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Thesis Proposal
By
Neel C. Gandhi
MASTER OF SCIENCE
December 2016
A Thesis Proposal
By
Neel C. Gandhi
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(Member of Committee) (Member of Committee)
Motion control is a part of the Automation system which is used to deal with servo motion. This
theory defines the methods for motion control of velocity/analogue, pulse, and torque controlling
modes between the motion controller and servo drive. As per this study, the motion controller is
developed by TRIO motion technology and the servo drive is developed by YASKAWA
respectively. Here, the high speed fieldbus known as Mechatrolink is used for connecting the
controller. Furthermore, the motion controller used for a field device such as servo drives controls
the motion of a machine in the industrial automation system. This research determines a method
of communication between the TRIO motion controller and YASKAWA servo drive using the
Mechatrolink-III protocol.
ABBRIVATION
AC Alternating Current
DC Direct Current
SG Signal Ground
Page
ABSTRACT . III
ABBRIVATIONIV
CHAPTER I. INTRODUCTION . 1
ANALOGUE/VELOCITY MODE .3
PULSE MODE 3
TORQUE MODE 4
MECHATROLINK .4
CONCLUSION...5
REFERANCES ..6
Chapter-1. Introduction
In the industrial automation world, many automation products are used for machine control and
Servo drives, and variable frequency drive (AC and DC) are useful in machine control, CNC, and
robotics. Here, the PLC and motion controllers are the heart of any types of industrial automation.
These days, PLCs are useful for only some small level applications corresponding to normal input
and output control. However, the motion controllers are useful for forming the motion profiles
The TRIO motion technology is a multinational company which manufactures only motion
controllers and HMIs while, YASKAWA is a manufacturer of servo drives. According to the
study, the TRIO motion technology have already done number of applications. In those
applications the TRIO motion controller controls different brands of servo drives like Siemens,
ABB, Delta, and Schneider as well. However, the TRIO motion technology never controlled
Here according to this research, it can be figured out that there are four modes which control the
YASKAWA servo drive using a TRIO motion controller. These following modes can be illustrated
below:
1. Analogue/Velocity Mode
2. Pulse Mode
3. Torque Mode
4. Mechatrolink
Figure-1. TRIO Motion Controlling methods
other three modes. Moreover, it is high speed fieldbus used for high speed communication.
Chapter-2. Methodology
According to the study of Yaskawa servo drive technical manual, it can be figured out that the -
In the velocity mode, reference voltage is applied to operating servo motor. As per the research,
TRIO generates up to +/- 20 VDC from the host controller. However, Yaskawa -V series servo
drive could accept +/- 12 VDC. To generate control between the host controller and Fieldbus
device, V+ and V- pins should be connected to servo drive pins V-REF and SG respectively.
However, on software side of the research, Motion Perfect and SigmaWin+ softwares are used
Figure-2. Connection between host controller and servo drive for velocity mode
In pulse mode, control of the servo drive depends on the pulse command which could be generated
from the host controller. Yaskawa -V series servo drives maximum PPR is 1048576.
For programming, the same software mentioned in velocity mode is used. Connection between the
In automation field, torque plays a vital role in widespread applications. Torque mode is similar to
velocity mode. In this method, reference voltage will be applied on the T-REF and SG pins at field
device side. Torque methods maximum capacity is +/- 12 volt. Programming software remains
2.4 MECHATROLINK
MECHATROLINK is a different type of fieldbus which is used mainly for high speed applications
like CNC machines and robotics. The maximum communication speed of Mechatrolink-III is 100
Mbps. As per study, SOPC seems suitable for the development of master bus station. Hence, a
At the end of this thesis, YASKAWA servo drive will be able to communicate with TRIO motion
controller. Moreover, it will prove useful for many types of CNC and Robotics applications
1. DANG, T. T., KIM, J. H., NGUYEN, D. D., & JEON, J. W. (2012). A Geteway for multi-
2. TRIO MOTION TECHNOLOGY. (2016). MC664 Power and I/O terminals. TRIO.