on the controller. Details include TCP

21YTerm Software ManualProgram MonitoringOnce a program has been created and sent to the controller, it can be monitored with this function. The Prog

22YTerm Software ManualIn the event of a program error, YTerm will display the reported error and the line on which it occurred. This will replace the

23YTerm Software ManualThe Tuning ScreenFigure 18: Tuning Screen Figure 18A: Tuning Screen (Linear Servo Motor)

YTerm Software ManualYASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and applicatio

24YTerm Software ManualThe Tuning screens (Figures 14 and 14A), are used to set the gains of the servo motors. See the SMC User's Manual for a de

25YTerm Software ManualAutotuning• YTerm includes a routine that autotunes a connected servo system. This function is able to tune most systems. Sys

26YTerm Software ManualFigure 19A: Autotuning Dialog Screen4. Select the desired level of rigidity for tuning the system from the Rigidity Setting pan

27YTerm Software ManualTesting the TuningOnce a servo system is tuned, use the “test” tuning function and observe the performance of the system. The

28YTerm Software ManualFigure 20A: Tune Test Dialog Screen - Linear4. Define the motion profile by entering the motion parameter fields in the screen&

29YTerm Software ManualDouble clicking in the graph window will display the window in full screen view. Clicking Cancel will return the window to nor

30YTerm Software ManualStorage ScopeThe storage scope is used to store data. This allows the user to choose the parameters observed and duration. The

31YTerm Software Manual6. Choose the type of graph.Three graph types are available:• Time Graph - displays up to four (4) channels of data as a functi

32YTerm Software Manual13. Repeat Steps 7 through 11 for other data parameters to be stored.14.Click Start to begin storing data.Viewing the Scope Res

33YTerm Software ManualSMC Parameter UtilityFigure 25: Parameter Setup ScreenThe SMC Parameter Setup screen makes it possible to upload, download, sav

34YTerm Software ManualSigma Servo Amplifier SetupThe Sigma servo amplifier setup program is designed for configuring the amplifier to work with the S

35YTerm Software ManualNow your servo amplifier is configured for work with the SMC. The result should now look like Figure 27.Figure 27: SMC/SIGMA S

36YTerm Software ManualEmergency Stop ButtonIn the event that it becomes necessary to stop the motion of the attached servo system, click on the Stop

37YTerm Software ManualAxis OutputSelecting the Axis Output tab will display a screen to enable monitoring of any servo system on the SMC's axes

38YTerm Software ManualFigure 30: Axis Output Screen - Graphic DisplayThe Max. and Min. fields are used to enter the upper and lower range of values t

39YTerm Software ManualNote: Be certain that the Min. and Max. values include the actual range of values that the controller is reporting. This can b

40YTerm Software ManualLocal I/OFigure 32: Local IO Monitoring Screen.Selecting the Local IO tab will enable the monitoring of any I/O connected to t

41YTerm Software ManualDedicated I/OFigure 33: Dedicated IO Monitoring Screen.Selecting the Dedicated IO tab will enables the monitoring of the limits

42YTerm Software ManualAppendixSMC to RS-232 Connection (SMCCBL7 cable)The layout of the connection cable between the SMC and the PC serial port (RS-2

43YTerm Software ManualSigma Servo Amplifier to PC Connection (YS-11 cable)The layout of the cable, between the PC serial port (RS-232) and the Sigma

YTerm Software ManualContentsOverview ... 1What's New for Version 7 ...

44YTerm Software ManualTheory of Operation of the Autotuning AlgorithmThe motor is jogged in a positive direction at 3.75 R.P.M. while 5000 torque ref

45YTerm Software ManualIndexNumerics19200 7, 10, 11AAbort 18, 36About YTerm 8, 10Active window 14Amplifier 34, 35, 43, 44amplifier 2, 34, 35Amplifier

46YTerm Software ManualGraphic Display 38GraphsPrinting 29HHardware Handshaking 8, 10Home Switches 36, 41IIntegrator 26LLevel 44Limits 41Linear 23Line

47YTerm Software ManualTwo Dimensional 31Two Dimensional Data 31UUndo 14Units 11, 39Upload 33Uploading 33VView Log File 18Viewing 32Viewing Test Resul

48YTerm Software Manual

Yaskawa Electric America, Inc., October 2004 YEA-SIA-SMC-1.1C Printed in U.S.A.YTerm Software ManualYASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate

YTerm Software ManualStorage Scope ...30Viewing the Scope Results ...32Sa

1YTerm Software ManualOverview What's New for Version 7SMC4000 supportThe latest version was modified and tested to work with the recently releas

2YTerm Software ManualPerformanceCommunications have been improved to process data at much higher rates. This allows faster upload and download of pr

YTerm Software Manual• Scroll-back buffer for viewing data in the Terminal window.• Clipboard access to the Terminal window.• Full text logging of all