Content Preview
TB266 Rev1 Installing an AC Rotary table with Yaskawa Motor and
Drive onto a GPIO4D system
Purpose Outline the necessary parts needed as well as instructions on how to install and configure the
rotary table to your system
Parts List
รขยข AC GSA rotary table with Yaskawa motor installed
รขยข Sigma V Yaskawa drive
รขยข 15ft 14AWG red white and black wire
รขยข 8ft 14AWG green wire
รขยข 2x blue ring crimp terminals
รขยข Rotary pigtail for Yaskawa motor and drive
รขยข CN1 cable for Yaskawa drive
รขยข 3kW systems and up will require an estop contactor & quencharc
รขยข ***Optional*** Opticdirect board with fiber optic cables replaces CN1 cable
which requires M3 standoffs to mount to side of Yaskawa drive
Instructions
1 Determine the location to install the Yaskawa drive Make sure to provide enough space around
the drive for air flow Mount the drive to the panel Note If using Opticdirect board mount the
board to the drive before installing
2 Determine the location for the rotary pigtail Punch 2x 1 1/4รข holes for the connector s and then
mark and drill the 4x holes to mount the connectors to the electrical cabinet If you are installing
on an Atrump Taiwan integrated system there is a knock out plate that already has the correct
sized holes for the pigtail Simply use a hammer a nd a blade screw driver to knock out the
blanks
3 Remove all the necessary wire track covers
4 Run 14AWG wire red white & black from one of the axis's estop contactor to your 4
th axis
drive
5 For 200V Yaskawa drives locate 220VAC single phase and run it t o the logic input on the drive at
L1c and L2c Note For 400V drives they use 24VDC for logic power
6 Crimp a ring terminal on one end of 14AWG green wire Connect it to the drive then run it to the
ground strip Cut it to length and crimp the second blue r ing terminal Connect it to the ground
strip
7 Connect the pigtail power and encoder connections to the Yaskawa drive
8 Connect the individual wires on the CN1 connector
black to 24VDC COM
red to 24VDC
brown wire to OUT16 drive reset
9 If using the Opticdirect board move the fibers from the Z axis drive to the 4th axis drive and run
supplied fibers from the 4th axis drive to the Z axis drive and connect ribbon cable to CN1 plug
on Yaskawa drive Run 24VDC to the Opticdirect board
10 Connect the home switch cable to IN8 on the GPIO4D and to a 24VDC power source
11 Connect the rotary clamp to OUT6 Make sure to run 110VAC to OUT6 COM
12 Re install wire track covers and connect rotary table to electrical cabinet
13 Power up the control go to the configuration menu F1 Setup F3 Config Pw 137
14 Start with F2 Machine configuration then F1 Jog to change the values according to table below
Save the changes and press F2 Motor Set the axis label to A B or W then set the other values
according to table below
Rotary Table Slow
Jog Fast
Jog Max
Rate
Turns
Ratio
Encoder
Counts +/
Home
Switch
RT120 500 4000 8000 0 25 131072 8
RT170 500 4000 8000 0 25 131072 8
RT200 500 4000 8000 0 25 131072 8
RT250 250 1000 4000 0 5 131072 8
RT320 250 1000 4000 0 5 131072 8
15 Press ESC once to go back to the configuration menu and then press F3 Params Set the
following parameters
P94 รข 1
P303 รข 12 CN1 setup 4
Opticdirect setup
P311 รข 4 CN1 setup 10
Opticdirect setup
P360 3000
Press F10 Save whe n finished
16 Press F4 PID and then F1 PID to set the PID settings to default Yaskawa settings as listed
below
Kp Ki Kv1
0 04 0 0001 95
17 Save your PID settings Press ESC until you see the main screen Press F7 Util F5 File Ops
highlight the [up] to go up a directory and press Enter Highlight the cncm hom file and press F4
Edit Go to line under M26/Y and type M92/* * is the axis label you chose for your 4
th axis i e A
on the next line type M26/* Then save and exit from the editor window
18 Power cycle the control to reset your drive and encoder mapping settings
19 Take control out of incremental mode and try to jog the rotary table If it jogs ok home the
machine After you have homed the machine go back to the PID menu and manually tune the
table
20 Apply air to the rotary table and verify that M10 turns the clamp on and M11 turns the clamp off
21 Once the rotary table as been fully tested generate a report and email it to Tech Support
Document History
Rev1 Created on 2012 07 11 by #240