Scribd
Upload
206 views

DualDrive Operator Manual (Pages From B-83284EN-2 02) (Optional Function)

The document describes Yaskawa's dual motor drive feature, which allows synchronous control of a master and slave motor. It provides examples of how to configure the system variables to set up dual drive pairs for groups of independent axes or positioners. The slave motor must be the last axis in its group and the number of axes variables must be decreased to account for dual drive pairs being treated as a single axis. The master and slave motor numbers are configured using dedicated dual drive variables.

Uploaded by

Serg Pavlenko
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
206 views

DualDrive Operator Manual (Pages From B-83284EN-2 02) (Optional Function)

The document describes Yaskawa's dual motor drive feature, which allows synchronous control of a master and slave motor. It provides examples of how to configure the system variables to set up dual drive pairs for groups of independent axes or positioners. The slave motor must be the last axis in its group and the number of axes variables must be decreased to account for dual drive pairs being treated as a single axis. The master and slave motor numbers are configured using dedicated dual drive variables.

Uploaded by

Serg Pavlenko
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

18.

DUAL MOTOR DRIVE B-83284EN-2/02

18 DUAL MOTOR DRIVE


18.1 INTRODUCTION
The Dual Motor Drive (Dual Drive) feature allows single axis control of two motors. One motor is called
the master motor and the other motor is called the slave motor.

Master motor Slave motor

Synchronous control

• The main function of the Dual Drive feature is to compensate for synchronous error due to servo delay
between master and slave axes.
• Dual Drive feature can realize a large size and high-load system which cannot be realized by a single
motor.
• Dual Drive feature suppresses the slave motor status on the current position screen, teaching screen, and
so on. By jogging or teaching only of the master motor, both motors move in synchronization.

In order to use this function, Dual Drive function option (A05B-2600-J836) is required. Also only
Independent axis (A05B-2600-H895) and Positioner (A05B-2600-H896) can be used as Dual Drive.

18.2 SETUP
Preparation
Setup Independent Additional Axes or Positioner axes which you plan to assign as a pair of Dual Drive
motors.
• The pair of Dual Drive motors must belong to the same motion group.
• In this step, setup both the master motor and the slave motor individually.
• The slave motor must be the last axis in the group. If there exist multiple Dual Drive motor pairs in one
group, the order of the slave axes is unconfined while they must be the last axes in the group.

J1 J2 J3
Independent Additional Axes or Positioner axes

Master Slave The slave motor must be the last axis of the group.
motor motor

A pair of Dual Drive motors

- 116 -
B-83284EN-2/02 18. DUAL MOTOR DRIVE

Dual Drive motor axes setup


Set the following variables, then cycle the power.

System Variable Description


$SCR_GRP[g].$NUM_AXES This system variable means the total number of axes in the group. Here,
count a pair of Dual Drive motors as one axis. In other words, change this
variable to the original number minus the number of Dual Drive motor pairs.
$SCR_GRP[g].$NUM_ROB_AXS Change this variable in the same manner as $NUM_AXES.
$SCR_GRP[g].$NUM_DUAL Enter the number of Dual Drive motor pairs. The maximum value of this
system variable is 3.
$DUAL_DRIVE[g].$M_AXIS_NUM[n] Enter the axis number of the master motor. “n” is an index of the Dual Drive
motor pair. For the first pair, n = 1.
$DUAL_DRIVE[g].$S_AXIS_NUM[n] Enter the axis number of the slave motor.

[Example 1]
System configuration:
- Group 2 has three motors as Independent Additional Axes.
- J2-J3 of Group 2 are a pair of Dual Drive motors.
- J2 is the master motor and J3 is the slave motor.
Setting:
- $SCR_GRP[2].$NUM_AXES = (3→) 2
- $SCR_GRP[2].$NUM_ROB_AXS = (3→) 2
- $SCR_GRP[2].$NUM_DUAL = 1
- $DUAL_DRIVE[2].$M_AXIS_NUM[1] = 2
- $DUAL_DRIVE[2].$S_AXIS_NUM[1] = 3

When jogging or teaching, the Dual Drive pair is treated as “J2”.

[Example 2]
System configuration:
- Group 2 has four motors as Independent Additional Axes.
- J1-J3 and J2-J4 of Group 2 are pairs of Dual Drive motors.
- J1 and J2 are the master motors and J3 and J4 are the slave motors.
Setting:
- $SCR_GRP[2].$NUM_AXES = (4→) 2
- $SCR_GRP[2].$NUM_ROB_AXS = (4→) 2
- $SCR_GRP[2].$NUM_DUAL = 2
- $DUAL_DRIVE[2].$M_AXIS_NUM[1] = 1
- $DUAL_DRIVE[2].$M_AXIS_NUM[2] = 2
- $DUAL_DRIVE[2].$S_AXIS_NUM[1] = 3
- $DUAL_DRIVE[2].$S_AXIS_NUM[2] = 4

When jogging or teaching, the Dual Drive pairs are treated as “J1” and “J2”.

- 117 -

You might also like