Kawasaki Motors

This is the TI-3000JX option for Kawasaki motors with H20/M21 and HE-02 serial encoders. There are several models of Kawasaki serial encoders, and two are currently supported by the TI-3000JX. The H20/M21 8192 count/rev encoders are used with relatively large robot motors. Connection to these encoders requires only 4 lines: 5 V power, ground, and a pair of RS485 data lines. The cables available are the TI-5011 (4 pin direct connection to the encoder) and the TI-5032 (17 pin circular MS type connector).

HE-02 8192 count/rev encoders are used on somewhat smaller robot motors. They are supported by the TI-5023 (DB25 connector) and TI-5026 (17 pin circular MS type connector) cables. This encoder is the same as the 8192 count Sanyo Denki E03007758.

Types Supported

The following list shows the Tamagawa encoders that are currently supported by the TI-3000JX option. 

Note: H20KB76, K20KB93, H32KB24 and K32KB53 encoders apparently work using the H20/M21 selection.

Identification

The following motor models use H20M21 encoders:

Sanyo Denki uses the P series part numbers for their motors too, and they show the bold character as the encoder identifier. The last two, L and X, are not in the Sanyo Denki literature but appear in the part numbers for Kawasaki motors using H20M21 encoders. There is some inconsistency in some of the descriptions in the manuals, but this should provide some useful guidance. The assignments are as follows:

HE-02 encoder part numbers are not as well known. The two part numbers that we have seen so far are listed below:

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Kawasaki:

1. P4, HE-02 Encoder.
2. P6, HE-02 Encoder.
3. P8, HE-02 Encoder.
4. P4, H20M21 Encoder.
5. P6, H20M21 Encoder.
6. P8, H20M21 Encoder.
7. P14, H20M21 Encoder.

Select the appropriate type and connect the encoder cable for the type selected.

Debugging

Section 2.2.3 provides general information about debugging the TI-3000JX setup. You will want to be familiar with that material.

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

1. Press the DEBUG key to put the TI-3000JX in DEBUG mode.
   
   
2. Rotate the motor in the forward direction (CCW looking at the shaft for Kawasaki) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.
   
   
3. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the motor shaft.
   
   
4. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check.

After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

After the type selection and cable connections have been made, press the DEBUG key to make sure that the TI-3000JX is correctly converting the feedback information to 6 step commutation pulses. Rotate the motor in the CCW direction (looking at the shaft) and verify that the UVW pulses on the display are correctly moving through the commutation pattern described in Section 2.2.3. If the TI-3000JX is not displaying the correct pattern, make sure that the feedback type and cable selections are correct. If further problems are encountered, test the feedback device with the TI-5000JX tester to insure that it is working properly.

After the initial checks have been made, it is no longer necessary to go to debug mode each time. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is ready to run.

Running

Section 2.2.4 provides general information about running motors with the TI-3000JX. You will want to be familiar with that material. After a successful Debug check, perform the following sequence to run the motor.

1. Connect the motor armature leads to the amplifier using the appropriate connectors.
   
   
2. Press the RUN key to enable the amplifier. The following check list will appear on the display.
   a. Are hands and clothing clear of moving parts?
   b. Is the motor mounted securely?
   c. Is the speed pot set to the zero (stopped) position?
   
   
3. Press the RUN key again after insuring that the check list is satisfied.
   
   
4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.
   
   
5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading.
   
   
6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.