1. First of all, test the motor first, no circuit need to be connected, any two of the three wires of the motor are short-circuited together, roll the motor shaft by hand, and feel that there is resistance, then OK.
2. Connect the servo drive to the power supply according to the drawings (for example, the voltage regulator is used, from 100V to 220V, I am afraid that the driver is 100V), the power on, the driver is normal, there is an error message, and the error message is displayed.
3. Connect the encoder and turn it on again, and there is no error appearing.
4. Set up the drive according to the clarification book. For example, if you set the "speed control form" and then rotate the potentiometer, the servo motor does not roll. According to the clarification book, adjust the toggle switch, and after turning the "Servo-ON" toggle, the motor is locked at once, OK! Then rotate the potentiometer so that the SPR/TRQR input pin has a voltage, and that's good! The motor rolls up. The number of revolutions on the servo drive reaches 1000, 2000, 3000*** and can reach more than 4000 revolutions. It is clarified that the recommendation on the book is 3000 rpm, and there may be some problems with high speed.
5. The servo drive was re-set, changed to the "azimuth control form", and the motion control card (perhaps using MACH3, connected to the computer parallel port) was connected to the pulse and direction interface, and the motor was also rolled! At an output rate of 500Kpps, 3000rpm appears on the drive. Forward rotation can be controlled by itself.
Then adjust the motion control card and the small adapter plate made. The LED array on the board is used to test the output, the socket is connected to the two-phase encoder, the other socket is to output the pulse/direction, and the switch and button are to test the I/O input.
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YAMAHA ROBOT VISION PROGRAM
NAME=SHIFT
PGN=1
=================== declares the array ============
DIM PPS$(5)
DIM PPX$(5)
DIM PPY$(5)
DIM PPR$(5)
DIM PPX! (5)
DIM PPY! (5)
...
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A brief introduction to the Yamaha robot teach pendant instruction manual
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Yamaha industrial robot transmission mechanism
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1 Useful load
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Yamaha robot servo drive connection method
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