Yaskawa bob for Kanalog

[oxford]

I've been amassing parts for a while now and finally am ready to start putting things together.

I will be running some Yaskawa SGDH drives with a Kanalog controller. I want to make myself a breakout board to interface the CN1 i/o with the kanalog and have the limit switches talk to both.

Some features of the board I want to incorporate are:

Set speed reference voltage on bob
Input for limit switches, which will talk to drive and controller
Alarm output to controller and other drives
External kill switch to drives

I am not using absolute encoders so I wont have any battery back-up on the bob.

I also don't plan on using any torque reference voltage on the bob. I am not sure if this may come in handy later, but for now I plan on leaving this out unless convinced otherwise.

Any suggestions?
Thanks

[oxford]

..build isn't dead, life just got in the way for a bit.

Got my manuals printed up at least in the meantime.

[jdr]

Oxford

Looking forward to your posts since I want to use the same Yaskawa SGDH drives with a Kanalog / Dynomtion controller.

Jack

[oxford]

So far I will limit the I/O for the SGDH to the following twisted pairs:

V-REF SG Velocity control
T-REF SG Connect with resistor circuit to have torque limit option
ALM+ ALM Safety kill
S-RDY+ SRDY Safety
PAO /PAO -Encoders
PBO /PBO
PCO /PCO

/S-ON +24V -For safety
P-CON +24V -Have option to switch between P and PI if needed
P-OT +24V -Positive over limit switch
N-OT +24V -Negative over limit switch
/ALRM-RST +24V -Reset servo drives after emergency stop
/P-CL +24V -Positive current (torque) limit
/N-CL +24V -Negative current (torque) limit

One of the next steps now is to interface all the I/O with the Kanalog.

With the limit switches, I want to wire them to kill the drives as well as cause the software emergency stop. I had an experience in the past where the limit switches failed because they were only wired to cause an emergency stop through the computer software and the computer froze...resulting in a scary moment and a crushed limit switch:P