Yaskawa Motion Control G7 Drive Software - Manual (Page 3)

Date: 05/16/08, Rev: 08-05 Page 3 of 38 TM.G7SW.117
The drive becomes a simple position regulator. The software does this by internally taking control of the drive’s
frequency reference. All time-critical calculations are completed in a scan that is 2.5 ms or faster.
This software gives the G7 simple position control capability.
• Linear Absolute Motion
• Rotary Absolute Motion
• Relative Motion w/o Memory
• Relative Motion with Memory
• All position commands and position feedback monitors are displayed in engineering units. A parameter
selects from the following list of engineering units: “inches,” “feet,” “centimeters,” “meters,” “degrees,”
“revolutions,” or none.
• Position command via modbus registers.
• Absolute Incremental Encoder Support “TR ISI style Absolute Encoder”
• Momentary or Maintained Move Command
• Several different homing sequences to choose from.
• Serial Communications Compatible
• Incremental Encoder
• Dual Incremental Encoders
• Absolute Gray-Code Encoder Support (18 bit)
• 16 Preset Positions Plus Home
• Distance Command via High-speed Frequency Reference Register (in engineering units)
• “Pre-Activation” Digital Output (settable in engineering units)
• Ability to monitor and command a 32 bit (31 bits + sign) bi-polar position over network communication.
• An additional “Distance Select” selection is added, which when selected, re-purposes two existing
Modbus registers to be combined into one 32 bit (31 bits + sign) position register.
• Two read-only 16 bit Modbus registers are added to monitor position with offset (distance from home)
in encoder quadrature counts, for a total of 32 bits (31 bits + sign).
• A read-only 16 bit Modbus motion control status register is added sequentially after the 32 bit position
registers so that the position and the status of the drive can be read with one Modbus “Read Multiple”
command.
1.0 Overview