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Sigma II Indexer User`s Manual

1. 5 67 Sigma II Indexer User s Manual Program Table Examples Table 15a Zone Table ZONEP ZONEN ZONEP PGMSTEP INFINITE T2000 INFINITE SELOTO STOP ITO A 400000 SELITO PGMSTEP 0 PGMSTEP 2 PGMSTEP 0 PGMSTEP 2 i P MSTEP 1 i PGMSTEP 3 i PGMSTEP 1 i PGMSTEP 3 P l i E Motor Speed START STOP SELO SEL1 INPOSITION Table 5 17 Use of Registration Example power Rus b TeosT Ryo Tour EVENT roo Test 7 1 200000 30000 100000 15000 1 200000 30000 100000 15000 PGMSTEP O E PGMSTEP 1 i PGMSTEP O w registration i w registration i w registration Motor Speed START STOP RGRT H i M i H1 INPOSITION S 5 68 Sigma II Indexer User s Manual Homing Jog Speed Table Mode Mode 1 5 11 Homing Jog Speed Table Mode Mode 1 5 11 1 Homing Jog Mode Setting Set the MODE 0 1 input signal to Mode 1 for Homing Jog Speed table mode The following parameter is used for defining the MODE 0 1 input signal Table 5 18 PARAMETER SIGNAL PIN No SETTING DEFAULT 0 Input Signal Closed Mode 0 1 Input Signal Open Mode 0 Pn803 MODEO 1 CN4 3 2 Always Mode 0 3 Always Mode 1 p ampie Sigma II Indexer MODE 0 1 Input Signal Closed Mode 1 Active See Sigma II Indexer Input Signal Open Mode 1 Active 5 11 2 Homing Jog Speed Table inputs Setting The following parameters a
2. 004 6 8 Basic Operation Commands 4 6 8 Moving Commands 0000s ee ee eee 6 10 Parameter Operation Commands 6 19 Program Table Set up Commands 6 22 Program Table Operation Commands 6 26 Monitor and Function Commands 6 27 6 1 Sigma II Indexer User s Manual Specifications CN6 6 1 Specifications CN6 Table 6 1 Specifications CN6 ITEMS SPECIFICATIONS Standard in complying with RS232 RS422 RS485 Communication method Asynchronous ASYNC Baud rate 9600 19 200 38 400 Baud 9 600 Baud setting at shipping Start bit 1 bit Data 7 bits ASCII Code Parity 1 bit Even Stop bit 1 bit XON XOFF Control Not Available DTR SDR Control Not Available RTS CTS Control Not Available Echo Back Available 1 CHARACTER CONFIGURATION START BIT 001010110 1 STOP BIT L2 v DATA EVEN PARITY Sigma II Indexer User s Manual Control Configuration 6 2 Control Configuration 6 2 1 Control Overview Table 6 2 Single Axis Control Multi Axis Control Outline Host Controller Host Controller Up to 16 axes available Initial Set tings Protocol Pn800 E Baud Rate Pn801 E Axis Address ADRS Protocol E Baud Rate E Axis Address 6 2 2 Serial Communication Parameters The followi
3. 4 1 Two Step Trial Operation Make sure that all wiring is completed prior to starting trial operation Perform the trial operation in the order given below step 1 and 2 for your safety See 4 and 4 1 2 for more details on the trial operation Step 1 Trial Operation for Servomotor without Load Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment Do not connect to the equipment Step 2 Trial Operation with the Equipment and Servomotor Connected Adjust the servomotor according to equipment characteristics Connect the servomotor to the equipment and perform the trial operation Adjust speed by autotuning cM SGMA H servomotor amplifier Connect to the equipment 4 2 Sigma II Indexer User s Manual Two Step Trial Operation 4 1 1 Step 1 Trial Operation for Servomotor without Load CAUTION Do not operate the servomotor while it is connected to the equipment To prevent accidents initially perform step 1 where the trial operation is conducted under no load conditions with all couplings and belts disconnected In step 1 make sure that the servomotor is wired properly as shown below Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation Check main power supply circuit wiring Check servomotor wiring Check CNI and CN4 I O signal wi
4. Yaskawa Electric America Inc January 2002 YEA SIA S800 32 11A Printed In U S A
5. Digital Opera Equivalent Serial tor CN7 Function Command CN6 Fn804 ZONE table save ZONESTORE Fn805 JOG speed table save JOGSTORE B Buttoti Alarm Reset ARES Fn806 Program table initialization PGMINIT Fn807 ZONE table initialization ZONEINIT Fn808 JOG speed table initialization JSPDINIT Appendix B 5 Sigma II Indexer User s Manual Auxiliary Functions This page intentionally left blank Appendix B 6 Sigma II Indexer User s Manual Appendix C Serial Commands C Alphabetical List of Serial Commands C 2 Appendix C 1 Sigma II Indexer User s Manual Alphabetical List of Serial Commands C 1 Alphabetical List of Serial Commands The following table shows an alphabetical list of available serial commands For more details refer to the corresponding reference table in 6 5 Serial Command Functions Serial Command Function Reference Table ABSPGRES Absolute PG Reset 6 10 ACCnnnnnnnn Acceleration Reservation 6 6 ALM Alarm or Warning Read 6 10 ALMn Alarm History Read 6 10 ALMTRCCLR Alarm Trace Clear 6 10 ARES Alarm Reset 6 5 CURZERO Motor Current Zero Adjustment 6 10 DBRMS DB Load Ratio Monitor 6 10 DECnnnnnnnn Deceleration Reservation 6 6 DST or MON9 Target Distance Monitor 6 10 ERR Error Read Displays only the latest error 6 10 EV
6. Programmable Output Signals 5 programmable output signals are available Zone Signals Up to 32 different zones can be defined to program the 5 programmable output signals POUTO POUT4 based on position Used for zero point return homing when incremental encoder is used Both serial command and homing mode allow execution of the available homing routines Three types of homing routines are available 1 Decel limit switch and encoder cg pulse are used 2 Only decel limit switch is used 3 Only encoder cg pulse is used 1 2 Sigma II Indexer User s Manual Checking Products on Delivery 1 2 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Table 1 2 Check items Comments Are the delivered products the ones Check the model numbers marked on the nameplates of the application that were ordered module Check the overall appearance and check for damage or scratches that may 9 Is there any damage have occurred during shipping Can the application module be Check the model number given on the SGDH servo amplifier nameplate The installed on the SGDH servo amplifier model number must contain SGDH C C C E to support the Sigma II used Indexer application module If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purch
7. 1 OFF Output transistor is OFF ON Output transistor is ON 2 These alarms are not reset by the panel display digital operator or serial command ARES Elim inate the cause of the alarm and then turn OFF the power supply to reset the alarms 3 This alarm display appears only within the range of 30 to 1000W 9 3 2 SGDH Servo Amplifier Warning Display Table The correlation between warning displays and warning code outputs is shown in the follow ing table Warning Code Outputs Warning Display ALOI ALO2 Warning Name Meaning of Warning This warning occurs before either of the overload alarms A 71 or A 72 occurs If the warning is ignored and operation continues a regenerative overload alarm may result Overload This warning occurs before the regenerative Regenerative overload alarm A 32 occurs If the warning Overload is ignored and operation continues an over load alarm may result Low battery when used with an absolute Low Battery en cder Refer to 9 2 2 Sigma Indexer Error Warning mee Status Display Table 9 13 Sigma II Indexer User s Manual STS Status LEDs 9 4 STS Status LEDs Status Green LED Red LED Control Power OFF OFF OFF Parameter Automatic Setting in Progress Approx 2 sec ON and OFF OFF Normal ON OFF Over Travel Software Limit ON OFF Reset in Progress Table Initialization in Progress ON and OFF Noris Parameter
8. 5 1 5 2 5 2 1 3 2 2 5 2 3 5 3 5 3 1 5 3 2 5 3 3 5 3 4 5 3 5 5 3 6 5 3 7 5 4 5 5 5 5 1 5 5 2 5 5 3 5 6 5 6 1 5 6 2 5 6 3 5 6 4 5 6 5 5 5 7 1 5 7 2 5 7 3 5 7 4 5 7 5 5 7 6 o Parameter Settings and Functions Parameter Limits with Sigma IL Indexer 5 4 Settings According to Device Characteristics 5 6 Switching Servomotor Rotation Direction 5 6 Setting the Overtravel Limit Function 5 7 Limiting lorques 22 e RR RR ee es 5 11 Sequence I O Signals 22er 5 12 Using the Servo ON Input Signal 5 15 Using Servo Alarm and Alarm Code Outputs 5 16 Using the Holding Brake sess 5 17 Using the Servo Ready Output Signal 5 20 Using the Warning Output Signal 5 21 Using the INPOSITION Output Signal 5 23 Using the Programmable Output Signals POUTO POUTA occ cnreciea Rx RR he ees 5 24 Using the Encoder Signal Output 5 26 Setting up the Reference Units 5 29 Electronic Gear Setting Examples 5 31 Calculating Speed 22s ois sa semen dere eax 5 32 Calculating Acceleration Deceleration 5 33 Absolute Encoders 2222s eos o n 5 35 Interface Circuit Se inocedexabec Pes ke tt RP ewa 5 35 Configuring an Absolute Encoder 5 35 Handling Batteries 005 5 37 Absolute Encoder Setup
9. YASKAWA A World of Automation Solutions efesotomasyon com Sigma II Indexer User s Manual Sigma II Indexer User s Manual A WARNING YASKAWA manufactures component parts that can be used in a wide variety of industrial applications The selection and application of YASKAWA products remains the responsibility of the equipment designer or end user YASKAWA accepts no responsibility for the way its products are incorporated into the final system design Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control Without exception all controls should be designed to detect faults dynamically and fail safely under all circumstances All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part s safe use and operation Any warnings provided by YASKAWA must be promptly provided to the end user YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWA s manual NO OTHER WARRANTY EXPRESS OR IMPLIED IS OFFERED YASKAWA assumes no liability for any personal injury property damage losses or claims arising from misapplication of its products Sigma II Indexer User s Manual Safety Information Safety Information The following conventions are used to indicate prec
10. nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn 0 1 2 3 4 5 6 7 8 9 nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn PS P lt PST NI Xxx nnnnnnnn X Active Blank Non Active Jog Speed ID Jog speed number 16 available jog speeds JOGO JOG3 Jog speed table selection input signals Jog Speed JSPD Jog Speed Setting 1 99999999 x1000 reference unit min Setting at Shipping 1000 5 13 3 Jog Speed Table and Homing Operation Input Conditions The following table evaluates all possible conditions of the HOME JOGP and JOGN inputs and their effect on jog and homing operation Table 5 22 Jog Speed Table and Homing Operation Input Conditions JOGP JOGN OPERATION Non Active Non Active Non Active Motor Stop Non Active Non Active Leading Edge Motor Reverse 7 i 0X Non Active Leading Edge Non Active Motor Forward i X i Sigma II Indexer User s Manual Jog Speed Table Operation Table 5 22 Jog Speed Table and Homing Operation Input Conditions Non Active JOGP Active JOGN Active OPERATION Motor Stop Leading Edge Non Active Non Active Homing Execution Active Non Active Active Motor Stop Active Active Non Active Motor Stop Active Active Active Mot
11. Setting at shipping ITO See also 5 7 5 Event Condition Examples 5 51 Sigma II Indexer User s Manual Program Table Mode Mode 0 Table 5 7 Functions of the program table FUNCTION Setting Loop 1 99999 Repeats program step specified number of time Setting at shipping 1 Note LOOP 1 Executes program step once no repeat LOOP has priority over NEXT Therefore a pro gram step will repeat the specified number of times LOOP before it executes next program step NEXT Next Step Note Setting n n 0 127 Executes program step n END Program cancellation status end Setting at shipping END 1 When program moves to the next program step and a new position is commanded while the previous commanded position is not complete program ignores the new position and displays error E53E At this time programming is also discontinued To restart the program cycle the START STOP input to Non Active and again back to Active 2 When moving to the next program step during Infinity operation and a new Infinity operation is ordered program changes to the new speed Note See 6 5 4 Program Table Set up for setting up the program table by serial commands 5 52 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 5 Event Condition Examples Commanded P Speed Actual t j i ON INPOSITION HN Speed Commanded Actual NEAR Mb Speed DEN B SELX
12. Sigma II Indexer User s Manual Solution to Exercise 1f Convert 5000 rpm into mm sec 3 encoder pulses Pn203ElectronicGearRatioA ref units 4 revolution Pn202ElectronicGearRatioB encoder pulses 60sec ref units min E 1x10 Resolution y yy rpm mm sec 3 05 536encoder pulses 4 125 ref units 3 min 4 0 00lmm 5000rpm 166 667mm sec rev 4096encoder pulses 60sec ref units Note Value used assumes a 16 bit encoder is used Enter the return speed in the Index Table Select Apply or OK and Download the new changes to the Indexer Enter the return speed in the Index Table Select Apply or Ok and Download the new changes to the Indexer al serced baden morka ECT EUM EI Brad poc adecior BP nerit nde BHJ mm Appendix D 13 Sigma II Indexer User s Manual D 4 Example Indexer Exercise 2 Solution Solution to Exercise 2a First reset the Indexer to all factory defaults loj xj Fle Ede Mew Moda Took Widow Ha Dad Indexer Setup k Cen Tura Maori Tera Produet Pere er Par ura Belo Corrmanicalians Saberagi Ordres Offira Drsericoed Lipina Stern Jishar Project Tarcie opened ol iem A nce E ie Hrn j E e ekon at A crara eerca noc SAA em Calculate the desired speed acceleration and deceleration Speed _2 60deg 1 200deg sec 0 1sec Aee Derop SEE SEE og OUO abs acer Seo 0 05 sec Appendix D 14 Sigma II Indexer User s Manual Edit the
13. 0 99999999 x1000 Ref Unit min 1000 Pn827 Homing Creep Speed 0 99999999 x1000 Ref Unit min 1000 Pn828 Homing Empl 99999999 99999999 Ref Units 0 Move Distance Home Position Pn 823 Once homing is complete the position reference is automatically set to the value set in Pn81D Alarm E16A will occur if Pn81D is set outside the forward and reverse position limits Pn81B and Pn81C when Pn81A 1 2 or 3 rotary Refer to 5 2 2 Setting the Overtravel Limit Func tion Note If a homing method Pn823 is specified then homing must be executed before the forward and reverse position reference limits are recognized when Pn81A 0 linear Refer to 5 2 2 Setting the Overtravel Limit Function 5 70 Sigma II Indexer User s Manual Homing Routine Operation 5 12 Homing Routine Operation Use homing routine for incremental encoders only Homing routines cannot be per formed on absolute encoders Error E61E will occur when trying to home an absolute encoder When changing HOME to Active homing starts When changing HOME back to Non Active homing is interrupted and status is main tained When changing HOME back to Active again homing resumes Homing is canceled when jogging forward or reverse with JOGP or JOGN respec tively Mode I Pn823 1 Use DEC and C Pulse Pn825 Homing Speed Pn826 Homing Approach Speed Prie Motor Speed 1 Pn827 Homing Creep Speed 24 0 Forward Homing Final Move
14. 5 11 3 Homing Routine Parameters 0 0 0 0 ee eee eee ee 5 70 5 12 Homing Routine Operation 0 0 cece ee ene 5 71 5 13 Jog Speed Table Operations d cet ee tus en EY res EVER 5 72 5 13 1 Jog Speed Table Bxamliple 5 o s ost E Pss 5 72 5 13 2 Jog Speed Table Selection zuo E EET I E ES 5 73 5 13 3 Jog Speed Table and Homing Operation Input Conditions 5 73 5 13 4 Minimum Input Signal Timing for Homing and Jog Operation 5 74 Chapter 6 Serial Commands 2 25 25 5 io2ie zl ppp ER o pera ERE E RAE 6 1 6T Specilications GNO a gez en me xum see dee ee ege 6 2 6 2 Control ConmhgurallOH s 2224 22 oiRP AM a EE ee a Ls 6 3 6 2 1 Control Overview 2 22 20k b rx pu REA PIX EAS TER 6 3 6 2 2 Serial Communication Parameters 0 0 0 e eee eee 6 3 6 2 3 Axis Address Setting Graph 0 0 cee eee eee eee 6 4 6 3 Command Transmission Host Controller Sigma II Indexer 6 5 6 3 Command Format ose cy se es tie DM E Pow ee ee xis 6 5 6 3 2 Echo Back Response Time sels 6 6 6 4 Transmission Data Sigma II Indexer Host Controller 6 7 6 4 1 Transmission Data Format leleeeeeeeeeA 6 7 6 4 2 Positive Response Format 0 0 0 cece eee eee 6 7 6 4 3 Negative Response Format 0 0 eee eee eee eee ee 6 7 6 5 Serial Command Functions 02 02 20s toe atts eee Bee edades 6 8 6 5 1 Basic Operation Commands 0 00 e eee eee eee
15. 6 6 SPDnnnnnnnn Positioning Speed Reservation 6 6 SPDTsss Program Table SPD Read 6 8 SPDTsss Program Table SPD Write 6 8 ST Positioning Start 6 6 ST Gannnnnnn Positioning Start Absolute Position 6 6 STA nnnnnnnn START Program Operation Restart 6 9 STARTss Program Operation Start 6 9 Appendix C 3 Sigma II Indexer User s Manual Alphabetical List of Serial Commands Serial Command Function Reference Table STI nnnnnnnn Positioning Start Relative Position 6 6 STIFF Rigidity Monitor 6 10 STIFFd Rigidity Reservation 6 10 STOP Program Operation Interruption 6 9 STS or MON6 Status Flag Monitor reference units 6 10 SVOFF Servo OFF 6 5 SVON Servo ON 6 5 SVTYPE SGDH Type Code xx02H Display 6 10 SVVER SGDH Software Version Display 6 10 SVYSPEC SGDH Y Spec No Display 6 10 TREF or MONS Torque Reference Monitor 6 10 TRMppp Temporary Parameter Write 6 7 TRMS Total Load ratio Monitor 6 10 TUNESTORE Auto tuning Inertia Save 6 10 TYPE NS600 Type Code 0600H Display 6 10 VER NS600 Software Version Display 6 10 YSPEC NS600 Y Spec No Display 6 10 ZONEINIT ZONE Table Initialization 6 8 ZONENTzz Zone Table ZONEN negative side zone position limit Read 6 8 ZONENTzz Zone Table ZONEN negative side zone position limit Write 6 8 ZONEPTzz Zone table ZONEP positive side zone position limit read 6 8 ZONEPTzz Zone Tabl
16. ALM SP INPOS CR LF ALM SP NEAR SP CR LF ALM SP RUN SP SP CR LF ALM SP SP SP SP SP CR LF Positive Response Returns one of the following ALMI NONE CR LF No Alarm Alarm History Read ALMI A xx CR LF Specific SGDH alarm ALMI ExxA CR LF Specific NS600 alarm ALMn O n 9 Negative Response ExxE Positive Response Returns one of the following ERR Error Read ERR SP NONE SP CR LF No error D splays only the latest error ERR SP ExxE SP CR LF Specific error Positive Response IN1 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON bit 0 S ON bit 1 SELS IN1 SGDH Input Signal Monitor bit 2 P OT bit 3 N OT bit 4 DEC bit 5 SEL6 bit 6 RGRT bit 7 0 fixed Note Response sent as characters not as one byte 6 27 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer Positive Response IN2 2 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON bit 0 MODE 0 1 IN2 NS600 Input Signal Monitor ks nos pert bit 3 SELO JOGN bit 4 SEL1 OGO bit 5 SEL2 JOG1 bit 6 SEL3 JOG2 bit 7 SEL4 JOG3 Note Response sent as characters not as one byte NS600 Side Input Signal Reservation 00000000 bbbbbbbb 11111111 0 Photocoupler OFF er Positive Response OK bit 1
17. LlsuLuu 5 37 Absolute Encoder Reception Sequence 5 42 Program Table Mode Mode 0 susussu 5 47 Program Table Mode Setting 5 47 Program Operation Inputs Setting 5 47 Program Step Selection 005 5 48 Program Index Table Set up 5 49 Event Condition Examples 5 53 Program Operation ius pesecrereP rx RR EP EE 5 53 5 1 Sigma II Indexer User s Manual 5 7 7 Evaluation of Program Operation Input Conditions 5 7 8 Minimum Input Signal Timing for Program Operation 0000000 5 8 Registrations c orani So eere riis d faa ee ace IPS 5 8 1 Registration Specifications 000 5 8 2 Registration Input Setting 0 5 8 3 Registration Operation 0 0 e ee eee 59 Zone Table SebubDs 24st NGA Cee s 5 9 1 Zone Signal Conditions 000 5 10 Program Table Examples 04 5 11 Homing Jog Speed Table Mode Mode 1 5 11 1 Homing Jog Mode Setting 5 11 2 Homing Jog Speed Table inputs Setting 5 11 3 Homing Routine Parameters 5 12 Homing Routine Operation 4 5 13 Jog Speed Table Operation 5 13 1 JOG Speed Table Example 5 13 2 Jog Speed Table Selection 5 13 3 Jog Speed Table and Homing
18. Pn50E 2 TGON 0 Not used 3 S RDY 3 Fixed at S03 Sigma II Indexer User s Manual Parameter Limits with Sigma II Indexer Parameter Table 5 2 List of Parameters for System Use with the JUSP NS600 Parameter Name CLT Set Value Contents Description Not used VLT Not used BK Fixed at S02 WARN Fixed at S01 NEAR Not used Reserved Not used Not used Not used Not used oj o Oo OF RF NM Oo Co Not used S01 Reverse Equivalent to setting in Pn816 S02 Reverse Equivalent to setting in Pn817 S03 Reverse Equivalent to setting in Pn818 Wl Mm Rl Ol wf wml Rl oO wow we co Not Used Not used These parameters are set automatically the first time the power to the servo amplifier is turned ON after the Sigma II Indexer has been mounted Startup will take approximately 2 seconds when these parameters are being set Sigma II Indexer User s Manual Settings According to Device Characteristics 5 2 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and performance of the equipment used 5 2 1 Switching Servomotor Rotation Direction The servo amplifier has a Reverse Rotation Mode that reverses the direction of ser vomotor rotation without rewiring Forward rotation in the standard setting is defined as counterclockwise
19. START STOP HOME Negative Response ExxE bit 2 PGMRES JOGP bit 3 SELO JOGN bit 4 SEL1 OGO IN2TESTbbbbbbbb bit 5 SEL2 JOGI bit 6 SEL3 JOG2 bit 7 SEL4 JOG3 Sene l DA aE fo tocognize Return Error E56E when bbbbbbbb is less than 8 digits CN4 inputs Note Sigma II Indexer inputs CN4 3 5 7 9 11 13 15 17 are not rec ognized when the IN2TESTbbbbbbbb command is used Cycle power to re enable these inputs Positive Response OK POUT SP ANANA CR LF A output active N output inactive Z output dependent upon zone table POUT POUT Monitor bit 0 POUT 0 bit 1 POUT 1 bit 2 POUT 2 bit 3 POUT 3 bit 4 POUT 4 6 28 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer Positive Response OUTI 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON bit 0 ALM bit 1 WRN OUT 1 SGDH Side Output Signal Monitor bit 2 BK bit 3 S RDY bit 4 ALOI bit 5 ALO2 bit 6 ALO3 bit 7 0 fixed Note Response sent back as characters not as one byte Positive Response OUT2 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON bit 0 INPOSITION bit 1 POUTO i bit 2 POUTI OUT2 NS600 Side Output Signal Monitor bit 3 POUT2 bit 4 POUT3 bit 5 POUT4 bit 6 0 fixed bit 7 0 fixed Note Response sent back as characters not as one byte NS600 Side Output Sign
20. Sigma Il Indexer Host Controller 6 4 4 Transmission Data Format AXISNO DATACHACARTERLINE CR LF Note 1 Answers are displayed in all capital letters 2 No answer is returned to a command when a parity error E48E framing error E49E or overrun error E4AE is detected 3 Noanswer is returned to a command when axis address global command is used 4 Noanswer is returned if the wrong axis address is used 6 4 2 Positive Response Format OK OK SP SP SP SP SP SP SP SP SP CR LF No positive response OK returned when parameter Pn802 0 Factory setting is Pn802 1 where a positive response OK is returned 6 4 3 Negative Response Format Other ExxE SP SP SP SP SP ISP SP CR LF E56E ES6E SP ERR SP SN CR LF ES7E E57E SP ERR SP PN CR LF E58E ES8E SP ERR SP OV CR LF Note SP Space ASCII Code 20h CR Carriage Return ASCII Code ODh LF Line Feed ASCII Code OAh 6 7 Sigma II Indexer User s Manual Serial Command Functions 6 5 Serial Command Functions An axis address must be assigned at the beginning of each serial command 0 F or 6 5 4 Basic Operation Commands Serial Command Table 6 5 Basic Operation Command Function Description Servo ON Performs current conduction to motor Performs same operation as S ON input signal Answer Positive Respo
21. Speed SELX W Th Speed i E t n __ W Tn Speed INPOSITION E NTn Speed E DTn Speed DEN tzn E SELXTn Speed Note Ift ti then new positioning is ignored and error E53E is displayed Original programming is also dis continued 5 53 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 6 Program Operation Program Start Stop When changing START STOP to Active program operation mode starts from the program step reserved by SELO SEL6 Speed jeraRT sToP When changing START STOP back to Non Active both motor operation and pro gram are discontinued Speed START STOP When START STOP becomes Active after discontinuing positioning and stopping motor program resumes positioning Motor Speed H H t STARTI j j STOP When START STOP becomes Active again during motor deceleration program resumes positioning Sigma II Indexer User s Manual Program Table Mode Mode 0 Motor Speed IST ART STOP Program Reset When changing PGMRES to Active after changing START STOP to Non Active both motor operation and program under execution are canceled When changing START STOP to Active after program has been canceled program operation mode starts from the program step reserved by SELO SEL6 5 7 7 Evaluation of Program Operation Input Conditions The following tables evaluate all poss
22. gt LH Determine the reference unit according to equipment specifications and positioning accuracy e Reference unit can be O 11in or 0 01lin or 0 01 mm or 0 001mm etc When the reference unit is lum If a reference of 50000 units is input the load moves 50mm 1 97in 50000 0 001mm 50mm 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution reference units in mm degrees etc Reference Unit When the ball screw pitch is 0 20in 5mm and the reference unit is 0 00004in 0 001mm 0 20 in l 5000 reference units 0 00004 in Ball Screw Disc Table Belt and Pulley Load shaft gt n x Load shaft _ P goo ge 85 D Load shaft D Pulley 1 revolution i 1 revolution 390 _ l p reference unit reference unit 1 revolution references Unit opa e 0 5 Electronic gear ratio is given as A N If the gear ratio of the motor and the load shaft is given as m where N is the rotation of the motor and N4 is the rotation of the load shaft Sigma II Indexer User s Manual Setting up the Reference Units aB6 Electronic gear ratio CA Number of encoder pulses 4 3 M Travel distance per load shaft revolution reference unit N Note Make sure the electronic gear ratio satisfies the following condition 0 01 Electreconic
23. used S ON input CN1 40 SevoON swor BK output Release brakel cig with brake Servomotor N I Servo ON OFF ON 1 J servomotor OFF operation f I Servomotor ON OFF status Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake opera tion is active The equipment may move slightly due to gravity depending on equip ment configuration and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and 508 for brake ON timing during operation Note The servomotor will turn OFF immediately if an alarm occurs The equipment may move due to grav ity in the time it takes for the brake to operate Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Brake Reference Output Speed Level Setting Range 0 to 10000rpm Timing for Brake Reference Output during Motor Operation Setting Range 0 to 100 x 10ms Sigma II Indexer User s Manual Sequence I O Signals Set the brake timing used when the servo is turned OFF by input signal S ON CNI 40 or when an alarm occurs during motor operation S ON input Power OFF by N S ON CN1 40 Servo OFF input or alarm 1 occurrence Stop by dynamic brake or coast to a stop T Motor speed rpm P
24. 0 to 800 200 Pnl0D Mode Switch Speed Reference rpm 0 to 10000 Pnl0E Mode Switch Acceleration 10rpm s 0 to 3000 Pnl0F Mode Switch Error Pulse ref units 0 to 10000 Pn110 Online Autotuning Switches See o u 0010 note 3 Pnill Speed Feedback Compensation 1 to 100 100 See note 2 Appendix A 6 Sigma II Indexer User s Manual Servo Amplifier Parameters Category Ad Name Unit p mr us Pnl12 0 to 1000 100 Pn113 0 to 10000 1000 Pn114 0 to 400 200 Pnl15 0 to 1000 32 Pn116 0 to 1000 16 Pnl17 20 to 100 100 Pnl18 Reserved parameters Do not 20 to 100 100 change Pnl19 sl 1 to 2000 50 Gain PnllA 0 196 1 to 2000 1000 Parameters Pn11B Hz 1 to 150 50 Pnl1C Hz 1 to 150 70 PnlID 96 1 to 150 100 PnllE 1 to 150 100 PnllF ms 1 to 2000 0 Pn120 0 01ms 1 to 51200 0 Pn121 india parameteis Do not Hz 1010250 50 Pn122 Hz 0 to 250 Pn123 0 to100 Position Control Reference Selec rn tion Switches See note 3 m 0999 Ha 16 to Pn201 PG Divider See note 3 p r 16384 16384 Pn202 Electronic Gear Ratio Numera A 1 to 65535 4 tor See note 3 Electronic Gear Ratio Denomina Position vanis tor See note 3 ae aoa Re Parameters Pn204 Not Used Pn205 Multi turn Limit Setting See notes aby 0 to 65535 65535 1 and 3 Pn206 Not Used Pn207 Posi
25. 6 8 6 5 2 Moving Commands 5a bed yh wate ee hw pee RE LIONE 6 9 6 5 3 Parameter Operation Commands 000s eee ee eee 6 19 6 5 4 Program Table Set up Commands 000s eee 6 22 6 5 5 Program Table Operation Commands 2 000 6 26 6 5 6 Monitor and Function Commands 0 000 e eee 6 27 Chapter 7 Using the Digital Operator cyrus REY RESET Devens 7 1 Toll Basic Operation tsa wap rack ap ee os psc Debes aa een TOS 7 2 7 1 1 Connecting the Digital Operator 0 0 00 e eee ee eee 7 2 sled PUNCUONS 222 tstanee ete eel ene Ek Eetewt Re Ed 7 3 7 1 3 Resetting Servo Alarms ons teda OO eee eg dele e dates 7 5 7 1 4 Basic Mode Selection 22s iae Re ERE DRESS de 7 6 Chapter 8 Dimensional Drawings 0 0 cece eee e 8 1 8 1 Dimensions of the JUSP NS600 Indexer are shown below 8 2 Sigma II Indexer User s Manual Table of Contents Chapter 9 Troubleshooting 2 2 23 3 qp kp ER bee REY DEEYIG RR Re 9 1 9 1 Troubleshooting Problems with No Alarm Display 9 2 9 2 Sigma II Indexer Alarm Error Warning Status Display Table 9 4 9 2 1 Sigma II Indexer Alarm Display Table 4 9 4 9 2 2 Sigma II Indexer Error Warning Display Table 9 7 9 3 SGDH Servo Amplifier Alarm Display Tables 9 11 9 3 1 SGDH Servo Amplifier Alarm Display Table 9 11 9 3 2 SGDH Ser
26. Arrow P key to select the digit to set and then press the Up Arrow t or Down Arrow key to change the number ln o d It l 3 Press the DATA ENTER key The following display will appear i rr qr yi I E gn _ gd 4 Pressing the Up Arrow f key will change the display as shown below Continue pressing the Up Arrow key until PGCLS is displayed If an erroneous key entry is made nO OP will flash for one second and the display will return to the auxiliary function mode In that case go back to step 3 above and perform the operation again i Up Cursor Key When an erroneous key entry is made ETE 2 n p Flashes for one second Up Cursor Key Y zm NE ED ui H Returns to auxiliary function mode 5 When PGCLS is displayed press the DSPL SET key The display will change as follows and the absolute encoder s multi turn data will be cleared Flashes for 6 Press the DATA ENTER key to return to the auxiliary function mode This completes the absolute encoder s setup operation Cycle the power to the servo amplifier Sigma II Indexer User s Manual Absolute Encoders Setup Using the Built in Panel Operator 1 Press the MODE SET key to select the auxiliary function mode 2 Press the Up Arrow l or Down Arrow H key to select the parameter Fn008
27. Axis No 0 9 A F Only specified axis is applicable When all axes are specified COMMAND CHARACTER LINE CR Global address All axes are applicable 1SVON CR 1SVON CR Axis 1 Servo ON 1SPD2000 CR 2SVON CR Axis 2 Servo ON 1POS10000 CR 1SPD2000 CR Axis 1 Speed reservation Example 1ST CR 2SPD1000 CR Axis 2 Speed reservation 1POS10000 CR Axis 1 Position reservation 2POS15000 CR Axis 2 Position reservation ST CR Note Both axes start simultaneously Note 1 An axis number or must be specified prior to each command 2 Commands are not case sensitive 3 In Echo Back add LF after CR 6 5 Sigma II Indexer User s Manual Command Transmission Host Controller Sigma II In 6 3 2 Echo Back Response Time the Of fe thi 1 s immani taling edga 1 echo back response rising edge Table 6 4 Parameter Pn800 Pn800 1 RS422 Echo Back A 100 usec baud rate X 2 baud rate X 2 Pn800 3 RS485 Delimiter CR Echo Back per Character Pn800 4 RS485 Delimiter CR Echo Back per Command 1 1 6 imi r 250 usec 600 usec Pn800 6 RS485 Delimiter CRLF Echo Back per Character H baud rate X 2 H baud rate X 2 Pn800 7 RS485 Delimiter CRLF Echo Back per Command Sigma II Indexer User s Manual Transmission Data Sigma II Indexer Host Controller 6 4 Transmission Data
28. B Phase PG Divided 11 36 PBO Output B Phase 12 z 37 ALOI Alarm code output 13 open EM aroz Alarm code output collector 14 39 ALO03 output 15 40 S ON POAN input 16 E 4 41 SELS Program select 5 Forward 17 42 P OT drive prohib Reverse run ited input 18 43 N OT prohibited PG Divided input Rein ee 19 PCO Output 44 DEC 2 PG Divided C Phase T eration LS 20 PCO Output 45 SEL6 i input select 6 C Phase 21 BAT Battery 46 marr Reeistration latch External D BAT Battery 47 F24VIN power sup ply input S Phase 23 48 PSO Signal S Phase Output 24 49 PSO Signal 7 Output 25 WwARN Servo warn 50 z ing output Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell The shield is connected to the FG frame ground at the servo amplifier end connector 3 4 Sigma II Indexer User s Manual I O Signals CN1 CN4 Table 3 2 CN4 Terminal Layout Sigma II Indexer External 1 24V COM input power supply D 3 move on Mode select Input 4 START s Sion HOME 6 Program 7 PGMRES reset Jog JOGP forward input 8 Program 9 ke select 0 Jog reverse input 10 Program u SELI select 1 Jog JOGO select 0 input 12 Program B SEL2 select 2 Jog JOG1 select 1 i
29. II Indexer User s Manual Safety Precautions Maintenance and Inspection A WARNING Do not remove the panel cover while the power is ON Doing so carries a risk of electric shock Do not touch terminals for five minutes after the power has been turned OFF Residual voltage may cause electric shock Never touch the inside of the servo amplifier Doing so may result in electric shock CAUTION Do not disassemble the servomotor Doing so may result in electric shock or injury Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury General Precautions The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modifi cation and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifica tion
30. Initialization in Progress Error 2 seconds Warning No Change ON and OFF Alarm OFF ON Note One multi color LED green and red is located on the Sigma II Indexer indicated by STS 9 14 Sigma II Indexer User s Manual Appendix A List of Parameters A JUSP NS600 Indexer Parameters A 2 A 2 Servo Amplifier Parameters 04 A 6 A3 Servo Amplifier Switches 0 0008 A 10 Appendix A 1 Sigma II Indexer User s Manual JUSP NS600 Indexer Parameters A 1 JUSP NS600 Indexer Parameters The following list shows JUSP NS600 parameters and their settings Parameter Number Table A 1 Indexer Parameters Setting Range Default Setting Serial Communi 0 RS422 1 RS422 Echo Back 2 RS485 Delimiter CR 3 RS485 Delimiter CR Echo Back per Character ney canon a 4 RS485 Delimiter CR Echo Back per Command eemote t 5 RS485 Delimiter CRLF 6 RS485 Delimiter CRLF Echo Back per Character 7 RS485 Delimiter CRLF Echo Back per Command 0 9600 Pn801 eR 1 19200 0 2 38400 0 OK No Answer Pn802 Answer 1 0K Answer 1 0 Close Mode 0 MODE 0 1 1 Open Mode 0 Paes see note 1 2 Always Mode 0 9 3 Always Mode 1 0 Close Program Start Mode 0 0 Close Homing Start Mode 1 START STOP 1 Open Program Start Mode 0 Pn804 HOME 1 Open Homing Start Mode 1 0 see note 1 2 or 3 No Pr
31. Mechanical System window by selecting the Indexer Setup Module and then Tools Indexer Setup Mechanical System Make sure to select the correct encoder resolu tion or select Get Encoder Count while online Select Apply or OK to accept the changes Mechanical System x System Rotary Table Machine Units Base deg Time Base fseconds ir Modulus 360 00 N1 1 N2 1 Resolution 2 Default Speed 10 00 deg sec Acceleration 24000 00 deg sec 2 Deceleration 24000 00 deg sec 2 Electronic Gear Ratio 7 In Position Window 20 00 deg in Current Database Near Position Window 10 00 deg x Controller Current Electronic Gear Ratio in Controller B Pn202 Offline A Pn203 Offline Encoder Resolution 16 bit 16384 cts 65536 pulses Get Encoder aunt OK Cancel Apply Encoder Setup Help Appendix D 15 Sigma II Indexer User s Manual Edit the Over Travel window by selecting Tools Indexer Setup Over Travel This window is used to select the type of motion whether it be linear or rotary Motion Method and to set position limits linear software position limits linear modulus Select Apply or OK to accept the changes IndexWorks 1 3 5 and above will automatically select Rotary Shortest Path and set the position limits according to the Modulus entered in the Mechanical System window when a rotary mechanical system is selected Note that there are also Motion Method options for Rotary Fo
32. Mode 0 Pn803 Mode 0 1 CN4 3 2 Always Mode 0 3 Always Mode 1 Example Pn803 0 24V 4 IMMER Sigma II Indexer MODE 0 1 Input Signal Closed Mode 0 Active Example Pn803 1 Input Signal Open Mode 0 Active 5 7 2 Program Operation Inputs Setting The following parameters are used to define the inputs used in the program table operation Table 5 5 Parameter Setting Default 0 Input Signal Closed Motor Start Program Start START STOP 1 Input Signal Open Motor Stop Program Stop 2 or 3 No Program Start 0 Input Signal Open Closed Program Reset PGMRES 1 Input Signal Closed Open Program Reset 2 or 3 No Program Reset SELO SELI SEL2 0 Input signal Closed Program Select 1 Input Signal Open Program Select SD3 2 Always Program Select SELA 3 No Program Select 5 47 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 3 Program Step Selection The Sigma II Indexer can store up to 128 program steps All 128 program steps may be addressed in binary format by the 7 program step selection input signals SELO SEL6 The program steps can be linked together for more complex moves Program Step Selection Inputs Program Step SELS SELA SEL3 SEL2 SEL1 0 1 X 2 X 3 X X 4 X 5 X X 6 X
33. N z Non Active A Active Z Zone signal status of output dependent on Zone Table Maintains previous status Jog Forward Reverse Setting Range 1 nnnnnnnn 99999999 x 1000 Reference Unit min Jog operation start command JOGP Jog forward at speed nnnnnnnn JOGN Jog reverse at speed nnnnnnnn Pos JOGPnnnnnnnn um OK N Speed s TOONnnnunnin JOGPx y JOGNy SKIP Neg ExxE 6 13 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer Jog Forward Reverse with Registration Relative Position Setting Range 1 nnnnnnnn 99999999 x 1000 Reference Unit min Jog operation start command RJOGP Jog forward at speed nnnnnnnn RJOGN Jog reverse at speed nnnnnnnn Also allows for registration defined by RDST registration distance and RSPD registration speed Note Pos 1 Error E52E will occur if no registration distance is reserved OK RJOGPnnnnnnnn 2 If no registration speed is reserved speed set in Pn81E is used RJOGNnnnnnnnn 3 Registration starts only after RGRT input becomes active Neg ExxE RDSTa RSPDb SKIP RJOGPx Speed 6 14 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer Homing Start Command to start zero point return homing operation as shown below Command
34. OFF ON or after ExxE RES command is executed 6 12 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer Positioning Start with Registration Perform positioning defined in POS POSA POSI command Normally same relative posi tioning is repeated by repeating RS Pos When the positioning is interrupted with HOLD restart it with RS OK RS Also allows for registration defined by RDST registration distance and RSPD registration Neg speed Note PERSE 1 Error E52E will occur if no registration distance is reserved 2 If no registration speed is reserved speed set in Pn81E is used 3 Registration starts only after RGRT input becomes active Positioning Start with Registration Absolute Position Pos RS nnnnnnnn OK RSA CE nnnnnnnn Setting Range 99999999 nnnnnnnn 99999999 Reference Units can be omitted Neg Command also allows for registration Equivalent to POS nnnnnnnn or POSA nnnnnnnn ExxE RS Positioning Start Relative with Registration Relative Position Pos OK at RSI OEA Setting Range 99999999 nnnnnnnn 99999999 Reference Units can be omitted Neg Command also allows for registration Equivalent to POSI nnnnnnnn RS ExxE POUT Reservation Command to set the 5 programmable outputs POUT nnnnn L POUTO Pos POUTI OK POUT POUT2 nnnnn POUT3 POUT4 eg ExxE
35. OFF YES E21A A EF JOG Speed Table Version Unmatched Detected only during initialization Jog speed table version does not match firmware version OFF OFF Servo OFF YES E22A A EF JOG Speed Table Out of Range Alarm Detected only during initialization Value set in jog speed table is out of range OFF OFF Servo OFF YES E23A A EF Insufficient Registration Distance Alarm The reserved registration distance is too small compared to the distance it takes the motor to decelerate to the reserved registration speed OFF OFF Servo OFF YES Notes Status Codes are displayed via the Sigma II Indexer JUSP NS600 CN7 digital operator CN6 response to serial commands ALM and ERR or denial response to other commands Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 2 The Panel Display is the built in panel display on the SGDH Servo Amplifier The panel display may be deleted depending on the communication status between the SGDH and the JUSP NS600 3 OFF Output transistor is OFF Alarm status ON Output transistor is ON No alarm Alarms continue to keep their status until they are released 4 OFF Output transistor is OFF No error warning ON Output transistor is ON Error Warning Status Errors and Warnings are displayed for 2 seconds only 5 Some alarms cannot be reset by the panel display digital operator or serial comman
36. REY ERG ERERROU od wees 5 37 5 6 4 Absolute Encoder Setup 0 cece eee eee eens 5 37 5 6 5 Absolute Encoder Reception Sequence 0 000 ee 5 42 5 7 Program Table Mode Mode 0 2 2 ce cee eee eee ee eee 5 47 5 7 1 Program Table Mode Setting 5 47 5 7 2 Program Operation Inputs Setting 0 00000 5 47 5 7 3 Program Step Selections i Yk a VA Rea 5 48 5 7 4 Program Index Table Set up 0 0 0 0 0 cee eee eee 5 49 5 7 5 Event Condition Bxatnples cec e Lex e was X UR YR 5 53 5 7 6 Program Operation r3 yd ARI eee penned os 5 54 5 7 7 Evaluation of Program Operation Input Conditions 5 55 5 7 8 Minimum Input Signal Timing for Program Operation 5 57 5 0 Registration deb Ix ER RICE A X RODA RO CMS CORE ACRMUD E 5 58 5 8 1 Registration Specifications 0 eee eee eee 5 58 5 8 2 Registration Input Setting 626 0 aes SA BSG GSE ee aks 5 58 5 8 3 Registration Operation 24 vesee qme ete hU Rt wears 5 58 0 0 Zone Table SeE Upi coo sep vere os dada tede Pese a cata s 5 61 5 9 1 Zone Signal Conditions 0 0 cece ee eee 5 62 Sigma II Indexer User s Manual Table of Contents 5 10 Program Table Examples sseeleee e 5 63 5 11 Homing Jog Speed Table Mode Mode 1 000 5 69 5 11 1 Homing Jog Mode Setting 02 2 2 0 2 eee 5 69 5 11 2 Homing Jog Speed Table inputs Setting 5 69
37. See ag MONO bit 3 1 in HOLD or Program Interruption bit 4 1 in Program Operation in Progress bit 5 1 in Current Limitation bit 6 1 when Main Power ON Note Response sent as characters not as one byte Di Positive Response Current Motor actual Position Moni B PEB or MON7 toi PFB 12345678 CR LF reference units Positive Response POS 12345678 CR LF POS or MON8 Tues Position Monitor When using an incremental position reference monitor shows reference units Bs A target position absolute position from 0 Positive Response i DST 12345678 CR LF DST or MONO Target Distance Monitor reference units i ix When using an incremental position reference monitor shows reserved relative distance Positive Response RPOS or MON10 Registration Target Position Monitor RPOS 12345678 CR LF reference units Positive Response RDST or MONI Registration Target Distance Monitor RDST 12345678 CR LF reference units 6 30 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer Pei EMP TED Pass Tirough Positive Response PGMSTEP PGMSTEP 12345 CR LF Displays the current program step in progress Program EVENT Lapse of Time Monitor Positive Response EVTIME ms EVTIME 12345 CR LF Displays elapsed time of event condi tion time delay eum LOOP
38. Serial Communication Connectors CN6 CN7 3 2 3 Communication Specifications CN6 CN7 The following table shows the communications specifications for CN6 and CN7 Table 3 9 Communication Specifications Specification RS232 RS422 RS485 Interface RS232 RS422 Transmission Range RS232 3m maximum RS422 RS485 50m maximum Baud Rate 9 6 19 2 38 4 Kbaud 9 6 Kbaud Synchronization Type Asynchronous start stop synchronization Transmission Format Start 1 bit Data 7 bit ASCII code Parity 1 bit Even Stop 1 bit X On X Off Control None Shift Control None Communication Half duplex 3 2 4 Communication Connectors CN6 CN7 Table 3 10 CN6 Terminal Layout TXD 1 TxD p TAD 2 TXD 9 3 IR 10 RXD 4 RXD E 12 6 RXD 13 7 RT Terminal 14 GND Resistance 3 11 Sigma II Indexer User s Manual Serial Communication Connectors CN6 CN7 Table 3 11 CN7 Terminal Layout 1 TXD 8 TXD 2 TXD 9 TXD 3 RXD 10 RXD 4 RXD 11 Reserved 5 Reserved 12 Reserved 6 RXD 13 Reserved 7 RT Terminal 14 GND Resistance Specifications for Sigma II Table 3 12 CN6 CN7 Specifications Applicable Mating Connectors Indexer Receptacle 10214 52A2JL 14 Pi
39. Sigma II Indexer User s Manual Settings According to Device Characteristics Stop Mode After stopping Hold with dynamic brake Coast status Coast status Stop by dynamic brake The dynamic brake stops the servomotor electrically by shorting the motor windings and diverting the energy to a resistor Pn001 0 2 Coast to a stop Uses the dynamic brake to stop the servo motor and maintains dynamic brake status after stopping Uses the dynamic brake to stop the servo motor and cancels dynamic brake status after stopping to go into coast status Servo OFF or FRED Alarm Stop Mode Coasts the servomotor to a stop The servo motor is turned OFF and stops due to equipment friction Note If the Servomotor is stopped or rotating at extremely low speed when the items above are set at 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the servomotor will stop the same as in coast status 5 2 3 Limiting Torques The SGDH servo amplifier limits the maximum output torque to protect the equip ment or workplace Internal Torque Limits Maximum torque is limited to the values set in the following parameters for forward and reverse rotation 00 Pn402 Forward Torque Limit Range 0 to 800 8 Pn403 Reverse Torque Limit Range 0 to 800 800 The torque limits are specified as a percentage of the rated torque Note 1 If tor
40. Sigma II Series servodrives Those performing trial operation or adjustments of Sigma II Series servodrives Those maintaining or inspecting Sigma II Series servodrives Description of Technical Terms In this manual the following terms are defined as follows e Servomotor Sigma II Series SGMAH SGMPH SGMGH SGMSH servomotor Servo Amplifier Sigma II Series SGDH servo amplifier e Servodrive A set including a servomotor and servo amplifier Servo System A servo control system that includes the combination of a servodrive with a host computer and peripheral devices Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following equations S ON S ON e RGRT RGRT e START STOP HOME START STOP HOME dual purpose input viii Sigma II Indexer User s Manual Safety Precautions Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections Checking Products upon Delivery A CAUTION Always use the servomotor and servo amplifier in one of the specified combina tions Not doing so may cause fire or malfunction Installation A CAUTION Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric
41. Signal Connector CN1 CN4 SGDH Ji ees Servo Amplifier otor FG WARN ON for a warning g and error BK brake released when ON Photocoupler maximum output Operating Voltage 30VDC iaieh dean abe e aide S RDY ON when ready Operating Current 50mA DC Sinking or sourcing Servo Alarm Output a ee rae sr re ne OFF with an alarm Servo Enable Input Servo ON when ON Positive Overtravel Forward run prohibited when OFF Alarm Code Output Oy 30VDC Maximum Voltage Negative Overtravel 20mA Maximum Output Current Reverse run prohibited when OFF M p oce Zero point Return homing Deceleration Limit Switch 4 9 49 Enabled when ON LL Lee PG dividing ratio output Registration Latch 4 9 Applicable line receiver Latched when OFF3ON SN75175 or MC3486 manufactured by T I or the Program Step Select 5 equivalent Enabled when ON Program Step Select 6 n PSO Amount of S phase rotation Serial data output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent Enabled when ON lt gt SigmaWIN Used for data tracing and highly accurate auto tuning only For SGDH OODE type servo amplifiers replace LIC with 24V and L2C with OV Figure 3 1 SGDH I O CN1 Sigma II Indexer User s Manual I O Signals CN1 CN4 Sigma Il Indexer JUSP NS600 SGDH Servo Amplifier CNIO Dual
42. Signals Selection 1 8881 fixed Pn50B Input Signals Selection 2 8888 fixed Sequence Pn50C Input Signals Selection 3 8888 fixed Parameters Pn50D Input Signals Selection 4 8888 fixed Pn50E Output Signals Selection 1 3000 fixed Pn50F Output Signals Selection 2 1200 fixed Pn510 Output Signals Selection 3 0000 fixed Pn511 Reserved do not change 8468 fixed Pn512 Output Signals Reversal Settings 0000 Appendix A 8 Sigma II Indexer User s Manual Servo Amplifier Parameters Parameter Setting Default Set Category Number Name Unit Range ting 0 to capac Regenerative Resistor Capacity ity ion See note 4 MN See note Other 5 Parameters 0 to capac ity Pn601 Reserved parameter Do not change Sce note 0 5 Notes 1 The multi turn limit is valid only when parameter Pn002 2 Absolute Encoder Usage is set to 0 There is no need to change the multi turn limit except for in special cases Be careful not to change the setting unless necessary 2 The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 3 Offline parameters in bold After changing these parameters cycle the main circuit and control power or send serial command RES to enable the new settings 4 Normally set to 0 When using an external regenerative resistor set the capacity W of the regener ative
43. X 7 X X X 8 X 9 X X 10 X X 11 X X X 12 X X 13 X X X 14 X X X 1 1 1 114 X X X X 115 X X X X X 116 X X X X 117 X X X X X 118 X X X X X 119 X X X X X X 120 X X X X 121 X X X X X 122 X X X X X 123 X X X X X X 124 X X X X X 125 X X X X X X 126 X X X X X X 127 X X X X X X X X Input Signal Active Blank Input Signal Non Active 5 48 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 4 Program Index Table Set up Program Step Table 5 6 Example program table Target Positioning Registration Registration Programmable Position Speed Position Speed Output A 100000 250000 ITO 1 200000 400000 SEL3 Infinite IT1000 1 300000 DT500 Stop ITO 100000 ITO Table 5 7 Functions of the program table FUNCTION 128 0 127 available program steps Program Step All 128 0 127 program steps can be addressed either by inputs SELO SEL6 or by serial command STARTsss Program steps can be repeated see Loop or linked together see Next Setting I 99999999 Relative position reservation Reference Unit A 99999999 Absolute position reservation Reference Unit Infinite Equivalent to Jog Forward Infinite Equivalent to Jog Reverse Target Stop Stop positioning Position s i No position reservation Typically used for POUT reservation Setting at shipping Stop Note 1 Infinite will not work if soft
44. amplifier output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor Servo amplifier with brake Power supply BkK RY Blue or yellow White Brake Power Supply Figure 5 8 Wiring Example Output BK Brake Interlock Output This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake ON Output Closed or low level Releases the brake OFF Output Open or high level Applies the brake The following parameter is used to set the state of BK output 0 Output Closed Releases the brake Busy SESS uen 1 Output Open Releases the brake EM Related Parameters Parameter Description Time Delay from Brake Reference until Servo OFF Speed Level for Brake Reference Output during Motor Operation Timing for Brake Reference Output during Motor Operation 5 18 Sigma II Indexer User s Manual Sequence I O Signals Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied set the fol lowing parameter to adjust brake ON timing Seating Om es Reference Servo OFF Delay Setting Range 0 to 50 This parameter is used to set the output time from the brake control signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is
45. as shown above the power supply circuit servomotor wiring or encoder wiring is incorrect The STS status LED will 4 4 Sigma II Indexer User s Manual Two Step Trial Operation also appear in red immediately at power up if an alarm occurs In this case turn OFF power and take appropriate action See 8 Troubleshooting Note Ifan absolute encoder is used it must be set up Refer to 5 6 4 Absolute Encoder Setup 4 Operate with the Panel Operator Ee y YASKAWA SERVOPACK 200V ie a SGDH eje oT ooo Qs wu Panel operator Operate the servomotor using the Panel Operator Check to see if the servomotor runs normally If using a servomotor with a holding brake refer to 5 3 3 Using the Holding Brake Jog Mode Operation FARRE a Press the MODE SET key to select Fn002 in the auxiliary function mode EI v L qp gg FE Jp dr gr gp b Press the DATA SHIFT key for a minimum of one second to select the Panel Operator operation mode Operation is now possible using the panel operator c Press the MODE SET key to set to the servo ON with motor power turned ON BEEN d Press the Up Arrow 5 or Down Arrow 6 key to operate the motor The motor keeps operating while the key is pressed Motor Forward Motor Reverse Rotation Rotation e Press the MODE SET key to set to the servo OFF state with motor power turned OFF Alternatively press the DA
46. as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed without changing other parameters Only the direction of shaft motion is reversed Standard Setting Reverse Rotation Mode Forward Reference Encoder output from servo amplifier PAO Phase A cow E TUUL a JUL PBO Phase B Encoder output from servo amplifier C CW Em PAO Phase A JUL PBO Phase B Reverse Reference Encoder output from servo amplifier PAO Phase A FLL nnar PBO Phase B Encoder output from servo amplifier PAO Phase A ILTI1T1TL Siro PBO Phase B Setting Reverse Rotation Mode Use the parameter Pn000 0 P0000 Default Seting 0 Use the following settings to select the direction of servomotor rotation Forward rotation is defined as counterclockwise Standard setting CCW rotation as viewed from the load Forward rotation is defined as clockwise CW rotation as viewed from the load Reverse Rotation Mode 5 6 Sigma II Indexer User s Manual Settings According to Device Characteristics 5 2 2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion Using the Hardware Overtravel Function To use the hardware overtravel function connect the overtravel limit switch input signal terminals shown below
47. gear ratio d 100 The servo amplifier will not work properly if the electronic gear ratio exceeds this range In that case modify either the load configuration or the reference unit 6 Setthe parameters Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters J eccl Pn202 Electronic Gear Ratio Numerator TERI Pn203 Electronic Gear Ratio Denominator Pn202 Electronic Gear Ratio Numerator Range 1 to 65535 Pn203 Electronic Gear Ratio Denominator Range 1 to 65535 E 1 f SBE Pn202 Electronic gear ratio abo rm e CA Pn203 B Number of encoder pulses x 4 x motor speed e A Travel distance per load shaft revolution reference units 3 load shaft revolution speed 5 5 1 Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms Sigma II Indexer User s Manual Setting up the Reference Units Ball Screws Reference unit 0 00001 in Travel distance per load shaft revolution JOD 24000 ref units Load shaft 0 000011in 13 bit incremental Ball screw pitch 0 24in ncoder 8B _ 2048 4 1 Pn202 Electronic gear ratio x 24000x1 Pn203 Preset Pn202 8192 Values Pn203 24000 Circular Tables na o id P 1 Reference unit 0 1 Travel distance per load shaft revolution 3600 ref u
48. integration time con stant Pn101 Sigma II Indexer User s Manual Troubleshooting Problems with No Alarm Display Symptom Cause Comment Solution Servomotor over heated Ambient temperature too high Measure servomotor ambient temperature Reduce ambient temperature to 40 C maximum Servomotor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal noise Incorrect mechanical mount ing Servomotor mounting screws loose Tighten mounting screws Coupling not centered Center coupling Coupling unbalanced Balance coupling Bearing defective Check noise and vibration near bearing Consult your Yaskawa represen tative if defective Machine causing vibrations Foreign object intrusion dam age or deformation of sliding parts of machine Consult with machine manufac turer 9 3 Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 9 2 Sigma Il Indexer Status Display Table 9 2 1 Sigma Il Indexer Alarm Status Display Table Indexer Status Status Code Panel Display Detail ALM Output WARN Display Motor Operation Reset Alarm A XX A XX SGDH Alarm Activation Alarm Follow SGDH OFF Servo OFF Follow SGDH CPF00 A E0 Internal Fl
49. only used for incremental encoders Homing routine defined in parameters Pn823 Pn828 Zero point Return Method Operation Pattern Mode 0 Pn823 0 No homing None FEEDING SPEED Pn825 Mode I Pn823 1 FWD APPROACH CREEP 3 step deceleration method using RUN SPEED Pn826 _ SPEED Pn827 DEC signal decel LS and C i Final Travel phase pulse signal i Distance Pn828 DEC 1 LLL PC amp Pulse LLLTLTL TL IL First C Pulse after DEC Signal Changes from H to L Mode II Pn825 2 APPROACH 2 step deceleration method using SPEED Pn826 CREEP DEC signal decel LS only eS Pn827 Final Travel DEC j Distance Pn828 Pos OK ZRN APPROACH Neg Mode III Pn823 3 SPEED Pn826 ExXE 2 step deceleration method using C phase pulse only CREEP SPEED F Final Travel PC amp Pulse h Distance Pr Parameter Name Unit No 0 Mode 0 No homing 1 Mode I DEC and C Phase Pn823 Homing Method 2 Mode II DEC only 3 Mode III C Phase only Zero point return 0 FWD direction nee direction 1 REV direction Pn825 Zero point feed o 14 99999999 ing speed Pn826 Zero point return 0 to 99999999 x1000 reference unit approach speed min Pn827 Zero point retur o 5 99999999 creep speed Zero point return Pn828 final move dis 99999999 to 99999999 reference unit tance 6 15 Sigma II Indexer User s Manual Se
50. or MON2 Position Error Monitor 6 10 PFB or MON7 Current Motor actual Position Monitor 6 10 PGMINIT Program Initialization 6 8 PGMRES Program Reset 6 9 PGMSTEP Program PGMSTEP Pass Through Monitor 6 10 PGMSTORE Program Table Save 6 8 PGTYPE PG Type Display 6 10 PGVER PG Software Version Display POSE RERBA Target Position Reservation Absolute Position 6 6 POSA nnnnnnnn POS or MON8 Target Position Monitor 6 10 POSI nnnnnnnn Target Position Reservation Relative Position 6 6 POSTsss Program Table POS Read 6 8 POSTsss Program Table POS Write 6 8 POUT POUT Monitor 6 10 POUTnnnnn POUT Reservation 6 6 POUTTSss Program Table POUT Read 6 8 POUTTSss Program Table POUT Write 6 8 PRMINIT Parameter Initialization 6 7 PRMppp Parameter Read 6 7 PRMppp Parameter Write 6 7 PUN or MONI Current Issue commanded Position Monitor 6 10 RDST or MONII1 Registration Target Distance Monitor 6 10 RDSTnnnnnnnn Registration Distance Reservation 6 6 RDSTTsss Program Table RDST Read 6 8 RDSTTsss Program Table RDST Write 6 8 RES Reset 6 5 RGRMS Regenerative Load Ratio Monitor 6 10 RPOS or MONIO Registration Target Position Monitor 6 10 RS Positioning Start with Registration 6 6 aT i md Positioning Start with Registration 6 6 RSI nnnnnnnn Positioning Start Relative with Registration 6 6 RSPDnnnnnnnn Registration Speed Reservation 6 6 RSPDTsss Program Table RSPD Read 6 8 RSPDTsss Program Table RSPD Write 6 8 SKIP Positioning Stop or Jog Stop
51. part numbers of items a e 1 4 Sigma II Indexer User s Manual Checking Products on Delivery Table 1 3 Part Numbers Description Item Number 9 E a Sigma II Indexer JUSP NS600 CN4 I O Cable with pigtail leads 36 pin 1 0m CKI NS600 01 CN4 I O Cable with pigtail leads 36 pin 2 0m CKI NS600 02 b CN4 I O Cable with pigtail leads 36 pin 3 0m CKI NS600 03 E CNA I O Cable with terminal block JUSP TA36P xs 1S Oo CNI I O Cable with pigtail leads 50 pin 1 0m JZSP CKI01 1 A CNI I O Cable with pigtail leads 50 pin 2 0m JZSP CKI01 2 A c CNI I O Cable with pigtail leads 50 pin 3 0m JZSP CKIO1 3 A CNI I O Cable with terminal block JUSP TASOP CN3 CN6 CN7 Serial Communication Cable RS232 only A YS 12 S9 2 0m Rd U CN6 Serial Communication Cable with pigtail leads 2 0m YS 14 e Hand held Digital Operator Panel JUSP OP02A 1 JZSP CMSOO 1 CN3 CN6 CN7 Mating Connector YSC 1 9 CN4 Mating Connector 36 pin DP9420007 lt CNI Mating Connector 50 pin JZSP CKI9 E IndexWorks NS600 GUI Indexer Support Software 22 Note See Sigma IT Servo System Product Catalog Supplement for part numbers and additional information on servo motors servo amplifier motor power cables encoder cables and accessories Sigma II Indexer User s Manual Mounting the Sigma II Indexer Application Module to an SGDH 1 3 Mounting the Sigma
52. power supply Table 5 3 Input Signal Specifications CN1 CN4 Specification CNI S ON SELS P OT N OT DEC SEL6 RGRT Inputs CN4 MODE0 1 START STOP HOME PGMRES JOGP SELO JOGN SEL1 JOGO SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 Input Format Sinking or Sourcing Isolation Optical Voltage 11 to 25 VDC Input Imped ance 3 3 kW Current Rating ON 8 mA maximum OFF Current 0 1 mA maximum OFF Voltage 1 0 V 5 13 Sigma II Indexer User s Manual Sequence I O Signals Output Signal Connections CN1 Connect the sequence output signals as shown in the following figure O power supply Servo amplifier 24V ov Photocoupler output levels per output node Maximum operating voltage 30Vpc Maximum output cur rent 50mApc Open collector output levels per output node Maximum operating voltage 30Vpc Maximum output cur rent 20mApc Host controller ov Figure 5 5 Output Signal Connections CN1 Output Signal Connections CN4 Connect the sequence output signals as shown in the following figure JUSP NS600 Indexer 2 J POUTO Ee Photocoupler output itin acm levels per output node Maximum operating voltage 30Vpc Maximum output current 50mApc Figure 5 6 Output Signal Connections CN4 Note Provide a separate external I O power supply neither the servo amplifier or the Sigma II Indexer have an interna
53. resistor 5 The upper limit is the maximum output capacity W of the servo amplifier Appendix A 9 Sigma II Indexer User s Manual Servo Amplifier Switches A 3 Servo Amplifier Switches The following list shows the switches and their default settings Parameter Pn000 Function Selection Basic Switches Digit Place Name Direction Selection Description Sets CCW as forward direction Sets CW as forward direction reverse rotation mode Default Setting 0 Control Method Position control pulse train reference 1 fixed Axis Address Sets servo amplifier axis address ADRS Reserved 0 Pn001 Function Selection Application Switches Pn002 Function Selection Application Switches Servo OFF or Alarm Stop Mode Stops the motor by applying dynamic brake DB Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without using the dynamic brake DB Not Used AC DC Power Input Selection Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power sup ply through 1 and terminals Warning Code Output Selection ALOI ALO2 and ALO3 output only alarm codes ALOI ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal out
54. 0 15000 1000 NNNNA IT2000 1 200000 30000 1000 NNNAN IT2000 PGMSTEP 0 i PGMSTEP 1 i PGMSTEP 1 i PGMSTEP 0 loop 1 i loop 1 i loop 2 i 2 sec 2 sec 2 sec Motor Speed P001 o START STOP INPOSITION 1 7 jiPouto j 1 RR POUT1 CAE Sigma II Indexer User s Manual Program Table Examples Table 5 12 POUT Signal Output for Specified Time after Completing Positioning Example PGMSTEP 0 1200000 15000 1000 NNNNN ITO 1 1 1 15000 1000 IIIA T2000 1 2 2 1 200000 30000 1000 NNNNN ITO 1 3 3 30000 1000 DIDA T2000 1 4 4 1 200000 30000 1000 NNNNN ITO 1 5 5 30000 1000 DDAII T2000 1 0 PGMSTEP PGMSTEP q PGMSTEP d PGMSTEP 0 PGMSTEP 2 PGMSTEP 4 PGMSTEP 0 2 sec 2 sec 2 sec Motor Speed START STOP INPOSITION l POUTO 5 64 Sigma II Indexer User s Manual Program Table Examples Table 5 13 Event with SEL Signal Example RGWSTEPT Tos T sb mor Rob TOUT WENT tor D wExr 0 14200000 15000 1000 NNNNA SELOT2000 1 I 200000 30000 1000 NNNAN SEL1T2000 0 i PGMSTEP 0 PGMSTEP1 PGMSTEP1 PGMSTEP 0 loop 1 I loop 1 I loop 2 i I l I i 1 1 2 sec 2 sec 2 sec Motor p bs Speed i io aan ui i A I I I i l Fog l 1 oy I 1 I NE 1 pg i pa L I I START STOP Ea m E I SELO i NE E 5 65 Sigma II Indexer User s Manual Program Table Example
55. 1 TXD Cable length 50m max 2 TXD 3 RXD 4 RXD 6 RXD 7RT 14 GND Case FG Figure 3 4 RS422 Single Axis Communication CN6 CN7 3 14 Sigma II Indexer User s Manual Serial Communication Connectors CN6 CN7 PC RS422 port JUSP NS600 Indexer CN6 RXD 1 TXD Cable length 50m max RXD 2 TXD 8 TXD 9 TXD TXD 3 RXD MXD 4 RXD 10 RXD 6 RXD Short pins 6 7 on last axis 7 RT OV 14 GND FG a Case FG 4 CN6pins 1 2 3 4 14 Figure 3 5 RS422 Multi Axis Communication CN6 RS485 port JUSP NS600 Indexer CN6 45V dom 15H 3 RXD TXD 4 RXD 10 RXD 6 RXD Short pins 6 7 on last axis 7 RT OV 14 GND FG Case FG La ev pow o j to next axis CN6 pins 3 4 14 Figure 3 6 RS485 Multi Axis Communication CN6 3 15 Sigma II Indexer User s Manual Serial Communication Connectors CN6 CN7 RS422 485 Interface Cable l Make sure that the drive system control system power system and other transmission systems are separate from each other i e do not run the power wire with the control wire The RS422 485 cable length is 50 m maximum Use the minimum length necessary The Sigma II Indexer module RS422 485 interface is a non isolated system Errors may occur from noise in the connected terminal If noise occurs use a shield type cable and or ferrite core to reduce the noise In the case of RS422 insert a terminating resistor 100Q as needed Make the termi nation on the PC side rece
56. 26 Maximum output current IPs 50mA pc 27 POUT3 POUT4 E aem ERR a Output POUT0 CN4 21 Programmable Output 0 Output POUTO CN4 22 Output POUTI1 CN4 23 Programmable Output 1 Output POUTI CN4 24 Output POUT2 CN4 25 Programmable Output 2 Output POUT2 CN4 26 Output POUT3 CN4 27 Programmable Output 3 Output POUT3 CN4 28 Output POUT4 CN4 29 Output POUT4 CN4 30 POUTO POUTS State Result default state Programmable Output 4 Output Closed or Low Level Output Active OFF Output Closed or High Level Output Non Active 5 24 Sigma II Indexer User s Manual Sequence I O Signals The following parameters are used to set the state of the POUTO POUTA outputs Parameter POUTO CN4 21 22 POUTI CN4 23 24 POUT2 CN4 25 26 POUT3 CN4 27 28 POUT4 CN4 29 30 0 Output Closed Active 1 Output Open Active 5 25 Setting Default Sigma II Indexer User s Manual Using the Encoder Signal Output 5 4 Using the Encoder Signal Output Encoder output signals divided inside the servo amplifier can be output externally These signals can be used to monitor the encoder feedback for speed and position data Servo amplifier Position Counter Servomotor Encoder The output circuit is for line driver output Connect each signal line acco
57. 3 JOG2 see note 1 0 Close Program Select Mode 0 0 Close Jog Select Mode 1 1 Open Program Select Mode 0 1 Open Jog Select Mode 1 2 Always Program Select Mode 0 2 Always Jog Select Mode 1 3 No Program Select Mode 0 3 No Jog Select Mode 1 Pn80A SEL4 JOG3 see note 1 0 Close Program Select Mode 0 0 Close Jog Select Mode 1 1 Open Program Select Mode 0 1 Open Jog Select Mode 1 2 Always Program Select Mode 0 2 Always Jog Select Mode 1 3 No Program Select Mode 0 3 No Jog Select Mode 1 Pn80B S ON see note 1 0 Close Servo ON 1 Open Servo ON 2 Always Servo ON 3 Always Servo OFF Pn80C P OT see note 1 0 Open Forward OT Status 1 Close Forward OT Status 2 Always Forward OT Status 3 Always Moveable Pn80D N OT see note 1 0 Open Reverse OT Status 1 Close Reverse OT Status 2 Always Reverse OT Status 3 Always Moveable Pn80E DEC see note 1 0 Close Zero point Deceleration LS Start 1 Open Zero Point Deceleration LS Start 2 Always Zero Point Deceleration LS Start 3 No Zero Point Deceleration LS Start Appendix A 3 Sigma II Indexer User s Manual JUSP NS600 Indexer Parameters Table A 1 Indexer Parameters Parameter Setting Range Default Number e d Setting Pn80F RGRT 0 Cl
58. 52 E a iere ons Wes Bru noc ondecwan FF overomeet mee NG A rmm Appendix D 9 Sigma II Indexer User s Manual Solution to Exercise 1c Add the registration distance and speed to index 2 Select Apply or OK and Download the new changes to the Indexer E lols File pdt Vw Pere Tooke Wick Heb DaM amp Sitt n fad Tuning footing Tenia fochel nior yalo Fprppet rer ihr reati unan POLIT indes Ve300 Don gps 72 a OD pne tona tes Birra poc eewo B erneer maen SEN UI m Appendix D 10 Sigma II Indexer User s Manual Solution to Exercise 1d Enter the new changes to the Index Table Select Apply or OK and Download the new changes to the Indexer Product Infponation FEEretEcEdEOn HHHHA HHAH HHAHN HHHHH ITD Bert A iem tenn ee rpm poc ec Enersen dade ANDARE xm Appendix D 11 Sigma II Indexer User s Manual Solution to Exercise 1le Enter the Homing parameters into the Homing window Select Apply or OK to accept the changes Val sere dl bariak PralD Zar Pend Pain jara Pr Zen Pon Aium Med Pr Zero Poin Fleur recon Pr Zar Prad Aeka Fin Speed frome PRLE Zee Pond Aidan ippesach Speed pawsa Pr Zero Poni Aum Cien Speed nnus Pri Zero Pod Fleur Final Flur Dsrlancs nini pier faurDremkedCorpeie ss SBDHAIBE Inches Sap e AP d dle i B a E eene tons ates Beeren Inder Drs pos ewo BMPR imm Appendix D 12
59. C UK LTD 1 Hunt Hill Orchardton Woods Cumbemauld G68 9LF Scotland United Kingdom Phone 44 12 3673 5000 Fax 44 12 3645 8182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga E uljiro Joong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELECTRIC SINGAPORE PTE LTD Head Office 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 SINGAPORE Phone 65 282 3003 Fax 65 289 3003 TAIPEI OFFICE AND YATEC ENGINEERING CORPORATION 10F 146 Sung Chiang Road Taipei Taiwan Phone 886 2 2563 0010 Fax 886 2 2567 4677 YASKAWA J ASON HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJ ING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 J ianguomanwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAI YASKAWA TON I M amp E CO LTD 27 Hui He Road Shanghai 200437 China Phone 86 21 6533 2828 Fax 86 21 6553 6677 BEIJ ING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing 100083 China Phone 86 10 6232 9943 Fax 86 10 6234 5002 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic amp Technological Development Area Beijing 100076 China Phone 86 10 6788 0551 Fax 86 10 6788 2878 x
60. Distance HOME l DEC PHASE C First C Pulse after DEC input active inactive v PE Min 4msec Mode II Pn823 2 Use only DEC Pn826 Homing Approach Speed Pn8 i EN otor Spee 24 0 1 Forward Pn827 Homing Creep Speed Homing Final Move Distance HOME S H o M DEC PHASE C a aps Min 20us when Pn80E O Min 200us when Pn80E 1 Note Must see rising edge of DEC before deceleration to creep speed Mode III Pn823 3 Use only C Pulse Pn826 Homing Approach Speed Pn827 Homing Creep Speed Pn8 24 0 os Speed Homing Final Move Distance Forward HOME H IDEC Eo PHASE C EE EN Figure 5 12 Homing Routines 5 71 Sigma II Indexer User s Manual Jog Speed Table Operation 5 13 Jog Speed Table Operation When changing JOGP to Active motor forwards with jog speed reserved by input signals JOGO JOG3 See 5 13 2 Jog Speed Table selection When changing JOGN to Active motor reverses with jog speed reserved by input signals JOGO JOG3 See 5 13 2 Jog Speed Table Selection 5 13 1 Jog Speed Table Example IJOGP IJOGN JOGO 4JOG1 woe e JOG3 Figure 5 13 Jog Speed Table Sigma II Indexer User s Manual Jog Speed Table Operation 5 13 2 Jog Speed Table Selection Table 5 21 Jog Speed Table Selection Jog Speed ID Jog Speed JSPD Jog Speed Selection Input Signals nnnnnnnn JOG2 JOG1
61. Do not install the servo amplifier in hot and humid locations or locations sub Other situations ject to excessive dust or iron powder in the air 2 3 Sigma II Indexer User s Manual Orientation 2 3 Orientation Install the servo amplifier perpendicular to the panel wall as shown in the figure The servo amplifier must be oriented this way because it is designed to be cooled by natural convec tion or cooling fan Secure the servo amplifier using the mounting holes The number of holes varies from two to four with the frame size of the servo amplifier p B Cet wal ae Ventilation Sigma II Indexer User s Manual Installation 2 4 Installation Follow the procedure below to install multiple servo amplifiers side by side in a control panel 1 97in 60mm minimum minimum minimum 2 4 4 Servo Amplifier Orientation Install the servo amplifier perpendicular to the wall so the front panel containing connectors faces outward 2 4 2 Cooling As shown in the figure above allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection 2 4 3 Side by side Installation When installing servo amplifiers side by side as shown in the figure above allow at least 0 39in 10mm between and at least 1 97in 50mm above and below each servo amplifier Install cooling fans above the servo amplifiers to avoid excessive temper
62. Download Download All or Download New to send changes to the Indexer Pr us E oek Frrarmeter Dar am noo ia Pace inactive EETEREUS ue Eyen Status Doense Complete sapHamee deese Seha wen szama istered ipee nns etes Be neren Index BAJENG cec vaecuk NOE P scum Appendix D 19 y YASKAWA A World of Automation Solutions YASKAWA ELECTRIC AMERICA INC Chicago Corporate Headquarters 2121 Norman Drive South Waukegan IL 60085 U S A Phone 847 887 7000 Fax 847 887 7310 Intemet http www yaskawa com MOTOMAN INC 805 Liberty Lane West Carrollton OH 45449 U S A Phone 937 847 6200 Fax 937 847 6277 Intemet http www motoman com YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 0022 J apan Phone 81 3 5402 4511 Fax 81 3 5402 4580 Internet http www yaskawa co jp YASKAWA ELETRICO DO BRASIL COMERCIO LTDA Avenida Fagundes Filho 620 Bairro Saude Sao Paolo SP Brasil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 Intemet http www yaskawa com br YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 888 301 Intemet http www yaskawa de MOTOMAN ROBOTICS AB Box 504 38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 MOTOMAN ROBOTEC GmbH Kammerfeldstrabe 1 85391 Allershausen Germany Phone 49 8166 900 Fax 49 8166 9039 YASKAWA ELECTRI
63. E Example 2 Speed sppx POSIy ST HOLD 6 18 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer Positioning Stop or Jog Stop Command to stop operation at specified deceleration 1 When SKIP command is input during a jog or positioning by POSI command relative move the remaining position is cancelled POSIy ST SKIP Y Y Feed hold function E not provided 0 5 t 2 When SKIP command is input during positioning by POS or POSA command absolute move the remaining positioning is executed only by ST command after stopping SPDx POSy Speed ST Feed hold function provided 6 19 Sigma II Indexer User s Manual Serial Command Functions 6 5 3 Parameter Operation Commands The following serial commands are used to monitor or re write parameter contents Table 6 7 Parameter Operation Commands Serial Command Function Description Answer Parameter Read Positive Response Return PRM81B 12345678 CR LF in coded decimal and 8 digits to PRM81B PRM81C PRM81D PRM828 Contents of parameter ppp is sent from SGDH servo amplifier Example Command 1PRM800 Response 1PRM800 00000001 Return PRM000 00001234 CR LF in hexadecimal and 8 digits is back to PRM000 PRM001 PRM002 PRM003 PRM004 PRM005 PRM10B PRM110 PRM200 PRM207 PRM408 PRM50A PRM50B PRM50C
64. ENTTSss Program Table EVENT Read 6 8 EVENTTSss Program Table EVENT Write 6 8 EVTIME Program EVENT Lapse of Time Monitor 6 10 HOLD Positioning Interruption or Jog Stop 6 6 INI SGDH Input Signal Monitor 6 10 IN2 NS600 Input Signal Monitor 6 10 IN2TESTbbbbbbbb NS600 Side Input Signal Reservation 6 10 IN2TESTEND IN2TEST Clear Command 6 10 INERTIA Auto tuning Inertia Display 6 10 ME Motor Forward 6 6 JSPDINIT JOG Speed Table Initialization 6 8 JSPDSTORE JOG Speed Table Save 6 8 JSPDTdd Jog Speed Table JSPD jog speed reservation Read 6 8 JSPDTdd JOG Speed Table Write 6 8 LOOP Program LOOP Pass Through Monitor 6 10 LOOPTsss Program Table LOOP Read 6 8 LOOPTsss Program Table LOOP Write 6 8 MLTLIMSET Multi Turn Limit Setting 6 10 MONn Monitor Read 6 10 MTSIZE Motor Capacity Display 6 10 MTTYPE Motor Type Display 6 10 NEXTTsss Program Table NEXT Read 6 8 NEXTTsss Program Table NEXT Write 6 8 NFB or MON3 Motor Speed Monitor 6 10 NREF or MON4 Speed Reference Monitor 6 10 OUT 1 SGDH Side Output Signal Monitor 6 10 OUT 2 NS600 Side Output Signal Monitor 6 10 OUT2TESTbbbbbb NS600 Side Output Signal Reservation 6 10 OUT2TESTEND OUT2TEST Clear Command 6 10 Appendix C 2 Sigma II Indexer User s Manual Alphabetical List of Serial Commands Serial Command Function Reference Table PER
65. Encoder Reception Sequence A host device can be used to monitor the absolute encoder feedback The sequence in which the servo amplifier receives data from the absolute encoder and transmits them to the host device is shown below Be sure you understand this section when designing a host device to monitor the absolute encoder feedback Outline of Absolute Signals The absolute encoder s outputs are PAO PBO PCO and PSO signals as shown below Servo amplifier ividi PAO PS Serial sdata Dividing Po q pulse conversion P201 e PBO 6 PCO Data sdata PSO conversion Status Contents Initial State Serial data PAO Initial incremental pulse Normal State Incremental pulse Initial State Initial incremental pulse Incremental pulse Normal State Home position pulse Rotation count serial data 5 42 Sigma II Indexer User s Manual Absolute Encoders Contents of Absolute Data e Serial data Indicates how many turns the motor shaft has made from the reference position position specified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the home position to the current position at approximately 2500rpm for 16 bits when the dividing pulse is at the default setting Reference position setup Current position Coordinate value Value M zm i ER o ae 4 N eo 4 N The fina
66. Errors and Warnings are displayed for 2 seconds only 5 Over Travel and Software Limits continue to keep their status until they are released 6 P OT N OT is detected by the JUSP NS600 SGDH does not detect P OT N OT signals therefore both pot not is not displayed in the operation panel Error is displayed on the JUSP NS600 when a moving reference is received 7 A 9x is a SGDH Warning code Refer 7 3 2 SGDH Servo Amplifier Warning Display Table Sigma II Indexer User s Manual SGDH Servo Amplifier Status Display Tables 9 3 SGDH Servo Amplifier Status Display Tables 9 3 1 SGDH Servo Amplifier Alarm Display Table A summary of alarm displays and alarm code outputs is given in the following table Alarm Display Alarm Code Output ALOI ALO2 Alarm Name Parameter Breakdown Description EEPROM data of servo amplifier is abnormal Main Circuit Encoder Error Detection data for power circuit is abnor mal Parameter Setting Error The parameter setting 1s outside the allowable setting range Servomotor and Ampli fier Combination Error Servo amplifier and servomotor capaci ties do no match each other Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of servo amplifier was over heated Regeneration Error Detected Regenerative circuit is faulty Regenerative resistor is faulty Regenerative Overload Regenerative energy exceeds reg
67. Il Indexer Application Module to an SGDH Servo Amplifier This section describes how to mount a Sigma II Indexer application module on the SGDH servo amplifier Use the following procedure to ensure the Sigma II Indexer application module is mounted correctly Remove the connector cover from the CN10 connector on the SGDH servo amplifier P oun s Y YASKAWA SERVOPACK 200v SGDH CN10 Connector cover MODESSET Q QO Qv Paw 2 Insert the lower two mounting notches into the mounting holes at the bottom of the right side of the SGDH servo amplifier olo T ms o Figure 1 6 Mounting the JUSP NS600 to an SGDH Servo Amplifier 3 Push the Sigma II Indexer application module in the direction indicated by the arrows in the figure above and insert the upper mounting notches of the Sigma II Indexer application module into the upper mounting holes on the right side of the SGDH servo amplifier Sigma II Indexer User s Manual Mounting the Sigma II Indexer Application Module to an SGDH 4 For grounding connect the ground wire of the Sigma II Indexer application module to the point marked G on the SGDH servo amplifier Refer to table 1 4 for the selection of the proper screw size Screws are provided with the application module Table 1 4 Sigma II Indexer Ground Wire Screw Servo Amplifier M3x10 round head phillips with split lock washer and flat washer M4x10 round head phillips with spli
68. Im o d ee ri 3 Press the DATA SHIFT key holding it down for at least one second The follow ing display will appear rr cy l Fir fl I 4 Press the Up Arrow key holding it down until PGCL5 is displayed If an erroneous key entry is made nO OP will flash for one second and the display will return to the auxiliary function mode In that case go back to step 3 above and perform the operation again i Up Cursor Key When an erroneous key entry is made Up Cursor Key Y Y PUES zm H Returns to auxiliary function mode 5 When PGCLS is displayed press the MODE SET key The display will change as follows and the absolute encoder s multi turn data will be cleared Flashes for 6 Press the DATA SHIFT key to return to the auxiliary function mode This completes the absolute encoder s setup operation Cycle the power to the servo amplifier Setup Using Serial Command 1 Transmit serial command ABSPGRES 2 Transmit serial command RES This completes the absolute encoder s setup operation Sigma II Indexer User s Manual Absolute Encoders Note If the following absolute encoder alarms are displayed the alarms must be cleared using the method described above for the setup operation Encoder backup alarm A 81 Encoder sum check alarm A 82 In addition if a monitoring alarm is generated in the encoder the alarm must be cleared by turning
69. OFF the power Multi turn Setup Using the Hand held Digital Operator 1 Press the DSPL SET key to select the auxiliary function mode 2 Select the user function Fn013 Press the Left Arrow or Right Arrow gt key to select the digit to set and then press the Up Arrow or Down Arrow key to change the number 3 Press the DATA ENTER key The following display will appear 4 Press the DSPL SET key The display will change as follows and the absolute encoder s multi turn data will be cleared lojale J e EESE E 5 Press the DATA ENTER key to return to the auxiliary function mode This completes the absolute encoder s multi turn limit setting operation Cycle the power Multi turn Setup Using the Built in Panel Operator 1 Press the MODE SET key to select the auxiliary function mode 5 40 Sigma II Indexer User s Manual Absolute Encoders 2 Press the Up Arrow 4 or Down Arrow key to select the parameter Fn013 3 Press the DATA SHIFT key The following display will appear 4 Press the MODE SET key The display will change as follows and the absolute encoder s multi turn limit setting operation will be performed fats J 994 EESE E 5 Press the DATA SHIFT key to return to the auxiliary function mode This completes the absolute encoder s multi turn limit setting operation Cycle the power to the servo amplifier Mult
70. ON9 Un808 Registration Target Position Monitor reference units 2 RPOS or MON10 Un809 Registration Target Distance Monitor reference units RDST or MON11 Appendix B 2 Sigma II Indexer User s Manual Monitor Modes Table B 1 Monitor Modes Digital Equivalent Serial Operator Content of Display Unit Remarks nda sd CN6 CN7 Omma Un80A Program PGMSTEP Pass Through Monitor PGMSTEP Un80B Program EVENT Lapse Time Monitor msec EVTIME Un80C Program LOOP Pass Through Monitor LOOP Un80D Serial Command Receipt Letter Trace None Un80E Serial Command Receipt Letter Number of Let Aone ters Un80F Serial Command Transmission Error Letter Num EN E None ber of Letters Un810 Serial Command Transmission Letter Trace m None Ung11 Serial Command Transmission Letter Number of u Nore Letters 1 Value for the rated torque as 100 Displays effective torque in 10 second cycles 2 Value for the processable regenerative power as 10096 Displays effective power in 10 second cycles 3 Value for the processable power when dynamic brake is applied as 100 Displays effective power in 10 second cycles Appendix B 3 Sigma II Indexer User s Manual Auxiliary Functions B 2 Auxiliary Functions The following list shows the auxiliary functions available via the CN7 port when using a digital operator Table B 1 Availabl
71. OT Status Reverse Run Prohibited 1 Input Signal Closed OT Status Reverse Run Prohibited 2 Always OT Status Reverse Run Prohibited 3 Reverse Run Always Allowed SERVOPACK The short circuit wiring shown in the figure can be omitted when P OT and N OT are not used Figure 5 2 Hardware Overtravel Short Circuiting Using the Software Position Limits Set the following parameters to specify the software position limits Parameter Setting 0 Linear 1 Rotary Shortest Path Posta Moving Method 2 Rotary Forward Rotation 9 3 Rotary Reverse Rotation Pn81B Position Reference Reference 90999999 99999999 99999999 Forward Limit Unit Pn81C Position Reference Reference 09999999 99999999 99999999 Reverse Limit Unit Moving Method Settings 1 Pn81A 0 Linear An error will occur if commanded position is beyond forward or reverse position ref erence limits Motor will not move If motor reaches the software limits while jogging motor will decelerate to a stop at the deceleration rate set in Pn820 Disable the soft ware limits by setting both the forward and reverse position reference limits to 0 The software limits are ignored until homing is complete when a homing routine is specified for an incremental encoder Refer to 5 11 3 Homing Routine Parameters for more information regarding homing 2 Pn81A 1 Rotary Shortest Path Used for rotary motion Absolute move comma
72. Operation Input Conditions oed 4 eeeee eee Laan toes 5 13 4 Minimum Input Signal Timing for Homing and Jog Operations 2 52 00 sever nuwin cece dee es 5 2 5 55 Sigma II Indexer User s Manual Before Reading this Chapter This chapter describes the use of each CN1 and CN4 I O signal for the SGDH Servo ampli fier with the Sigma II Indexer It also describes the procedure for setting the related parame ters for the intended purposes The following sections can be used as references for this chapter e CNI and CN4 I O signal list Refer to 3 1 3 I O Signal Names and Functions e CNI and CN4 I O signal terminal layout Refer to 3 1 2 I O Signals Connector CNI CN4 Terminal Layout e Parameter list Refer to Appendix A List of Parameters The CNI and CN4 connector is used to exchange signals with external circuits Parameter Configurations Parameters are comprised of the types shown in the following table Refer to Appendix A List of Parameters Table 5 1 Parameter Configurations Parameter No Description Function Selection Pn000 to Pn005 Select basic and application functions such as the type of function Parameters Pn819 or the stop mode used when an alarm occurs Servo Gain and Other Pn100 to Pn123 Set numerical values such as speed and position loop gains Parameters Position Parameters Pn200toPn208 Set position parameters such as the position reference movement averaging time Speed Parameters Pn308 S
73. PRM50D PRM50E PRM50F PRM510 PRM511 PRM512 PRM080 PRMppp ppp parameter number 0 ppp FFF Return PRM800 12345678 CR LF in decimal and 8 digits to the serial com mands other than above Negative Response ExxE Parameter Write Re writes parameter with parameter number ppp to nnnnnnnn For offline parameters execute com mand RES after this command or cycle control power OFF ON Offline parameters Parameter is renewed only after RES command is PRMppp nnnnnnnn sent or control power supply is cycled after com ppp parameter number mand 0 ppp FFF Positive Response OK Negative Response ExxE Online parameters Parameter is renewed by parameter write in com mand Parameters are stored in EEPROM therefore the contents are not erased if the control power supply is turned off See also Appendix A Parameter List for details of online and offline parameters 6 20 Sigma II Indexer User s Manual Serial Command Functions Table 6 7 Parameter Operation Commands Serial Command Function Description Answer TRMppp nnnnnnnn ppp parameter number 0 ppp FFF Temporary Parameter Write For applications where the online parameter is re written frequently during operation use this com mand instead of PRMppp nnnnnnnn Functions are the same Number of write in times is limited on EEPROM physical characteristic Conten
74. Pass Through Moni Positive Response LOOP LOOP 12345 CR LF Displays current loop of program step in progress RMS Torque Monitor Positive Response TRMS TRMS 12345678 CR LF Value for the rated torque as 100 Displays effective torque in 10 second Negative Response ExxE cycles Regenerative Load Ratio Monitor 96 Positive Response RGRMS RGRMS 12345678 CR LF Value for the processable regenerative power as 100 Displays effective Negative Response ExxE power in 10 second cycles DB Load Ratio Monitor Positive Response DBRMS Value for the processable power when DBRMS 4 12345678 CR LE dynamic brake is applied as 100 Displays effective power in 10 second Negative Response Bare cycles Positive Response VER NS600 Software Version Display VER 00001234 CR LF Display in Hexadecimal Positive Response SVTYPE SGDH Type Code xx02H Display SVTYPE 00001234 CR LF Display in Hexadecimal Negative Response ExxE 6 31 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer MTTYPE Motor Type Display Positive Response MTTYPE 00000001 CR LF Display in Hexadecimal Servomotor Model 00 2 SGMAH 01 2 SGMPH 02 2 SGMSH 03 2 SGMG 06 SGMUH Voltage 00 100VAC 01 2 200VAC 02 2 400VAC Negative Response ExxE Motor Capacity Display MTSIZE x 10W Positi
75. Port RAM Set up and maintenance with digital operator 24V COM Sinking or Sourcing 5 PO er INPOSITION ON when in position Mode 0 when ON START STOP HOME POUTO POUT1 Programmable POUT2 F7 outputs POUT3 POUT4 ES Photocoupler maximum output Operating Voltage 30VDC Operating Current 50mA DC ISEL3 JOG2 lt gt Serial Command Communication ISEL4 JOG3 Figure 3 2 Sigma Il Indexer JUSP NS600 I O CN4 Note Mode 0 enables input functions START STOP PGMRES SELO SEL1 SEL2 SEL3 SEL4 Mode 1 enables input functions HOME JOGP JOGN JOGO JOGI JOG2 JOG3 3 3 Sigma II Indexer User s Manual I O Signals CN1 CN4 3 1 2 I O Signals Connector CN1 CN4 The following diagrams show the layout of CN1 and CN4 terminals Table 3 1 CN1 Terminal Layout Servo Amplifier 1 SG Signal 26 WARN Servo warn Ground ing output Signal Brake inter d Ground A me lock output 3 i 28 IBK Brake inter lock output 4 z 29 s Rpy Servo ready output 5 i 30 S RDY Servo Ready Output 6 SG Signal 31 Ate oem Ground output 7 32 ALM Servo alarm PG Divided AURI 8 33 PAO Output A Phase PG Divided 9 34 PAO Output Signal PG Divided A Phase 10 SG d 35 PBO Output TOU
76. Positive Response OK JSEDS TORE Saves jog speed table settings in Flash memory At power ON Nevative Response ExxE jog speed table last saved by JSPDSTORE is restored e P Positive Response POST123 STOP SP SP SP SP SP SP CR LF POST123 A 12345678 CR LF POSTsss Program Table POS Read POST123 I 12345678 CR ILF 0 sss 127 Program table POS target position reservation read POST123 INFINITE SP CR LF POST123 SP SP SP SP SP SP SP SP SP CR LF Negative Response ExxE POSTsss nnnnnnnn 0 sss 127 Program Table POS Write Program table POS target position reservation write Settings I 99999999 Relative position reference unit A 99999999 Absolute position reference unit Infinite Equivalent to Jog forward Infinite Equivalent to Jog reverse STOP Stop positioning No positioning reservation used for POUT reservation only Setting at shipping STOP Positive Response OK Negative Response ExxE SPDTsss 0 sss 127 Program Table SPD Read Program table SPD position speed reservation read Positive Response SPDT123 12345678 CR LF Negative Response ExxE 6 22 Sigma II Indexer User s Manual Serial Command Functions Table 6 8 Program Table Set up Serial Command Function Description Answer SPDTsss 0 sss 127 Program Table SPD Write Pr
77. Provided for Servo Amplifier CN8 Lithium battery JZSP BAOI includes battery and connector Battery Toshiba ER3 V 3 6V 1000mAh li I Battery carrying space Hn Z Batter connector CN8 galala OOo MODE SET A Vo MA CHARGE POWER O oja Figure 5 11 Battery Provided for Servo Amplifier A WARNING Install the battery at either the CN1 21 22 or CN8 NEVER at both simultaneously Such a connection would create a circuit between the batteries which could lead to electric shock injury or equipment dam age 5 6 4 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder backup alarm is generated When the servo amplifier s power supply is turned OFF and the encoder s cable is removed The setup operation can be performed by using the hand held digital operator the servo amplifier s panel operator or by serial command see Appendix B2 Auxiliary Functions Sigma II Indexer User s Manual Absolute Encoders Setup Using the Hand held Digital Operator 1 Press the DSPL SET key to select the auxiliary function mode 2 Select the user function Fn008 Press the Left Arrow or Right
78. TA SHIFT key for a minimum of one second to set to the servo OFF state 4 5 Sigma II Indexer User s Manual Two Step Trial Operation f Press the DATA SHIFT key for a minimum of one second and the display will revert to Fn002 in the auxiliary function mode j ri Lil r1 rri d This ends operation under panel operator control The motor speed for operation under digital operator control can be changed with parameter Parameter Signal Setting rpm Pn304 Jog Speed Default Setting 500 Note The rotation direction of the servomotor depends on the setting of parameter Pn000 0 Rotation Direction The above example shows a case where Pn000 0 is set to O as a default setting 5 Connect the signal lines Ec e c Connect the CN1 CN4 and or CN6 connectors Use the following procedure to connect the CN1 CN4 and or CN6 connectors a Turn OFF power b Connect the CN1 CN4 and or CN6 connector c Turn ON power again 6 Check the CN1 input signals if applicable Check input signal wiring in Monitor Mode using the panel operator Select monitor Un005 SGDH Input Signal Monitor See Sigma II User s Manual 7 1 7 Operation in Monitor Mode for more details on the procedure 4 6 Sigma II Indexer User s Manual Two Step Trial Operation Turn ON and OFF each signal line to see if the LED monitor bit display on the panel changes as shown below Input signa
79. al Reserva tion 000000 bbbbbb 111111 O Photo Coupler OFF 1 Photo Coupler ON bit 0 INPOSITION bit 1 POUTO bit 2 POUT1 OUT2TESTbbbbbb bit 3 POUT2 bit 4 POUT3 m bit 5 POUT4 Positive Response OK bit 6 0 fixed bit 7 0 fixed Negative Response ExxE meu o E tee oui Return Error E56E when bbbbbbbb is less than 8 digits CN4 outputs Monitor Read Positive Response MONn Same as STS RDST 1 nd 11 Same as the following STS MONI RDST MONI1 monitors Negative Response ExxE Positive Response Current Issue commanded Position M PUN or MONI Monitor PUN 12345678 CR LF reference units 6 29 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer Positive Response PER or MON2 Position Error Monitor PER 12345678 CR LF reference units Negative Response ExxE Positive Response NFB or MON3 Motor Speed Monitor NFB 12345678 CR LF rpm Negative Response ExxE Positive Response NREF or MON4 Speed Reference Monitor NREF 12345678 CR LF rpm Negative Response ExxE Positive Response TREF or MONS Torque Reference Monitor TREF 12345678 CR LF rated torque Negative Response ExxE Positive Response STS 1010101 CR LF bit 0 1 in INPOSITION bit 1 1 in NEAR bit 2 1 in DEN Command Position Complete DAROE MONG
80. alues of parameters Press the Up Arrow key to increase the set value Press the Down Arrow key to decrease the set value Press the Up and Down Arrow keys together to reset a servo alarm MODE SET MODE SET Key Press this key to select the status indicator mode auxiliary function mode parameter setting mode or monitor mode DATA SHIFT Key Press this key to set each parameter or display the set value of each parameter This key is used for selecting the editing flashing digit or data setting Note The panel display may be blank for up to 3 minutes each time control power is applied The servo sys tem is still operational Monitor the STS status LED for alarm conditions 7 4 Sigma II Indexer User s Manual Basic Operation 7 1 3 Resetting Servo Alarms Servo alarms can be reset using the digital operator Using the Hand Held Digital Operator Press the RESET key in status display mode Only SGDH servo amplifier alarms can be cleared by the digital operator connected through connector CN3 All alarms can be cleared by the digital operator connected through connector CN7 The servo alarm will be reset if the control power supply is turned OFF IMPORTANT e If an alarm is ON reset the alarm after eliminating the cause of the alarm first Refer to Chapter 9 Troubleshooting 7 5 Sigma II Indexer User s Manual Basic Operation 7 1 4 Basic Mode Selection The basic mode selectio
81. ange Position Non Reservation Error Eole ABE A position must be reserved before a ST ON ON No Cha ge command Registration Distance Non Reservation Error E52E A 9F ON ON No Change A registration distance RDST must be reserved before a RS command Move Reference Duplication Error New positioning move command sent E53E A 9F before previous commanded positioning ON ON No Change move complete Previous commanded posi tioning move must be complete before com manding a new positioning move Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 9 2 2 Sigma Il Indexer Error Warning Status Display Table Indexer Status Status Code Panel Display Detail ALM Output WARN Display Motor Operation Error E54B A 9F Servo ON Incomplete Error Servo is not enabled Turn servo on ON ON No Change ESSE A 9F Servo ON Failure Error SGDH failed to turn ON servo Check to see if main power is ON or if SGDH is in the alarm state Cannot execute a ST start command during program operation etc ON ON No Change ES6E A 9F Serial Communication Non Definition Command Error Command syntax error ON ON No Change E57E A 9F Address Out of Range Error Serial command address is out of range ON ON No Change E58E A 9F Data Out of Range Error Serial command data is out of
82. ased the products 1 2 4 External Appearance And Nameplate Examples Figure 1 2 External Appearance of Sigma Il Indexer Application Module Application Module model number Application Module name SERVOPACK IP1X INDEXER OPTION UNIT MODEL JUSP NS600 VER 01000 0 N OP0210 3 1 S N D00081703490001 t US YASKAWA ELECTRIC MADE IN JAPAN ILE RIA LE P Serial number Use with SGDH LISTED SERVOPACK only IND CONT EQ Version Figure 1 3 Nameplate 1 3 Sigma II Indexer User s Manual Checking Products on Delivery SGDH JUSP NS600 043002 peeds WV Hod Jeng 041002 1u8 n2 10 U09 uonisogd Counter RS 422 485 Figure 1 4 Block Diagram of Sigma II Indexer Functions SERVOPACK SGDH a JUSP NS600 Indexer Application Module STS Status LED green and red d e CN7 Set up and Maintenance connector Used for indexer set up parameter settings and maintenance using the digital operator ADRS Axis Address Rotary switch used to set axis address d CN3 SigmaWin connector Used only for highly accurate autotuning and data tracing b CN4 I O Signal connector Used for sequence I O signals c CN1 I O Signal connector Used for sequence l O signals d CN6 Serial Command connector Used for serial command mode Serial command mode can be used for indexer set up parameter settings maintenance and control Figure 1 5 Note Refer to Table 1 3 for
83. ash Memory Alarm Detected only during initialization OFF OFF Servo OFF NO E12A A EF Firmware Execution Alarm OFF OFF Servo OFF NO E13A A EF Firmware Version Unmatched Only dur ing initialization Firmware version does not match hard ware version OFF OFF Servo OFF NO EI4A A EF Parameter Checksum Alarm Detected only during initialization OFF OFF Servo OFF NO E15A A EF Parameter Version Unmatched Detected only during initialization Parameter version does not match firm Ware version OFF OFF Servo OFF NO E16A A EF Parameter Out of Range Alarm Detected only during initialization Value set in parameter is out of range Example If Pn81D Home Position exceeds Pn81B P LS or Pn81C N LS when Pn81A Moving Method 1 2 or 3 then alarm E16A will occur OFF OFF Servo OFF NO E17A A E0 Initial Communication Alarm between NS600 and SGDH Detected only during initialization Communication between SGDH and NS600 failed during initialization Example In the case of an absolute encoder if CN3 is being used at power on the alarm E17A will occur NS600 cannot get the initial absolute position data from SGDH when CN3 is in use OFF OFF Servo OFF NO E18A A E2 Communication after initialization Alarm between NS600 and SGDH Communication between SGDH and NS600 fa
84. at high speed when the power was turned ON Encoder Overheated The internal temperature of encoder is too high Reference Speed Input Read Error The A D converter for reference speed input is faulty Reference Torque Input Read Error The A D converter for reference torque input is faulty System Alarm A system error occurred in the servo amplifier Servo Overrun Detected The servomotor ran out of control Absolute Encoder Clear Error and Multi Turn Limit Setting Error The multi turn for the absolute encoder was not properly cleared or set Encoder Communications Error Communications between servo amplifier and encoder is not possible Encoder Parameter Error Encoder parameters are faulty Encoder Echoback Error Contents of communications with encoder is incorrect Multi Turn Limit Dis agreement Different multi turn limits have been set in the encoder and servo amplifier Position Error Pulse Overflow Position error pulse exceeded parameter Pn505 Power Line Open Phase One phase is not connected in the main power supply Not Specified Digital Operator Trans mission Error Digital operator JUSP OP02A 2 fails to communicate with servo amplifier e g CPU error Notes Not an error 9 12 Normal operation status Sigma II Indexer User s Manual SGDH Servo Amplifier Status Display Tables
85. ation However the remaining amount is held Feed hold function The remaining position is executed by the following ST command Speed SPDx POSIy ST HOLD ST yrtyz y Feed Hold 2 When HOLD command is sent during JOG operation JOGP JOGN the same operation is performed as SKIP command Motor decelerates to a stop 3 When HOLD and ST commands are sent after positioning complete no move is exe cuted Repeat positioning with an additional ST command Speed 4 When reserving a new position after positioning is interrupted by HOLD command the new positioning is executed Speed ysty y FEED HOLD CANCELLED y cancelled 5 When reserving a new position while positioning before a HOLD command the follow ing ST command starts positioning to the new reserved position Speed POSIZ eSPDx i ST POsly i HOLD yity y FEED HOLD CANCELLED y cancelled Pos OK Neg ExxE 6 17 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer 6 When reserving a new speed with SPD command while positioning before a HOLD com mand example 1 or after a HOLD command example 2 the speed is reserved with posi tioning restart by the following ST command Example 1 Speed SPDx SPDy POSIy e ST ST i e HOLD i i i y y Pos OK HOLD Continued Neg FEED HOLD Exx
86. ature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C e Humidity 90 r h or less Vibration 0 5 G 4 9 m s e Condensation and Freezing None e Ambient Temperature for Long term Reliability 45 C maximum 2 5 Sigma II Indexer User s Manual Installation This page intentionally left blank 2 6 Sigma II Indexer User s Manual efesotomasyon com 3 Connectors 3 1 I O Signals CN1 CN4 2 0 eee ee eee 3 2 3 1 1 Connection Example of I O Signal Connector CN1 CN4 3 23 3 1 2 I O Signals Connector CN1 CNG 3 4 3 1 3 I O Signal Names and Functions 3 6 3 1 4 Interface Circuits ser 8 eae wee Bae ee Rg ek 3 7 3 2 Serial Communication Connectors CN6 CN7 3 10 3 2 1 Single Axis System Example CN6 CN7 3 10 3 2 2 Multi Axis System Example CN6 only 3 10 3 2 3 Communication Specifications CN6 CN7 3 11 3 2 4 Communication Connectors CN6 CN7 3 11 3 2 5 Connector Signal Names CN6 CN7 3 13 3 2 6 Connection Examples 0 cece eee 3 14 3 3 Sigma II Indexer Power Loss 000 3 17 3 1 Sigma II Indexer User s Manual I O Signals CN1 CN4 3 1 I O Signals CN1 CN4 The section describes I O signals for the SGDH Servo Amplifier and Sigma II Indexer application module 3 1 1 Connection Example of I O
87. autions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related products and systems A WARNING e Warning Indicates precautions that if not heeded could possibly result in loss of life or serious injury A CAUTION CAUTION Indicates precautions that if not heeded could result in relatively seri ous or minor injury damage to the product or faulty operation Yaskawa 2000 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Sigma II Indexer User s Manual Table of Contents OVERVIEW 4 a oen ko pe E RN BV aa GR ARA A le A RAV vii NIanual OutHine socie whats Parcs I IIR Y ate Sire ae are ere ERES vii Related Man alsios gea exutu
88. can be done in IndexWorks by selecting Tools Reset to Factory Defaults All Defaults Application Mechanical System Rotary table with 6 positions 0 60 120 180 240 and 300 1 tol gearbox Move Profile Positioning Resolution 0 01 60 in 0 10 seconds triangular move profile Moves should take the shortest path of travel Set up a program table such that program step 0 is 0 program step 1 is 60 program step 2 is 120 etc Output POUTO should turn on when within 20 of each position Output POUT4 should turn on when within 10 of each position All outputs should turn off at the start of the next move Exercise 42b Outputs POUT2 and POUT3 should turn on whenever the rotary table is between 90 and 180 Appendix D 5 Sigma II Indexer User s Manual D 3 Example Indexer Exercise 1 Solution Solution to Exercise 1a First reset the Indexer to all factory defaults lB xj F s Ede Mew Modum Took window Ha l DH g Indexer Setup k Cen Tura Nri Term Product Ernie er Par ura Belo a Te gibse 15 B Ea ime tot Fy cmm B Eere jm poc ind INGRESA uaa Calculate the desired speed acceleration and deceleration for a triangular move profile Speed 200mm 125mm sec 6sec Accel Decel EE 156 25mm sec sec 6SeCC Appendix D 6 Sigma II Indexer User s Manual Edit the Mechanical System window by selecting the Indexer Setup Module a
89. ce Equivalent to POS nnnnnnnn or POSA nnnnnnnn ST Speed SPDx Ineffective Pos ST nnnnnnnn STy or STAy e ST STz or STAz OK STA nnnnnnnn E i i can be omitted Neg ExxE a y y Position Coordinate Note Speed set by SPD command If no SPD command given then default speed set in Pn81E is used 6 11 Sigma II Indexer User s Manual Serial Command Functions Serial Command Table 6 6 Moving Command Function Description Answer Positioning Start Relative Position Setting Range 99999999 nnnnnnnn 99999999 Reference Units Command to perform positioning to relative incremental position reference Equivalent to POSI nnnnnnnn ST Speed Pos STI nnnnnnnn ok can be omitted Neg ExxE a a y a 2y Position Coordinate Note Speed set by SPD command If no SPD command given then default speed set in Pn81E is used Registration Distance Reservation Setting Range 0 nnnnnnnn 99999999 Reference Units Command to set relative registration distance Registration distance value becomes 0 when the power supply is turned OFF ON or after RES command is executed Pos OK RDSTnnnnnnnn SPDx RSPDy Neg RDSTa ExxE RTRG Registration Speed Reservation Pos Setting Range 1 nnnnnnnn 99999999 x 1000 Reference Unit min OK RSPDnnnnnnnn Command to set registration speed Neg Registration speed is set value of Pn81E when the power supply is turned
90. condition as the previous program step Setting at shipping ITO Positive Response OK Negative Response ExxE LOOPTsss 0 sss 127 Program Table LOOP Read Positive Response LOOPT123 12345 CR LF Negative Response ExxE LOOPTsss nnnnn 0 sss 127 Program Table LOOP Write Settings 1 99999 Number of times program step is repeated Setting at shipping 1 Positive Response OK Negative Response ExxE NEXTTsss 0 sss 127 Program Table NEXT Read Positive Response NEXTT123 12345 CR LF NEXTT123 END SP SP CR LF Negative Response ExxE NEXTTsss nnn 0 sss 127 Program Table NEXT Write Setting 0 127 Next program step END Program end Setting at shipping END Positive Response OK Negative Response ExxE 6 24 Sigma II Indexer User s Manual Serial Command Functions Table 6 8 Program Table Set up Serial Command Function Description Answer Positive Response ZONET Tee Zone table ZONEP positive side zone position limit read ZONEEEIS ses EH RITE 0 zz 31 Negative Response ExxE Zone Table ZONEP positive side zone position limit Write ZONEPT zz Setting Positive Response OK 0 zz 31 99999999 99999999 Zone position limit reference unit Negative Response ExxE Setting at shipping 0 Positive Response 2 zz Zone Table ZONEN negative side
91. d ARES Elimi nate the cause of the alarm and then cycle the power supply to reset the alarms 6 A 9x is a SGDH Warning code Refer to 8 3 1 SGDH Servo Amplifier Alarm Display Table 9 6 Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 9 2 2 Sigma Il Indexer Error Warning Status Display Table Indexer Status Panel Detail ALM WARN Motor Status Code Display Output Display Operation E41E A 9F Program Table Save Failure Error ON ON No Change E42E A 9F ZONE Table Save Failure Error ON ON No Change E43E A 9F JOG Speed Table Save Failure Error ON ON No Change E44E A 9F Program Table Checksum Error ON ON No Change E46E A 9F JOG Speed Table Checksum Error ON ON No Change Serial Communication Receiving Buffer Overflow Error ERE nep Buffer has a 100 command capacity If over ON ON No Chatige flow error occurs then all commands stored in the buffer are cleared E48E A 9F Serial Communication Parity Error ON ON No Change E49E A 9F Serial Communication Framing Error ON ON No Change E4AE A 9F Serial Communication Overrun Error ON ON No Change E4BE AOF Moving Disable Error due to ON ON No Change P OT E4CE AOF Moving Disable Error due to ON ON No Change 4 N OT Error E4DE AOF Moving Disable Error due to ON ON No Change P LS EAEE AOF Moving Disable Error due to ON ON No Change N LS E4FE A 9F Position Reference Out of Range Error ON ON No Ch
92. e 0 39in 10mm 1 revolution 6mm Therefore units must be defined in the servo 10 6 1 6667 revolutions Equipment conditions and reference 2048 4 pulses 1 revolution So amplifier beforehand 1 6667 2048 4 13653 pulses Reference unit is 1nm Therefore 13563 pulses are input as the reference 49mm 10000 reference units 1nm Setting the Reference Units Set the reference units by calculating the electronic gear ratio B A using the fol lowing procedure and set the values in parameters Pn202 and 203 1 Check equipment specifications related to the reference units e Speed Reduction Ratio N5 N N rotation of the load shaft N gt rotation of the motor Ball screw pitch Pulley diameter 2 Check the number of encoder pulses for the SGM H servomotor Servomotor Model and Number of Encoder Pulses Per Revo Encoder Specifications EncoderIype lution p rev pre quadrature Incremental encoder Absolute encoder Note The number of bits representing the resolution of the applicable encoder is not the same as the num ber of encoder signal pulses A and B phase output from the servo amplifier Sigma II Indexer User s Manual Setting up the Reference Units 3 Determine the reference unit used A reference unit is the minimum position data unit positioning resolution used to move a load To move a table in 0 001mm units Reference unit 0 001mm
93. e Auxiliary Functions Digital Opera F nchon Equivalent Serial tor CN7 Command CN6 Fn000 Alarm trace back data ALMO0 9 Fn001 Rigidity setting during online autotuning STIFF STIFFd Fn002 JOG mode operation None Fn003 Origin search mode None Fn004 N A N A Fn005 Parameter setting initialization PRMINIT Fn006 Alarm trace back data clear ALMTRCCLR Fn007 Inertia ratio data obtained from online autotuning save e Fn008 Absolute encoder multi turn reset and encoder alarm reset ABSPGRES Fn009 N A N A Fn00A N A N A Fn00B N A N A Fn00C Manual zero adjustment of analog monitor output None Fn00D Manual gain adjustment of analog monitor output None Fn00E Automatic zero adjustment of motor current detection signal CURZERO Fn00F Manual zero adjustment of motor current detection signal None Fn010 Password setting Protects parameters from being changed None MTTYPE Fn011 Motor model display pened SVYSPEC Fn012 SGDH software version display PG software version display SVVER PGVER Fn013 E limit setting Change when a multi turn limit disagreement alarm MLTLIMSET Fn014 N A N A Fn800 NS600 software version display VER Fn801 NS600 type code 0600H display TYPE Fn802 NS600 Y spec no display YSPEC Fn803 Program table save PGMSTORE Appendix B 4 Sigma II Indexer User s Manual Auxiliary Functions Table B 1 Available Auxiliary Functions
94. e ZONEP positive side zone position limit Write 6 8 ZONESTORE ZONE Table Save 6 8 ZRN Homing Start 6 6 ZSET nnnnnnnn Coordinates Setting 6 6 Appendix C 4 Sigma II Indexer User s Manual D 1 D 2 D 3 D4 Appendix D Example Exercises Example Indexer Exercise 1 0 D 2 Example Indexer Exercise 2 04 D 5 Example Indexer Exercise 1 Solution D 6 Example Indexer Exercise 2 Solution D 14 Appendix D 1 Sigma II Indexer User s Manual D 1 Example Indexer Exercise 1 The following exercises are presented as a self learning tool for the NS600 indexer and Index Works software Answers to the exercises are also provided at the end of this section Exercise la Enter and download the following program into the Indexer using IndexWorks Test the program after downloading It is recommended to reset the Indexer to all factory defaults before starting a new applica tion This can be done in IndexWorks by selecting Tools Reset to Factory Defaults All Defaults Application Mechanical Ballscrew Actuator with 20mm lead 10 1 gearbox Move Profile Positioning Resolution 0 001mm Typical Index 100mm in 1 6 sec triangular move profile Turn on output POUTO at the start of the index as shown below POUTO ume Appendix D 2 Sigma II Indexer User s Manual Exercise 1b Add a second index of 400 mm POUTI should turn on at the end
95. e for alarm codes ALOI ALO2 and ALO3 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 and outputs an alarm code when an alarm occurs The following warning codes are output in 3 bits Warning Indi cation Warning Code Output ALOI ON signal low level ALO2 OFF signal high level OFF signal high level Warning Description Overload OFF signal high level ON signal low level ON signal low level ON signal low level OFF signal high level OFF signal high level 5 22 Regenerative overload Low Battery Sigma II Indexer User s Manual Sequence I O Signals 5 3 6 Using the INPOSITION Output Signal The basic use and wiring procedure for the positioning completed INPOSITION output signal photocoupler output signal is described below The signal is output to indicate that servomotor operation is completed I O power supply ov Sigma Il Indexer Photocoupler output levels per output node Maximum operating voltage 30Vpc Maximum output current 50mApc Output INPOSITION CN4 19 20 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed The INPOSI TION output signal turns ON when the position error is within the inposition win dow width Pn821 and when the position distribution ends DEN The Indexer continuously outputs position commands while posit
96. enera tive resistor capacity Overvoltage Main circuit DC voltage is excessively high Undervoltage Main circuit DC voltage is excessively low Overspeed Rotational speed of the motor is exces sively high Overload High Load The motor was operating for several sec onds to several tens of seconds under a torque largely exceeding ratings Overload Low Load The motor was operating continuously under a torque largely exceeding ratings Dynamic Brake Overload When the dynamic brake was applied rotational energy exceeded the capacity of dynamic brake resistor Overload of Surge Cur rent Limit Resistor The main circuit power was frequently turned ON and OFF Heat Sink Overheated 9 11 The heat sink of servo amplifier over heated Sigma II Indexer User s Manual SGDH Servo Amplifier Status Display Tables Alarm Display Alarm Code Output ALOI ALO2 ALO3 ALM Output Alarm Name Absolute Encoder Backup Error Description All the power supplies for the absolute encoder have failed and position data was cleared Encoder Checksum Error The checksum results of encoder memory is abnormal Absolute Encoder Battery Error Battery voltage for the absolute encoder has dropped Absolute Encoder Data Error Received absolute data is abnormal Absolute Encoder Over speed The encoder was rotating
97. erminals PAO CN1 33 PAO CN1 34 Servo Amplifier PBO CN1 35 Servomotor PBO CN1 36 encoder Frequency division se A Output Phase B Serial data Pulses from the servomotor encoder PG are divided by the preset number before being output The number of output pulses per revolution is set at this parameter Sigma II Indexer User s Manual Using the Encoder Signal Output The setting range varies with the encoder used Setting Preset value 16 Example PAO 1 revolution Servomotor Model Resolution Number of Encoder and Encoder Pulses Per Revolution Setting Range Specifications Bits oken 16 to 2048 16 to 16384 Note 1 Turn OFF power once and turn ON again after changing the parameter 2 A 13 bit encoder will run at 2048p rev even if the setting at Pn201 is set higher than 2049 Sigma II Indexer User s Manual Setting up the Reference Units 5 5 Setting up the Reference Units The Sigma II Indexer stores all positioning data in units of Reference Units Reference units allow the user to program in terms of load or workpiece travel dis tance instead of servomotor travel distance When Reference Units When Reference Units are Not Used are Used Workpiece Workpiece eference unit 1nm No of encoder pulses 2048 No of encoder pulses 2048 Ball screw pitch 0 24in 6mm Ball screw pitch 0 24in 6mm To move a workpiece 0 39in 10mm To move a workpiec
98. escribes servo amplifier I O signal names and functions Table 3 5 CN1 Input Signals Servo Amplifier Signal Name Function Servo ON Turns ON the servomotor when the gate block in the inverter is released Mode 1 No effect Mode 0 Program select input 5 Forward run prohibit Reverse run prohibit Overtravel prohibited Stops Servo motor when movable part travels beyond the allowable range of motion Zero point return deceleration limit switch Deceleration LS used when the motor returns to the zero point during homing Mode 1 No effect Mode 0 Program select input 6 Registration latch signal used for external positioning supply Control power supply input for sequence signals User must provide the 24 V power Minimum operating voltage 11V Maximum operating voltage 25V Connecting pin for the absolute encoder backup battery Connect to either CN8 or CN1 21 22 Table 3 6 CN1 Output Signals Servo Amplifier Signal Name Function Servo alarm Turns OFF when an alarm is detected Servo Warning ON when an error or warning is detected Brake interlock Output that controls the brake The brake is released when this signal is ON Servo ready ON if there is no servo alarm when the control main circuit power supply is turned ON Alarm code output Outputs 3 bit alarm codes Open collector 30 V and 20 mA rating maximum Connected to frame gr
99. et speed parameters such as the speed feed forward filter time constant Torque Parameters Pn401 to Pn409 Set torque parameters such as the forward reverse torque limits Pn500 to Pn509 Sequence Parameters Pn803 to Pn818 Set output conditions for sequence signals and flexible I O signal configuration Pn833 to Pn834 Motion Parameters Pn81A to Pn828 Set motion parameters such as the zero point return direction Others Pn600 to Pn601 Specify the capacity for an external regenerative resistor Serial Communication Parameters Auxiliary Function Exe Fn000 to Fn014 cution Fn800 to Fn808 Un000 to Un00D ae UNE Monitor Modes Un800 to Un811 Enable speed torque I O and position monitoring Pn800 to Pn802 Set parameters for serial command communication settings Execute auxiliary functions such as JOG Mode operation 5 3 Sigma II Indexer User s Manual Parameter Limits with Sigma II Indexer 5 1 Parameter Limits with Sigma Il Indexer This section explains the limits for parameters and standard settings with the Sigma II Indexer mounted Parameter Parameter Limits When the Sigma II Indexer application module is mounted on a SGDH servo amplifier the following parameters are automatically set The following parameters will be treated as reserved for system use so do not change them The SGDH servo amplifier will be set for position control It is not necessary to set parameters f
100. ethod 1 IP control Not used 0 Reserved 0 to 2 Reserved parameter Do not change 0 Tunes only at the beginning of operation Online Autotun 0 ing Method 1 Always tunes 0 2 Does not perform autotuning Pn110 Speed Feedback 0 Enabled Online Auto 1 Compensation 1 tning Select 1 Disabled Switches 4 0 Friction compensation Disabled 2 Friction Gompen 1 Friction compensation Small 0 sation Selection 2 Friction compensation Large 3 Reserved 0 3 Reserved parameter Do not change 0 Appendix A 11 Sigma II Indexer User s Manual Servo Amplifier Switches Parameter Name Description Default Setting Pn200 Position Control Ref erences Selection Switches Not Used 0 Not Used 0 Clear Operation Clears error at base block 0 fixed Not Used 0 Pn207 Position Control Function Switches Position Refer ence Filter Selec tion Acceleration deceleration filter 1 fixed Not Used Pn408 Torque Con trol Function Switches Notch Filter Selection Disabled Uses a notch filter for torque reference Not used Appendix A 12 Sigma II Indexer User s Manual Appendix B Monitor Modes and Functions B 1 Monitor Modes 0 ccc eee eee eee ees B 2 B 2 Auxiliary Functions Appendix B 1 Sigma II Indexer User s Manual Monitor Modes B 1 Monitor Modes The follo
101. ext program step NEXT each time the event condition is satisfied true Conditions I INPOSITION active N NEAR active The following parameters are used to set the timing for the INPOSITION and NEAR signals Parameter Signal Settings reference units Default Pn821 INPOSITION Signal Width Setting Range 0 99999 1 Pn822 Near Signal Width Setting Range 0 99999 1 Generally set the Near width higher than the INPOSITION width The INPOSITION output signal is dependent on the logic of the INPOSITION width and DEN The near signal turns on by the near width only See also 5 3 6 Using the INPOSITION Output Signal Speed Reference E p 9s Error pulse 0 j ON NEAR ANPOSITION ON D DEN active commanded position complete DEN distribution end SELx x 0 6 Input signal SELO SEL6 active Tn n 0 99999 Time ms from start of program step Uses same event condition as the previous program step Note I N D SELx can be combined with Tn Program waits the reserved time after event condition is satisfied true before execution of next program step ITn Program waits n ms Tn after INPOSITION becomes active before next program step NTn Program waits n ms Tn after NEAR becomes active before next program step DTn Program waits n ms Tn after DEN becomes active before next program step SELxTn Program waits n ms Tn after SELx becomes active before next program step
102. ference units per minute per millisecond Example Reference unit 0 01 mm Desired acceleration is 0 1 second from 0 to 15 m min 15 000 mm min 1 500 000 reference units min 0 01 mm 1 500 000 ref units min 0 1 sec f D N 15 000 reference units min ms 0 1 sec 100 msec Acceleration 15 x1000 reference units min ms The following parameters are used to set the acceleration and deceleration rate Parameter Setting Default Acceleration 1 99999999 x1000 ref units min ms Deceleration 1 99999999 x1000 ref units min ms Position Reference Movement Averaging Time 0 6400 0 01 msec Sigma II Indexer User s Manual Setting up the Reference Units Speed Reference before smoothing Speed Reterence Speed Reference after smoothing mn S _ x1000 ref unit min Acceleration o Scc S _ x1000 ref unit min Deceleration ak Sec Note Smoothing Filter Average Movement Filter set by Pn208 Movement Averaging Time 0 to 6400 0 01msec 5 34 Sigma II Indexer User s Manual Absolute Encoders 5 6 Absolute Encoders If a motor with an absolute encoder is used the absolute position is detected in the Sigma II Indexer Consequently automatic operation can be performed without a homing operation immediately after the power is turned ON Motor SGMA H A AA 1A With 16 bit absolute encoder SGM H A A A 2A With 17 bit absolute encoder Alway
103. hooting 9 1 Troubleshooting Problems with No Alarm Display 9 2 9 2 Sigma IL Indexer Status Display Tables 9 4 9 2 Sigma II Indexer Alarm Status Display Table 9 4 9 2 2 Sigma II Indexer Error Warning Status Display Table 9 7 9 3 SGDH Servo Amplifier Status Display Tables 9 11 9 3 1 SGDH Servo Amplifier Alarm Display Table 9 11 9 3 20 SGDH Servo Amplifier Warning Display Table 9 13 94 SITS Status LEDS oc cscewsees eee hous dneeansuex 9 14 9 1 Sigma II Indexer User s Manual Troubleshooting Problems with No Alarm Display 9 1 Troubleshooting Problems with No Alarm Display Use the tables below to identify the cause of a problem that causes no alarm display and fol low the described corrective procedure Turn OFF the servo system power supply before starting the shaded procedures Contact Yaskawa if the problem cannot be solved by carefully following the described pro cedure Symptom Servomotor does not start Cause Power not connected Comment Check voltage between power supply terminals Loose connection Connector CN1 CN4 CN6 external wiring incorrect Check terminals of connectors CN1 CN2 CN4 CN6 Check connector CN1 CN4 CN6 external wiring Servomotor or encoder wir ing disconnected Overloaded Run under no load Servo not enabled Table 9 1 Troubleshooting Table with No Alarm Display Solution Correc
104. i brad ti Rh LAS NER CAU RD EAQUE WE bead 2 5 2 4 3 Side by side Installation 4 uve eee EE sha REPE EA MES 2 5 Chapter 3 Connectors ss pirsara ag ee uy On ad UNE RES CURE PESOS 3 1 3T UO Steal CNL ONS 5 hea RATER OO hee ee SE RENE PR NR RES 3 2 3 1 1 Connection Example of I O Signal Connector CN1 CN4 3 2 3 1 2 I O Signals Connector CN1 CN4 0 00 eee eee eee 3 4 3 1 3 I O Signal Names and Functions 0 0 0 e eee eee 3 6 Sala Intertace CITUS s ooo eoe bye vein ete he ed eS Ete och eee ee 3 7 3 2 Serial Communication Connectors CN6 CN7 0000000 3 10 3 2 1 Single Axis System Example CN6 CN7 0 000 5 3 10 3 2 2 Multi Axis System Example CN6 only 000 3 10 3 2 3 Communication Specifications CN6 CN7 0000 0 3 11 3 2 4 Communication Connectors CN6 CN7 0 3 11 3 2 5 Connector Signal Names CN6 CN7 0 0 0 0 eee eee 3 13 3 2 6 Connection Examples osis ia ve Ee a ER DUE E RI E 3 14 3 3 Sigma II Indexer Power LOSS e vsyek I ke 3xe6RxoO Ch rerRRR ENERO 3 17 iii Sigma II Indexer User s Manual Table of Contents Chapter 4 Trial Op ration 5454 2 aa vk ERN eR ERN EAR QUEE SNO US 4 4 1 Two Step Trial Operation 20s oes cia vend once REEF E gees 4 2 4 1 1 Step 1 Trial Operation for Servomotor without Load 4 3 4 2 Step 2 Trial Operation with Servomotor Connected to Machine 4 8 Chapter 5 Parameter Se
105. i turn Setup Using Serial Command 1 Transmit serial command MLTLIMSET 2 Transmit serial command RES This completes the absolute encoder s multi turn limit setting operation Machine Zero Point Setup The following parameter is used to set the absolute offset position from the initial setup position This offset position will be the new machine zero point Pn81D 99999999 99999999 0 Note 1 Serial command ZSET nnnnnnnn automatically sets the current position to nnnnnnnn reference units Pn81D is set accordingly See 6 5 Serial Command Functions for more details on the ZSET command 2 Alarm E16A will occur if Pn81D gt I Pn81B Pn81Cl when Pn81A 1 2 or 3 Refer to 5 2 2 setting the Overtravel Limit Function 5 41 Sigma II Indexer User s Manual Absolute Encoders A WARNING The multi turn limit value should be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Value Disagreement Alarm occurs check the setting of parameter Pn205 in the servo amplifier to be sure that it is correct If Fn013 or MLTLIMSET is executed when an incorrect value is set in Pn205 that same incorrect value will be set in the encoder There will not be an additional alarm even if an incorrect value is set but incorrect positions will be detected This results in a potentially dangerous situation where the machine will move to an unexpected position 5 6 5 Absolute
106. ial Data Specifications The number of revolutions is output in five digits Start stop Synchronization ASYNC Data Transfer Method Baud rate 9600bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below p ee pn Or 66 o 0 to 9 CR 000001010 1 Data t t Stop bit Start bit Even parity Note 1 Data is P 00000 CR or P 00000 CR when the number of revolutions is zero 2 The revolution range is 32767 to 32768 When this range is exceeded the data change from 32767 to 32768 or from 32768 to 32767 PSO Serial Data Specifications The number of revolutions and the absolute position within one revolution are always output in five and seven digits respectively The data output cycle is approx imately 40ms 5 44 Sigma II Indexer User s Manual Absolute Encoders Start stop Synchronization ASYNC Data Transfer Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 13 characters as shown below p ceja or e 0 to 9 CR a 000001010 1 Data t t Stop bit Start bit Even parity Note 1 The absolute position data within one revolution is the value before dividing 2 Absolute position data increases during forward rotation Not valid in reverse rotation m
107. ible conditions of the START STOP and PGMRES inputs and their effect on program operation while no program is running or while a program is running Table 5 8 Evaluation of Program Operation Input Conditions PROGRAM STATUS Program End program finished or canceled START STOP PGMRES PROGRAM OPERATION Non Active Non Active No Change Non Active Leading Edge No Chan H ge H BS g Active Non Active Not Applicable Active Leading Edge Not Appli pplicable x Leading Edge Non Active Latches SELO SEL6 a am Executes selected program Leading Edge Leading Edge Latches SELO SEL6 E ES a Executes selected program Trailing Edge Non Active M Not Applicable Trailing Edge Leadin g Edge US Not Applicable Sigma II Indexer User s Manual Program Table Mode Mode 0 Table 5 8 Evaluation of Program Operation Input Conditions PROGRAM STATUS START STOP PROGRAM OPERATION Program Running program run ning or held but not cancelled Non Active N on Active Program Held Non Active Leading Edge Cancels program RENE Nen Active No change Active Leading Edge No change Leading Edse N ra Active Continues program Leadhg Bise Leading Edge Continues program B Md Nen Active Program Held E ee Leading Edge Program Held 5 56 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 8 Minimum Inp
108. iled Watchdog timer checks communication between NS600 and SGDH OFF OFF Servo OFF YES Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 9 2 1 Sigma Il Indexer Alarm Status Display Table Indexer Status Status Code Panel Display Detail ALM Output Motor Operation WARN 5 Display Reset E19A A EF Program Checksum Alarm Detected only during initialization Example Power loss during PGM STORE results in corrupt program table OFF OFF Servo OFF YES EIAA A EF Program Version Unmatched Detected only during initialization Index table version does not match firm ware version OFF OFF Servo OFF YES EIBA A EF Program Out of Range Alarm Detected only during initialization Value set in program table is out of range OFF OFF Servo OFF YES EICA A EF ZONE Table Checksum Alarm Detected only during initialization OFF OFF Servo OFF YES EIDA A EF ZONE Table Version Unmatched Detected only during initialization Zone table version does not match firm ware version OFF OFF Servo OFF YES Alarm EIEA A EF ZONE Table Out of Range Alarm Detected only during initialization Value set in zone table is out of range OFF OFF Servo OFF YES EIFA A EF JOG Speed Table Checksum Alarm Detected only during initialization OFF OFF Servo
109. ing Pos OK ACCnnnnnnnn Nes Time SE ti te ts ta ExxE __s_ x1000 ref unit min ACC t ho c msec 2 S x1000 ref unit min RECS tats msec Note Smoothing Filter Average Movement Filter set by Pn208 Movement Averaging Time 0 to 6400 0 01 msec Deceleration Reservation Pos Equivalent to TRM820 OK DECnnnnnnnn psu Setting Range 1 nnnnnnnn 99999999 x 1000 Reference Unit min ms Neg ExxE Default deceleration is set in Pn820 6 10 Sigma II Indexer User s Manual Serial Command Functions Serial Command Table 6 6 Moving Command Function Description Answer Positioning Start Performs positioning defined in POS POSA or POSI command at speed defined by SPD Normally same relative positioning is repeated by repeating ST When the positioning is interrupted with HOLD restart it with ST Example ps 1 SPD nnnnnnnn Speed reservation ST n POS nnnnnnnn Position reservation Neg ST Operation start ExxE 2 POS nnnnnnnn Position reservation ST Operates at speed which was set before If no speed is reserved operates at default speed set in parameter Pn81E Notes 1 Error E51E will occur if no position is reserved 2 Error E53E will occur if a ST command is sent during positioning Positioning Start Absolute Position Setting Range 99999999 nnnnnnnn 99999999 Reference Units Command to perform positioning to absolute position referen
110. ings operating references and status displays This section provides information on the keys and their functions available from the initial displays SLOW aee Press this key to reset the servo RESET Key alarm E Function unen gf CE Gs ons Press this key to select the sta tus display mode auxiliary v LOMB DSPL SET Key function mode parameter set ting mode or monitor mode This key is used for data selec tion in parameter setting mode Fore Press this key to set each param DATA ENTER Key eter or display the set value of each parameter Value Press this key to increase the set Change Up Arrow Key value This key is used as a forward JOG Key start key in JOG operation Press this key to decrease the set Down Arrow Key value This key is used as a reverse start key in JOG operation Press this key to select the digit to be changed The selected digit flashes Press the Right Arrow key to shift to the next digit on the right Press the Left Arrow key to shift to the next digit on the left Right Arrow Key Left Arrow Key Press this key to perform the JOG SVON Key operation with the digital operator 7 3 Sigma II Indexer User s Manual Basic Operation Built in Panel Operator YASKAWA SERVOPACK SGDH lola ewe Up Arrow Key Down Arrow Key Function Press this key to set parame ters or display the set v
111. ion Reservation Relative Position Setting Range 99999999 nnnnnnnn 99999999 Reference Units Reserves target position with relative position Position reference becomes 0 when power supply is turned OFF ON or after RES command is executed Speed sppx Pos POSI nnnnnnnn oF can be omitted Neg ExxE b bey b 2y b 3y Position Coordinate Note When reserving a new position while positioning the new position is executed with the following ST command Sigma II Indexer User s Manual Serial Command Functions Serial Command Table 6 6 Moving Command Function Description Answer Positioning Speed Reservation Setting Range 1 nnnnnnnn 499999999 x1000 Reference Unit min Reserves speed reference Default speed is set in parameter Pn81E Speed reference value is the set value of parameter Pn81E when the power supply is turned Pos ON or RES command is executed OK SPDnnnnnnnn Example Neg Reference unit 2 0 01mm When desired position is 15m min ue 1500mm min 0 01mm 1 500 000 reference units min 1500 X1000 reference units min SPD1500 Note When reserving a new speed while positioning the new speed is reserved with the fol lowing ST command Acceleration Reservation Equivalent to TRM81F Setting Range 1 nnnnnnnn 99999999 x 1000 Reference Unit min ms Default acceleration is set in Pn81F command before smoothing Speed oS yoo after smooth
112. ioning similar to a pulse train This is known as a distribution Therefore the INPOSITION output signal does not turn on while the distribution continues Reference Servomotor Speed Pn821 Error pulse Un008 i E INPOSITION On LS INPOSITION Status Result default state State Circuit between CN4 19 and 20 is Positioning is completed Position error is closed below the setting Circuit between CN4 19 and 20 is Positioning is not completed Position open error is above the setting The following parameter is used to set the number of error pulses Parameter Signal Setting Default reference units Pn821 INPOSITION Width Setting Range 1 to 99999 Set the number of error pulses in reference units The INPOSITION width setting has no effect on final positioning accuracy 5 23 Sigma II Indexer User s Manual Sequence I O Signals 5 3 7 Using the Programmable Output Signals POUTO POUT4 The basic use and wiring procedures for the programmable output signals POUTO POUT4 are described below The outputs can be used in either program table mode or serial mode operation Refer to 5 7 4 Program Table Set Up and 6 5 Serial Command Functions for more information I O power supply 24V ov Sigma II Indexer CN4 21 POUTO CN4 22 CN4 23 Photocoupler output levels CN4 24 per output node 25 POUT2 Maximum operating 1 voltage 30Vpc CN4
113. iving line Short pins 6 and 7 only on the last axis In the case of RS485 attach a terminating resistor 100 2 to the PC side transmission line Short pins 6 and 7 only on the last axis If noise persists in the case of RS422 or RS485 it may be necessary to add pull up pull down resistors as shown in Fig 3 5 and 3 6 Sigma II Indexer User s Manual Sigma II Indexer Power Loss 3 3 Sigma ll Indexer Power Loss See the Sigma II Series Servo System User s Manual 3 3 4 Servo Amplifier Power Losses for information on servo amplifier power losses at rated output Table 3 14 Sigma II Indexer Specifications Minimum operating voltage 5 05V min Maximum operating voltage 5 25V max Maximum operating current 500 mA max Maximum power loss 2 6 W max Note Power to the Sigma II Indexer Application Module JUSP NS600 is supplied by the SGDH servo amplifier Sigma II Indexer User s Manual Sigma II Indexer Power Loss This page intentionally left blank Sigma II Indexer User s Manual efesotomasyon com 4 Trial Operation This chapter describes a two step trial operation Be sure to com plete step 1 before proceeding to step 2 4 1 Two Step Trial Operation lesse 4 2 4 1 2 Step 1 Trial Operation for Servomotor without Load 4 3 4 1 3 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 1 Sigma II Indexer User s Manual Two Step Trial Operation
114. l 24V power supply 5 14 Sigma II Indexer User s Manual Sequence I O Signals 5 3 1 Using the Servo ON Input Signal The basic use and wiring procedure for the Servo ON S ON input signal sequence input signal is described below Use this signal to forcibly turn OFF the servomotor from the host controller Servo amplifier This signal is used to turn the servomotor ON and OFF Status Result Turns ON the servomotor operates according Input Closed to signal input This is the default state Servomotor cannot operate Input Open Do not turn OFF the servomotor while it is operating except in an emergency A CAUTION Do not use the Servo ON S ON signal to start or stop the motor Doing so will shorten the life of the servo amplifier Always use a stop input or command to start or stop the servomotor The following parameter is used to set the state of the S ON signal Parameter Setting Default 0 Input Signal Closed Servo ON 1 Input Signal Open Servo ON 2 Always Servo ON 3 Always Servo OFF Pn80B S ON CN1 40 5 15 Sigma II Indexer User s Manual Sequence I O Signals 5 3 2 Using Servo Alarm and Alarm Code Outputs The basic procedure for connecting alarm output signals is described below ik l O power supply Servo amplifier 424V Tov Photocoupler output levels per output node Maximum operating volt age 30Vpc Maximum output curre
115. l LED display Top lights ON high level input OFF Bottom lights ON low level input ON Note The servomotor will not operate properly if the following signal lines are not wired correctly Always wire them correctly Short the signal lines if they will be unused The input signal selections parame ters Pn803 to Pn80F can be used to eliminate the need for external short circuiting Connector Pin Description The servomotor can rotate in the forward eer NIS direction when this signal line is low OV The servomotor can rotate in the reverse direction when this signal line is low OV The servomotor is turned ON when this signal EON RIS line is low OV Leave the servomotor OFF 424VIN CN1 47 die power supply terminal for sequence N OT CN1 43 7 Check CN4 input signals if applicable Check input signal wiring in Monitor mode using a handheld digital operator via CN7 Select monitor Un801 NS600 Input Signal Monitor See Sigma IT User s Man ual 7 1 7 Operation in Monitor Mode for more details Input signal LED display PGMRES JOGP SELO JOGN START STOP HOME MODEO 1 Top lights ON high level input OFF Bottom lights ON low level input ON SEL1 JOGO SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 Note CNI and CN4 input signals can also be monitored by serial commands IN1 and IN2 respectively via CN6 See 6 Serial Commands for serial communication specifications co
116. l absolute data Py can be found by using the following formula Forward rotation mode Pg M 3R Po Py 7 Pg Ps Reverse rotation mode Pg M 3 R Po Pn0000 0 1 Pm Pg Rs Where Pg Prz HOW g The current value read by the encoder The multi turn data rotation count data The number of initial incremental pulses The number of initial incremental pulses read at setup This is saved and controlled by the host controller Pm The current value required for the user s system R The number of pulses per encoder revolution Pulse count after dividing by the value of Pn201 Absolute Encoder Transmission Sequence 1 Turn power on 2 After 100ms set the system to serial data reception waiting state Clear the incremental pulse up down counter to zero 3 Receive eight bytes of serial data 5 43 Sigma II Indexer User s Manual Absolute Encoders 4 The system enters a normal incremental operation state approximately 50ms after the last serial data is received EM Rotation count itial i Power Initial incremental pulses serial data eec xs ttem Incremental pulses PAO Undefined Lite i Phase A Phase A HEU IER Incremental pulses Initial PBO Undefined incremental pulses Phase B Phase B Rotation count serial data PSO Undefined 90ms typical 260ms maximum Approx 15ms Detailed Signal Specifications PAO Ser
117. le POUT Write Program table POUT programmable output reservation write Settings N Non Active A Active Z Zone Signal Output status depends on Zone Table Maintains previous status Setting at shipping Positive Response OK Negative Response ExxE 6 23 Sigma II Indexer User s Manual Serial Command Functions Table 6 8 Program Table Set up Serial Command Function Description Answer EVENTTSss 0 sss 127 Program Table EVENT Read Program table EVENT event condition read Positive Response EVENTT123 T12345 SP SP SP SP CR LF EVENTT123 IT12345 SP SP SP CR LF EVENTT123 NT12345 SP SP SP CR LF EVENTT123 DT12345 SP SP SP CR LF EVENTT123 SEL1T12345 CR LF EVENTT123 SP SP SP SP SP SP SP SP SP CR LF Negative Response ExxE EVENTTsss 0 sss 127 Program Table EVENT Write Program table EVENT event condition write Event conditions for execution of next program operation Settings I Inposition Active N Near Active D DEN distribution end active SELx Input signal active x 0 4 Tn Time from start of program step ms n 0 99999 ITn Time from Inposition Active ms n 0 99999 NTn Time from Near Active ms n 0 99999 DTn Time from DEN active ms n 0 99999 SELxTn Time from Input signal active ms n 0 99999 Uses same event
118. m step of program table last reserved by START sss If no program step is reserved start program step 0 Also restarts program step interrupted by STOP com mand sss Program Step Positive Response OK Negative Response ExxE STARTss 0 sss 127 Program Operation Start Starts program step sss Command operation equivalent to START STOP signal input operation sss Program Step Positive Response OK Negative Response ExxE STOP Program Operation Interruption Command interrupts program table operation Command operation equivalent to START STOP signal input operation Positive Response OK PGMRES Program Reset Command resets reserved program step when program operation is interrupted Command operation equivalent to PGMRES signal input operation Positive Response OK 6 26 Sigma II Indexer User s Manual Serial Command Functions 6 5 6 Monitor and Function Commands Table 6 10 Monitors and Functions Serial Command Function Description Answer Positive Response Returns one of the followings depending on its status ALM SP A xx SP CR LF xx SGDH Alarm Warning Code ALM SP ExxA SP CR LF ExxA NS600 Alarm Code ALM SP P OT SP CR LF ALM SP N OT SP CR LF ALM SP P LS SP CR LF ALM Alarm or Warning Read ALM SP N LS SP CR LF ALM SP BB SP SP SP CR LF ALM SP HOLD SP CR LF
119. min Appendix A 4 Sigma II Indexer User s Manual JUSP NS600 Indexer Parameters Parameter Number Acceleration Table A 1 Indexer Parameters x1000 Reference Unit min ms Setting Range 1 99999999 Default Setting Deceleration x1000 Reference Unit min ms 1 99999999 INPOSITION Width Reference Unit 0 99999 Near Width Reference Unit 0 99999 Homing Method 0 No Homing 1 DEC and C phase 2 DEC only 3 C phase only Homing Direction 0 Forward 1 Reverse Homing Moving Speed x1000 Reference Unit min 1 99999999 Homing Approach Speed x1000 Reference Unit min 1 99999999 Homing Creep Speed x1000 Reference Unit min 1 99999999 Notes Homing Final Move Distance SELS See note 1 SEL6 See note 1 Reference Unit 99999999 99999999 0 Close Program Select Mode 0 1 Open Program Select Mode 0 2 Always Program Select Mode 0 3 No Program Select Mode 0 0 Close Program Select Mode 0 1 Open Program Select Mode 0 2 Always Program Select Mode 0 3 No Program Select Mode 0 1 Parameters Pn800 Pn801 Pn803 Pn81E Pn823 Pn833 Pn834 parameters in bold are offline parameters After changing these offline parameters cycle power or send serial command RES to enable the new setting Pn802 Pn81F Pn820 P
120. mmand format and serial command descriptions 4 7 Sigma II Indexer User s Manual Two Step Trial Operation 8 Check CN6 Serial Command Port if applicable Establish serial communication using either the Indexer software or terminal emula tor Refer to 6 Serial Commands for serial communication specifications command format and serial command descriptions for more details when using a terminal emulator or similar device 9 Turn ON the servo Servo amplifier Servomotor Turns ON the servo Turn ON the servo ON signal Display with the servo ON Set S ON CN1 40 to OV If normal the servomotor will turn ON and the LED indicator on the front panel will display as shown above If an alarm display appears take appropriate action as described in 8 Troubleshooting Note Serial command SVON can also be used to turn on the servo 4 1 2 Step 2 Trial Operation with the Servomotor Connected to the Machine A WARNING Follow the procedure below for step 2 operation precisely as given Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury Before proceeding to step 2 repeat step 1 servomotor trial operation without a load until all concerns including parameters and wiring have fully satisfied expectations After step 1 has been completed proceed to step 2 for trial operation with the servo motor connec
121. n Right Angle Plug Connector Case Manufacturer Sumitomo 10114 3000VE 10314 52A0 008 3M Co Note Yaskawa P N YSC 1 includes 3M case and connector 3 12 Sigma II Indexer User s Manual Se rial Communication Connectors CN6 CN7 pis 3 2 5 Connector Signal Names CN6 CN7 Signal name TXD Table 3 13 Signal Circuit Name Transmit data not inverted Signal Direction Pe S TXD Transmit data inverted Pe S RXD Receive data not inverted PS RXD Receive data inverted P gt S Reserved Reserved pin RXD RT Short pins 6 and 7 apply an internal 220 Q t RXD erminating resistance between RXD and TXD Transmit data not inverted Pe S 2 3 4 5 6 T 8 9 TXD Transmit data inverted P S RXD Receive data not inverted P gt S Reserved Reserved pin Reserved Reserved pin Reserved Reserved pin GND Signal ground 0 V P Personal computer S Servopack Reserved terminal leave open 3 13 Sigma II Indexer User s Manual Serial Communication Connectors CN6 CN7 3 2 6 Connection Examples PC RS232 port JUSP NS600 Indexer 6CN 7CN IRXD 2 TXD Cable length 3m max MXD 4 RXD OV 14 GND RTS CTS CD FG DTR DSR Case FG Figure 3 3 RS232C Single Axis Communication CN6 CN7 PC RS422 port JUSP NS600 Indexer 6CN 7CN
122. n 507 i Release rake b BK output I Hold with brake I 1 Pn508 1 3 Figure 5 9 Holding Brake Setting 5 3 4 Brake ON timing when the servomotor stops must be adjusted properly because ser vomotor brakes are designed as holding brakes Adjust the parameter settings while observing equipment operation BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after servo OFF The time set at Pn508 has elapsed since servo OFF The actual speed used will be the maximum speed even if Pn507 is set higher than the maximum speed Using the Servo Ready Output Signal The basic use and wiring procedures for the Servo Ready S RDY output signal photocoupler output signal are described below Servo Ready means there are no servo alarms and the main and control circuit power supply is turned ON l O power supply 24V AOV Servo amplifier Photocoupler output levels per output node CN1 29 S RDY Maximum operating voltage 30Vpc Maximum output cur rent 50mApc Sigma II Indexer User s Manual Sequence I O Signals This signal indicates that the servo amplifier has completed all preparations and is ready to receive the Servo ON signal a ES ipd CM ies State Output Closed or low level Servomotor is ready OFF Output Open or high level Se
123. n of the digital operator is used for indicating the status of the servo amplifier and indexer in operation and setting a variety of parameters and operation refer ences The status display auxiliary function parameter setting monitor modes and table settings are the basic modes As shown below the mode is selected in the following order by press ing the key Hand held Digital Operator Panel Operator Press the DSPL SET Key Ede TKSY The basic mode changes G paS MOCO Cra ges Power ON Status Display Mode t Auxiliary Function Mode Parameter Setting Mode Monitor Mode EE l l l Y Zone Table Setting Mode un T g l Jog Speed Table Setting Mode usen L l Digital Operator via CN7 only ME 2j Additional information regarding each mode is available in engineering document Using the Digital Operator with the Sigma II Indexer pub eng 01 054 MCD 7 6 Sigma II Indexer User s Manual efesotomasyon com 8 Dimensional Drawings 8 1 Dimensions of the JUSP NS600 Sigma II Indexer 8 2 8 1 Sigma II Indexer User s Manual 8 1 Dimensions of the JUSP NS600 Indexer are shown below Dimensional Drawing Units in mm inches Y YASKAWA A World of Automation Solutions 142 5 59 128 5 04 1 TN Approximate mass 0 2 Kg 0 44 Ib 8 2 Sigma II Indexer User s Manual efesotomasyon com 9 Troubles
124. n821 Pn822 Pn824 Pn825 Pn826 Pn827 Pn828 are online parameters parameters not in bold New settings become effective immediately 2 Pn829 Pn832 are reserved for programming software Do not change these parameters 3 Close Photocoupler On Open Photocoupler OFF Appendix A 5 Sigma II Indexer User s Manual Servo Amplifier Parameters A 2 Servo Amplifier Parameters The following list shows parameters and their settings when used with the Sigma II Indexer option unit Parameter Setting Default Set Category Nunibet Name Unit Range ting Pn000 Function Selection Basic Switches m 0010 See note 3 Function Selection Application Function Pay Switches 1 See notes 1 and 3 none Selection uncommon Parainciers unction Selection Application a Fu Switches 2 See note 3 9099 Pn003 Function Selection Application 0002 Switches 3 Pn100 Speed Loop Gain Hz 1 to 2000 40 Pnl01 Speed Loop Integral Time Constant 0 01ms roni 2000 Pn102 Position Loop Gain gl 1 to 2000 40 Pn103 Inertia Ratio 0 to 10000 0 Pn104 Not Used mE Pn105 Not Used Pn106 Not Used E Pn107 Bias rpm 0 to 450 0 Pn108 Bias Width Addition ref units 0 to 250 7 Gain Pn109 Feed forward 0 to 100 0 Parameters Pn10A Feed forward Filter Time Constant 0 01ms 0 to 6400 0 Pnl0B Gain related Application Switches as 0000 See note 3 Pn10C Mode Switch Torque Reference
125. nd then Tools Indexer Setup Mechanical System Make sure to select the correct encoder resolution or select Get Encoder Count while online Select Apply or OK to accept the changes x System Leadscrew Machine Units Base mm Time Base seconds Lead 20 000 S N1 1 N2 10 Resolution 3 Default Speed 10 000 mm sec Acceleration 156 250 mm sec 2 Deceleration 155 250 mm sec 2 Electronic Gear Ratio 7 In Position Window 0 005 mm in Current Database Near Position Window 0 010 mm x Controller Current Electronic Gear Ratio in Controller B Pn202 4096 Pn203 125 Encoder Resolution 16 bit 16384 cts 65536 pulses Get Encoder Count OK Cancel Apply Appendix D 7 Sigma II Indexer User s Manual Enter the index into the Index Table by selecting the Indexer Setup Module and then Tools Indexer Setup Index Select Apply or OK to accept the changes Select Tools Download Download All or Download New to send changes to the Indexer Lal eer Hie Edi Vie Ferdie Took indo Help DH d es Baan 1 E aD eee Lotus ees rus roc deci P eneren m SN EAE rnm Appendix D 8 Sigma II Indexer User s Manual Solution to Exercise 1b Enter the new changes to the Index Table Select Apply or OK and Download the new changes to the Indexer Val Peerceed baden Erka i d a ls Deyo Jen Gan Turing Hon ping Tenn Frott nfpererin Prebintter Edo HHHARI HHHHH IT go 1
126. nds rotate in the direction of the shortest path of travel 5 8 Sigma II Indexer User s Manual Settings According to Device Characteristics 4 The forward and reverse position reference limits are used to set the roll over position When rotating in the forward direction the position reference rolls over to the reverse position limit after reaching the forward position limit When rotating in the reverse direction the position reference rolls over to the forward position limit after reaching the reverse position limit Pn81D is the home position Alarm E16A will occur if Pn81D is outside the posi tion reference limits Pn81D gt IPn81B Pn81Cl when pn81A 1 2 or 3 Pn81A 2 Rotary Forward Used for rotary motion Absolute move commands rotate in the forward direction only The forward and reverse position reference limits are used to set the roll over position same as Pn81A 1 Pn81A 3 Rotary Reverse Used for rotary motion Absolute move commands rotate in the reverse direction only The forward and reverse position reference limits are used to set the roll over position same as Pn81A 1 Servomotor Stop Mode for Hardware Overtravels P OT and N OT Set the following parameters to specify the Servomotor Stop Mode when P OT and N OT input signals are used Specify the Servomotor Stop Mode when either of the following signals are input during servomotor operation Forward run prohibited input P OT CN 1 42 Rever
127. ng parameters are used to set up the communication protocol baud rate and command response PARAMETER DESCRIPTION Protocol Setting 0 RS422 RS232 1 RS422 Echo Back RS232 Echo Back 2 RS485 Delimiter CR 3 RS485 Delimiter CR Echo Back per Character 4 RS485 Delimiter CR Echo Back per Command 5 RS485 Delimiter CR LF 6 RS485 Delimiter CR LF Echo Back per Character 7 RS485 Delimiter CR LF Echo Back per Command DEFAULT Baud Rate 0 9 600 1 19 200 2 38 400 Answer 0 No Answer 1 OK Answer Note 1 For RS232 set Pn800 to O or 1 2 Echo Back is not available for global address regardless of parameter setting 3 Answer is not sent back for global address regardless of parameter setting Sigma II Indexer User s Manual Control Configuration 6 2 3 Axis Address Setting Graph SERVOPACK SGDH alelet lt ADRS Set axis address on hexadecimal rotary switch Up to 16 axes can be addressed 0 9 A F NJIJ 6 4 Sigma II Indexer User s Manual Command Transmission Host Controller Sigma II In 6 3 Command Transmission Host Controller Sigma Il Indexer 6 3 1 Command Format Table 6 3 Transmission Method Single Axis Control Multi Axis Control When an axis is specified AXIS COMMAND CHARACTER LINE CR NO Command
128. nits uh l Load Shaft B 20483433 Electronic gear ratio aBo _ Pn202 CA 3600x1 Pn203 Preset Pn202 24576 Values Pn203 3600 Belts and Pulleys na 231434in Reference unit 0 0010in Travel distance per load shaft revolution 12 566 37 ref units Load shaft 0 0010in f ar ul iameter in A SB6 16 384 a 4 3 3 rao D Electronic gear ratio are Pn202 12566 37 Pn203 16 bit absolute encoder _ 196 608 _ _20 480_ 12566 37 1 309 Preset Pn202 20 480 Values Pn203 1 309 5 5 2 Setting Speed x1000 Reference Units min The Sigma II Indexer stores all speed data in units of X1000 Reference Units min Determine load workpiece speed in terms of 1 000 reference units per minute Example Reference Unit 0 01 mm Desired speed is 15 m min 15 090 mm min 1 500 000 reference units min Speed 1 500 x 1000 reference units min Sigma II Indexer User s Manual Setting up the Reference Units The following parameter is used to set the default positioning and registration speed if no speed is specified during program execution while in serial mode Positioning Registration Speed 1 99999999 5 5 3 Setting the Acceleration Deceleration Rate x 1000 Reference Units min ms The Sigma II Indexer stores the acceleration and deceleration data in units of X1000 Refer ence Units min ms Determine load workpiece acceleration or deceleration in terms of 1 000 re
129. nment of this value the user must first change the parameter and then cycle turn OFF and then turn ON the power Since the encoder s multi turn limit value is set as default to 65535 the following alarm occurs if the servo amplifier s power supply is cycled turned OFF and ON after changing parameter Pn205 Alarm AlarmCode Output AlarmCode Output Alarm Display Description ALOI ALO2 ALO3 A CC X Encoder multi turn limit value does not match with that of the servo amplifier Note O ON L signal X OFF H signal In order to set a multi turn limit value to the encoder perform the multi turn limit setting operation Fn013 or serial command MLTLIMSET This operation can be executed using the hand held digital operator the servo ampli fier panel operator Fn013 or by serial command MLTLIMSET Note The multi turn limit setting is enabled only during the multi turn limit value mismatch alarm Cycle the power after performing this operation A WARNING Connect the ground terminal to a class 3 ground 100Wor less Improper grounding may result in electric shock or fire Sigma II Indexer User s Manual Absolute Encoders 5 6 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery Installing the Battery at the Host Device CN1 21 22 Lithium battery by Toshiba ER6VC3 3 6V 2000mAh Battery
130. nn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn X Input Active Blank Input Non Active nnnnnnnn nnnnnnnn Oo CO NIT DY TY BY WY NY e nnnnnnnn nnnnnnnn c nnnnnnnn nnnnnnnn mm nnnnnnnn nnnnnnnn N nnnnnnnn nnnnnnnn w nnnnnnnn nnnnnnnn P nnnnnnnn nnnnnnnn X NK xx xXx nN nnnnnnnn nnnnnnnn oN nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn oo nnnnnnnn nnnnnnnn o nnnnnnnn nnnnnnnn N nnnnnnnn nnnnnnnn N nnnnnnnn nnnnnnnn N N nnnnnnnn nnnnnnnn N o2 nnnnnnnn nnnnnnnn N RNS nnnnnnnn nnnnnnnn N UA nnnnnnnn nnnnnnnn N n nnnnnnnn nnnnnnnn N nnnnnnnn nnnnnnnn N oo nnnnnnnn nnnnnnnn N Nel nnnnnnnn nnnnnnnn Ww nnnnnnnn nnnnnnnn P P lt P lt PS PS PS P lt PS P lt PN PST PS P lt PMT PS Od PS P lt PST OS PS P lt x 9v nnnnnnnn nnnnnnnn ZONE ID Zone number 32 available zones ZONE N Negative side zone boundary position ZONE P Positive side zone boundary position Z0 ZA ZO POUTO Z1 POUTI Z2 POUT2 Z3 POUT3 Z4 POUT4 only when the programmable output POUTO POUTA is defined as a zone out
131. nput 14 Program 15 SEL3 select 3 Jog JOG2 select 2 input 16 Program 17 SELA select 4 Jog JOG3 select 3 input 18 Note Yaskawa P N JZSP CKI9 includes 3M connector and case 19 INPOSI In position TION output 20 INPOSI In position TION output 21 pouto Programmable Output 0 22 mouTo Programmable Output 0 23 our Programmable Output 1 24 pouri Programmable Output 1 Programmable af E Output 2 Programmable 26 POUT2 iine 27 pouT3 Programmable Output 3 28 OuT3 Programmable Output 3 29 POUT4 Programmable Output 4 30 outa Programmable Output 4 31 g 32 33 34 i 25 36 Table 3 3 CN1 Specifications Servo Amplifier Specifications for Servo Amplifier Receptacle 10250 52A2JL or Equivalent 50 pin Right Angle Receptacle Applicable Mating Connector Connector 10150 3000VE 10350 52A0 008 Sumitomo 3M Co 3 5 Sigma II Indexer User s Manual I O Signals CN1 CN4 Table 3 4 CN4 Specifications Sigma II Indexer Specifications for Servo Amplifier Receptacle 10236 52A25L or Right Angle Applicable Mating Connector Connector Case Manufacturer Equivalent 36 pin 15156 3000VE 10336 52A0 008 Sumitomo 3M Co Note Yaskawa P N DP9420007 includes 3M connector and case Receptacle 3 1 3 I O Signal Names and Functions The following section d
132. nse OK Negative Response ExxE Servo OFF Releases current conduction to motor Performs same operation as S ON input signal Positive Response OK Alarm Reset When the servo amplifier detects an alarm the alarm is reset by this command Positive Response Repeat OK when an alarm is OFF after execution Repeat Alarm Code when the alarm is not OFF ALM SP A xx SP CR LF xx SGDH Alarm Code ALM SP ExxA SP CR LF ExxA NS600 Alarm Code Negative Response No Response Reset Provides initial reset the same condition as when control power supply is switched from OFF to ON Positive Response OK Negative Response ExxE Sigma II Indexer User s Manual Serial Command Functions 6 5 2 Moving Commands Serial Command Table 6 6 Moving Command Function Description Answer Target Position Reservation Absolute Position Setting Range 99999999 nnnnnnnn 99999999 Reference Units Reserves target position with absolute position Position reference value becomes 0 when power supply is turned OFF ON or after RES com mand is executed SPDx Speed pos POSz or POSAy Ineffective or POSAz Pos POS i5 ST ST ST nes nnnnnnnn FO PO POSA x nnnnnnnn can be omitted i i i Neg E E E ExxE i Coordinate Note When reserving a new position while positioning the new position is executed with the following ST command Target Posit
133. nt 50mApc Open collector output lev els per output node Maximum operating voltage 30Vpc Maximum output cur rent 20mApc Lp lass 0 Host controller A suitable external I O power supply must be provided by the user separately because there is no internal 24V power supply in the servo amplifier The use of the photocoupler output signals is described below Output ALM CNI 31 Servo Alarm Output Output ALM CNI 32 Signal Ground for Servo Alarm Output These alarms are output when a servo amplifier alarm is detected Servo amplifier ALM output Turns power OFF Form an external circuit so this alarm output AL M turns the servo amplifier OFF Circuit between CN1 31 and 32 is closed and CN1 31 is at low level Normal state Circuit between CN1 31 and 32 is open and CN1 31 is at high level Alarm state Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type The uses of open collector output signals ALO1 ALO2 and ALO3 is described below Output ALOI CNI 37 Alarm Code Output Output ALO2 CN1 38 Alarm Code Output Output ALO3 CN1 39 Alarm Code Output Output SG CNI 1 Signal Ground for Alarm Code Output 5 16 Sigma II Indexer User s Manual Sequence I O Signals Note 1 2 5 3 3 These signals output alarm codes to indicate the type of alarm detected by the servo amplifier Use these signals to display alarm codes at the h
134. nt 20mApc max Sigma II Indexer User s Manual I O Signals CN1 CN4 Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for SGDH servo amplifier alarm servo ready holding brake warning and all Sigma II Indexer outputs Connect a photocoupler output circuit through a relay or line receiver circuit Voc Relay o O Sigma II Indexer and Servo amplifier end Sigma II Indexer and Servo amplifier end A CAUTION The maximum allowable capacities for photocoupler output circuits are Vpc Voltage 30Vpc max Ipc Current 50mApc max 3 9 Sigma II Indexer User s Manual Serial Communication Connectors CN6 CN7 3 2 Serial Communication Connectors CN6 CN7 This section describes the wiring for the serial communication connectors CN6 CN7 3 2 1 Single Axis System Example CN6 CN7 The figure below illustrates connection for single axis communication between a PC and Sigma II Indexer CN6 CN7 Set up and Maintenance TT RS232 422 Digital Operator Notebook PC Serial Command Communication e a RS232 422 485 Notebook PC Digital Operator Indexer Software 3 2 2 Multi Axis System Example CN6 only The figure below illustrates connection for multi axis communication between a PC and up to 16 Sigma II Indexers CN6 only Serial Command Communication RS422 RS485 Up to 16 axes total Notebook PC Sigma II Indexer User s Manual
135. ode Incremental Pulses and Origin Pulses Just as with normal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the Servo Amplifier and then output Forward rotation Reverse rotation Phase A m p aA m E Phase B TL IE mE PeseB L Phase C DEDE Phase C __ 1 4 Setting the Pulse Dividing Ratio Use the following parameter to set the pulse dividing ratio Parameter Signal peut Default p rev Pn201 PG Divider Setting Range 16 to 16384 16384 This parameter sets the number of output pulses for PG output signals PAO PAO PBO PBO Pulses from the motor encoder PG are divided by the preset number before being output 5 45 Sigma II Indexer User s Manual Absolute Encoders The set value is the number of output pulses per revolution The setting range varies according to the encoder used Servo amplifier Servomotor Encoder PS Output terminals Po e c PAO CN1 33 O Output IPAO CNI 34 PBO CNI 35 PBO CN1 36 Setting Example Set value 16 Motor one revolution 5 46 Sigma II Indexer User s Manual Program Table Mode Mode 0 5 7 Program Table Mode Mode 0 5 7 1 Program Table Mode Setting Set the MODE 0 1 input signal to Mode 0 for Program Table Mode The following parame ter is used to define the MODE 0 1 input signal Table 5 4 0 Input signal Closed Mode 0 1 Input signal Open
136. of the first index and turn off at the start of the second index as shown below POUTO nme POUTI 1 i 3 sec Exercise 1c Add in a 75 mm registration distance and a 100 mm sec registration speed to the second index N 400 mm default N distance j 75 mm distance i after RGRT input POUTO ine POUTI rT RGRT RE Appendix D 3 Sigma II Indexer User s Manual Exercise 1d Add output POUT2 as shown below X 400 mm default M distance N j 75 mm distance after RGRT input POUTO ij time POUTI RGRT m POUT2 7 4 sec Exercise le Add a homing routine 1 Actuator should start homing at 50 mm sec in the forward direction decelerate to a 25 mm sec approach speed once the home sensor is reached 2 After the home sensor stop at the C phase pulse and then creep 5 mm from the C phase pulse in the opposite direction creep speed is 10 mm sec Exercise 1f Add a final index after the 2 index above to return the actuator to position 0 at the maxi mum speed of the motor 5000 rpm Appendix D 4 Sigma II Indexer User s Manual D 2 Example Indexer Exercise 2 Exercise 2a Start a New Project Enter and download the following program into the Indexer using IndexWorks Test the program after downloading It is recommended to reset the Indexer to all factory defaults before starting a new applica tion This
137. og speed table and homing mode 1 While in Mode A the program table allows execution of stored index moves selected with input signal patterns binary format While in Mode 1 the jog speed table allows execution of stored jog speeds selected with input signal patterns binary format Three types of homing routines are also available while in Mode 1 Figure 1 1 JUSP NS600 Indexer SGDH Combination Function Digital I O Mode Program Index Table Mode 0 Table 1 1 Sigma II Indexer Functions Description Positioning data are selected from the program table stored in the indexer by using the positioning data selection input signals binary format The indexer can store up to 128 program steps All 128 program steps may be addressed with inputs The program steps may be linked together to generate more complex moves Digital I O Mode Jog Speed Table and Homing Mode 1 Up to 16 jog speeds are available Speeds are selected by using the jog selection input signals binary format Homing is available while in this mode Serial Command Mode Positioning data are input by ASCII command strings sent via RS232 RS422 RS485 to the indexer Commands can be sent up to 16 axes with one master controller Positioning data can also be selected from the program table stored in the indexer by ASCII commands Registration Both serial command and program table mode support the registration function external position ing
138. ogram Start Mode 0 2 No Motion Mode 1 3 No Homing Start Mode 1 0 Open gt Close Program Reset Mode 0 0 Close Jog Forward Mode 1 PGMRES 1 Close gt Open Program Reset Mode 0 Pn805 JOGP 1 Close Jog Forward Mode 1 0 see note 1 2 or 3 No Program Reset Mode 0 2 No Motion Mode 1 3 No Jog Forward Mode 1 0 Close Program Select Mode 0 0 Close Jog Reverse Mode 1 1 Open Program Select Mode 0 Pn806 SEL0 JOGN 1 Open Jog Reverse Mode 1 0 see note 1 2 Always Program Select Mode 0 2 No Motion Mode 1 3 No Program Select Mode 0 3 No Jog Reverse Mode 1 Appendix A 2 Sigma II Indexer User s Manual JUSP NS600 Indexer Parameters Parameter Number Table A 1 Indexer Parameters Setting Range Default Setting Pn807 SEL1 JOGO see note 1 0 Close Program Select Mode 0 0 Close Jog Select Mode 1 1 Open Program Select Mode 0 1 Open Jog Select Mode 1 2 Always Program Select Mode 0 2 Always Jog Select Mode 1 3 No Program Select Mode 0 3 No Jog Select Mode 1 Pn808 SEL2 JOG1 see note 1 0 Close Program Select Mode 0 0 Close Jog Select Mode 1 1 Open Program Select Mode 0 1 Open Jog Select Mode 1 2 Always Program Select Mode 0 2 Always Jog Select Mode 1 3 No Program Select Mode 0 3 No Jog Select Mode 1 Pn809 SEL
139. ogram table SPD positioning speed reservation write Setting 1 99999999 Positioning speed x1000 reference unit min Setting at shipping 1000 Positive Response OK Negative Response ExxE RDSTTsss 0 sss 127 Program Table RDST Read Program table RDST registration distance read Positive Response RDSTT123 12345678 CR LF RDSTT123 SP SP SP SP SP SP SP CR LF Negative Response ExxE RDSTTsss 0 sss 127 Program Table RDST Write Program table RDST registration distance write Settings 0 99999999 Registration distance reference unit Noregistration Setting at shipping Positive Response OK Negative Response ExxE RSPDTsss 0 sss 127 Program Table RSPD Read Program table RSPD registration speed reservation read Positive Response RSPDT123 12345678 CR LF Negative Response ExxE RSPDTsss nnnnnnnn 0 sss 127 Program Table RSPD Write Program table RSPD registration speed reservation write Settings 1 99999999 Registration speed x1000 reference unit min Setting at shipping 1000 Positive Response OK Negative Response ExxE POUTTsss 0 sss 127 Program Table POUT Read Program table POUT programmable output reservation read Positive Response POUTT123 ANANA CR LF Negative Response ExxE POUTTsss 0 sss 127 Program Tab
140. on llle 2 5 2 1 Sigma II Indexer User s Manual Storage Conditions 2 1 Storage Conditions Store the servo amplifier within the following temperature range as long as it is stored with the power cable disconnected 20 to 85 C SGDH C 20 W YASKAWA SERyopacg 200V Io E o iw gozo b i a e S S Figure 2 1 Sigma Il Series Servo Amplifier with Sigma II Indexer Application Module Mounted 2 2 Sigma II Indexer User s Manual Installation Site 2 2 Installation Site Table 2 1 The following precautions apply to the installation site Situation Installation Precaution Design the control panel size unit layout and cooling method so the tempera Installation in a control panel P ture around the servo amplifier does not exceed 55 C Minimize heat radiated from the heating unit as well as any temperature rise Installation near a heating unit caused by natural convection so the temperature around the servo amplifier does not exceed 55 C Install a vibration isolator beneath the servo amplifier to avoid subjecting it to Installation near a source of vibration vibration Corrosive gas does not have an immediate effect on the servo amplifier but will eventually cause electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Installation at a site exposed to corro sive gas
141. or There are two types of digital operator One is a built in operator incorporating a panel indicator and switches located on the front panel of the servo amplifier This type of digital operator is also called a panel operator The other one is a hand held operator i e the JUSP OP02A 1 digital operator which can be connected to either the servo amplifier through connector CN or to the indexer through connector CN7 Only the servo amplifier s parameters monitors and functions can be accessed when using the built in operator or the digital operator connected through connector CN3 However all of the parameters monitors and functions of both the servo amplifier and indexer including the indexers tables can be accessed from the digital operator connected through connector CN7 There is no need to turn OFF the servo amplifier to connect this hand held operator to the servo amplifier Refer to the following illustrations to connect the hand held digital operator to the servo amplifier Built in Panel Operator Servo Amplifier Hand held Digital Operator SERVOPACK JUSP 0102A 1 YASKAWA SERVOPACK SGDH UT i la bio MODESET V ama Note Ifthe hand held digital operator is connected to the servo amplifier or indexer the built in panel oper ator does not display anything 7 2 Sigma II Indexer User s Manual Basic Operation 7 1 2 Functions The digital operator can be used for parameter sett
142. or Stop 5 13 4 Minimum Input Signal Timing for Homing and Jog Operation The following charts show the minimum timing requirements between inputs for homing and jog operation When selecting Mode 1 and starting home operation MODEU1 bk mowe pf LLLLLLLS 1 Min 4ms r4 3 Min Oms When selecting Mode 1 and starting jog forward MODEO 1 JOGP When selecting Mode 1 and starting jog reverse IMODEOM be JOGN When selecting home jog forward and jog reverse operation HOME l LLL noe a S IJOGN Sigma II Indexer User s Manual efesotomasyon com 6 6 1 6 2 6 2 1 6 2 2 6 2 3 6 3 6 3 1 6 3 2 6 4 6 4 1 6 4 2 6 4 3 6 5 6 5 1 6 5 2 6 5 3 6 5 4 6 5 5 6 5 6 Serial Commands BDGCITIDULORS s vester our nx ESS oe CE Reo eee aS 6 2 Control Configuration uo db sees ore gres was 6 3 Control Overview zaornesaci aebhewedsss A qu 6 3 Serial Communication Parameters 6 3 Axis Address Setting Graph Li luu 6 4 Command Transmission 00 eee 6 5 Command Format 0 0 0 ee eee eee 6 5 Echo Back Response Time 22 2 s0n0240625 56 6 6 Transmission Data 2 cue dy ce gee Pid RR teenies 6 7 Transmission Data Format 00 6 7 Positive Response Format 2 2242es20enae sence ds 6 7 Negative Response Format 04 6 7 Serial Command Functions
143. or speed and torque control so do not change the settings Table 5 2 List of Parameters for System Use with the JUSP NS600 Parameter Name Set Value Contents Description Pn000 1 Control Method 1 Position Control ni 2 Axis Address ADRS Copies ADRS setting on rotary switch of JUSP NS600 T REF Allocation Torque 0 Limit Torque Feed For 0 Not used 3 Full Closed Loop Usage 0 Not available Pn004 1 Reserved 0 Not used Pn005 0 BK Control 0 Not used SGDH controls BK Pn200 2 Clear Operation 0 Clears position error when servo is off 0 Poston Rererence Filter 1 Average Movement Filter Selection Dae Position Control Opti osition Control Option i V REF as Speed Forward Not used 0 Input Signal Mapping 1 Input Signal Mapping PnsOA 1 S ON Mapping 8 NS600 monitors SIO as S ON n 2 P CON Mapping 8 NS600 monitors SI1 as SELS 3 P OT Mapping 8 NS600 monitors SI2 as P OT 0 N OT Mapping 8 NS600 monitors SI3 as N OT Pn50B 1 ALM RST Mapping 8 NS600 monitors SI4 as DEC n 2 P CL Mapping 8 NS600 monitors SI5 as SEL6 3 N CL Mapping 8 NS600 monitors SI6 as RGRT 0 SPD D Mapping 8 Not used 1 SPD A Mapping 8 Not used Pn50C 2 SPD B Mapping 8 Not used 3 C SEL Mapping 8 Not used 0 Z CLAMP Mapping 8 Not used 1 INHIBIT Mapping 8 Not used Pn50D 2 G SEL Mapping 8 Not used 3 Reserved Mapping 8 Not used 0 COIN 0 Not used 1 V CMP 0 Not used
144. ose Registration Start 2 No Registration 0 see note 1 1 Open Registration Start 3 No Registration Pn810 INPOSITION 0 Close Positioning is Complete 0 see note 1 1 Open Positioning is Complete POUTO 0 Close Active P ion see note 1 1 Open Active POUTI 0 Close Active P ner see note 1 1 Open Active E POUT2 0 Close Active P mele see note 1 1 Open Active 0 POUT3 0 Close Active P is see note 1 1 Open Active POUT4 0 Close Active P ngis see note 1 1 Open Active 9 Pn816 WARN 0 Close Error Warning Status 0 see note 1 1 Open Error Warning Status BK 0 Close Brake Release P 2 ne see note 1 1 Open Brake Release 9 S RDY 0 Close Servo is Ready Pn81 h ngis see note 1 1 Open Servo is Ready g Overtravel OT 0 Servo OFF Same as setting in Pn001 0 Pn819 Stop Method 1 Emergency Stop 0 see note 1 2 Deceleration Stop 0 Linear Moving Method 1 Rotary Shortest Path Pn81A ne see note 1 2 Rotary Forward 3 Rotary Reverse P LS Position Refer Referen Pn81B ence Forward D ence 99999999 99999999 99999999 Limit see note 1 N LS Position Refer Ref Pn81C ence Reverse Uu 99999999 99999999 99999999 Limit see note 1 Pn81D Home Position Reference 99909999 499999909 0 see note 1 Unit Positioning Reg x1000 Pn81E istration Speed Reference 1 99999999 1000 see note 1 Unit
145. ost controller See 8 2 1 amp 6 3 1 Alarm Status Display Table for more on the relationship between alarm display and alarm code output Form an external circuit so the servo amplifier turns OFF when an alarm occurs Alarms are reset automatically when the control power supply is turned OFF Alarms can also be reset using a digital operator via CN7 by serial command ARES via CN6 or by the built in panel display SGDH alarms only Encoder alarms cannot always be reset by digital operator or by serial command See 8 2 7 amp 6 3 1 Alarm Status Display Table for list of resettable alarms In that case turn the control power supply OFF to reset the alarm When an alarm occurs always eliminate the cause before resetting the alarm Using the Holding Brake The holding brake is used when a servodrive controls a vertical axis In other words a servomotor with brake prevents the movable part from shifting due to the force of gravity when system power goes OFF Servomotor Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF Figure 5 7 Holding Brake Note The brake built into the servomotor SGM H with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque Sigma II Indexer User s Manual Sequence I O Signals Wiring Example Use the servo
146. ound if the shield wire of the I O signal cable is connected to the connector shell Note 1 Pin numbers in parenthesis indicate signal grounds 3 6 Sigma II Indexer User s Manual I O Signals CN1 CN4 Signal Name 24V COM Table 3 7 CN4 Input Signals Sigma II Indexer Function Control power supply input for sequence signals User must provide the 24V power supply Minimum operating voltage 11V Maximum operating voltage 25V Mode 0 1 Switches between Mode 0 and Mode 1 Mode 0 Index table mode when ON Mode 1 Jog and homing mode when OFF START STOP HOME Mode 0 Starts selected index table program when ON Stops program operation when OFF Mode 1 Starts homing routine when ON Stops homing routing when OFF PGMRES JOGP Mode 0 Resets index table program when OFF ON Mode 1 Forward jog enabled when ON Stops forward jog when OFF SEL0 JOGN Mode 0 Program select input 0 Mode 1 Reverse jog enabled when ON Stops reverse jog when OFF SEL1 JOGO Mode 0 Program select input 1 Mode 1 Jog speed select input 0 SEL2 JOG1 Mode 0 Program select input 2 Mode 1 Jog speed select input 1 SEL3 JOG2 Mode 0 Program select input 3 Mode 1 Jog speed selected input 2 SEL4 JOG3 Signal Name INPOSITION Mode 0 Program select input 4 Mode 1 Jog speed select input 3 Table 3 8 CN4 Output Signals Sigma II Indexer Functions In po
147. put See note 2 5 61 Sigma II Indexer User s Manual Zone Table Set up Setting Range 99999999 99999999 reference units Setting at Shipping ZONE N ZONE P 0 Note 1 Status of Z0 Z4 fixed for each zone 2 Zone signals function only when the programmable outputs POUTO POUT4 are defined as a zone output Z Example POUT ZAZZN Status of programmable outputs POUT1 POUT2 and POUT4 dependent upon zone table 5 9 1 Zone Signal Conditions 1 ZONEN ZONEP Condition for Z0 ZA true when ZONEN Current Position ZONEP 2 ZONEID with lower number is used when the current position falls within multiple zones overlapping zones 3 Z0 Z4 Non Active when there is no ZONEN Current Position ZONEP 4 ZONEN ZONEP Condition for Z0 ZA true when Current Position 2 ZONEN or Current Position ZONEP For example When position 0 is within a zone of a rotary application ZONEN 11 000 ZONEP 1 000 ZONEID12 9 000 3 000 Reference Units 6 000 Therefore Z3 and Z2 active when current position is within ZONEID 12 5 ZONEN ZONEP 0 Zone is not reserved Sigma II Indexer User s Manual Program Table Examples 5 10 Program Table Examples The following are examples of program tables Also see Appendix D Example Excer cises for Indexer exercises using the programming software IndexWorks Table 5 11 Simple Reciprocating Operation Example PGMSTEP C RDST RSPD POUT EVENT LOOP 1 20000
148. put remains ON normal state 0 Not Used 0 fixed 1 Not Used 0 Absolute Encoder 0 Uses absolute encoder as an absolute encoder 0 Usage 1 Uses absolute encoder as an incremental encoder 3 Not used 0 0 fixed Appendix A 10 Sigma II Indexer User s Manual Servo Amplifier Switches Parameter Digit Name Setting Description Default Place Setting 0 Motor speed 1V 1000rpm 1 Speed reference 1V 1000rpm 2 Torque reference 1V 100 3 Position error 0 05V 1 reference units 4 Position error 0 05V 100 reference units 2 Analog Monitor 1 Reference pulse frequency converted to rpm 1V 0 Torque Reference 1000rpm Monitor 6 Motor speed x 4 1V 250rpm Pn003 3 Functi n 7 Motor speed x 8 1V 125rpm Selection 1 Analog Monitor 2 8 Application Speed Reference 9 Switches Monitor A B C Reserved parameter Do not change 0 D E F 2 Not used mE Not used Uses internal torque reference as the condition Level 0 setting Pn10C 1 Uses speed reference as the condition Level setting Pnl0D M itch a zm 0 say 2 Uses acceleration as the condition Level setting 0 Pnl0B Pn10E Gain Appli Uses error pulse as the condition Level setting cation 3 Pnl0F Switches i 4 No mode switch function available 1 Speed Loop Con 0 PI control A trol M
149. que limit is set higher than the maximum torque of the servomotor the maximum torque of the servomotor is the limit 2 External Torque Limits P CL N CL are not available on the SGDH with the Sigma II Indexer 5 11 Sigma II Indexer User s Manual Sequence I O Signals 5 3 Sequence I O Signals Sequence I O signals are used to control servo amplifier and indexer operation Con nect these signal terminals as required Input Signal Connections CN1 Connect the sequence input signals as shown below Servo Amplifier I O power supply 24Vin CN1 47 3 3k2 Photocoupler Host controller m el ee S ON mE dry O SELS i r P OT Q O Q Q pec ive AT SR SEL6 cN1 45 p GEN eb IRGRT CN1 46 o lg Figure 5 3 Input Signal Connections CN1 Sigma II Indexer User s Manual Sequence I O Signals Input Signal Connections CN4 Connect the sequence input signals as shown below JUSP NS600 Indexer I O power supply w x el Photocoupler la CN4 1 24V COM Q Host controller V MODE 0 1 O NE em O O O CN4 3 ud i i LA DS E Ni H WN1 I iW WN1 SEL27 JOG1 CN4 13 SEL3 JOG2 CN4 15 I SEL4 JOG3 CN4 17 Figure 5 4 Input Signal Connections CN4 E Ni ETC ET EET SET ED DE m a WN E Ni ov Note Provide a separate external I O power supply neither the servo amplifier or Sigma II Indexer have an internal 24V
150. range ON ON No Change ES9E A 9F Communication Failure Error between NS600 and SGDH Communication error between NS600 and SGDH Cannot send commands via CN6 when CN3 is in use ON ON No Change ESAE A 9F Execution Disable Error while Servo ON Some functions can only be executed when servo is off 1 Origin search Fn003 2 Absolute encoder reset Fn008 or ABSPGRES 3 Jog mode operation Fn002 4 Automatic zero adjustment of motor cur rent detection signal Fh00E or CURZERO 5 Offline auto tuning ON ON No Change ESBE A 9F Execution Disable Error while Alarm Acti vated Servo is in an alarm state Clear alarm before sending a SVON servo ON com mand ON ON No Change 9 8 Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 9 2 2 Sigma Il Indexer Error Warning Status Display Table Indexer Status Panel Detail ALM WARN Motor Status Code Display Output Display Operation Execution Disable Error while Main Power OFF Eee fae Main power is off Restore main power ON ON No Change before sending a SVON servo ON com mand Homing Method Non Reservation Error EOE BUD No homing method is reserved Set MN oN No Change Pn823 Homing Method 1 2 or 3 ESEE A 9F Error during Program Operation ON ON No Change uA Error Session Conflict Error ESFE A 9F ON ON No Change Cannot execute a posi
151. rding to the following circuit diagram Servo amplifier Position Counter Line receiver 16 coil en Smoothing Shield capacitor Connector shell Ir Indicates twisted pair wires I O Signals I O signals are described below Output PAO CNI1 33 Encoder Output Phase A Output PAO CN1 34 Encoder Output Phase A Output PBO CN1 35 Encoder Output Phase B Output PBO CNI 36 Encoder Output Phase B Output PCO CNI 19 Encoder Output Phase C Output PCO CN1 20 Encoder Output Phase C 5 26 Sigma II Indexer User s Manual Using the Encoder Signal Output Divided encoder signals are output The dividing ratio setting is not related to the gear ratio setting Pn202 and 203 for setting reference units Note Dividing means converting an input pulse train from the encoder mounted on the servomotor accord ing to the preset pulse density and outputting the converted pulse The units are pulses per revolution ppr Output Phase Form Forward 90 R 90 rotation KE rotation H Phase A UU Phase A oA Phase B LI L L Phase B J LI LJ Phase C REB ae Phase C m i t Output SGCNI 1 Signal ground SG Connect to OV on the position counter Pulse Divider Setting Set the pulse dividing ratio in the following parameter Setting Range 16 to 16384 PG Divider Default Setting 16384 Set the number of pulses for PG output signals PAO PAO PBO PBO Output t
152. re used to define the input signals used in homing and jog speed table Mode 1 Table 5 19 PARAMETER SIGNAL SETTING DEFAULT 0 Input Signal Closed Homing Start Pn804 HOME CN4 5 1 Input Signal Open Homing Start 0 2 or 3 No Homing 0 Close Zero point Deceleration LS 1 Open Zero point Deceleration LS 2 Always Zero point Deceleration LS 3 No Zero point Deceleration LS Pn80E DEC CN1 44 0 Input Signal Closed Jog Forward Pn805 JOGP CN4 7 1 Input Signal Open Jog Forward 0 2 or 3 No Jog Forward 0 Input Signal Closed Jog Reverse Pn806 JOGN CN4 9 1 Input Signal Open Jog Reverse 0 2 or 3 No Jog Reverse 5 69 Sigma II Indexer User s Manual Homing Jog Speed Table Mode Mode 1 PARAMETER SIGNAL Table 5 19 2 Always Jog Select 3 No Jog Select 5 11 3 Homing Routine Parameters The following parameters are used to setup the homing routines for incremental encoders only SETTING 0 Input Signal Closed Jog Select 1 Input Signal Open Jog Select DEFAULT Table 5 20 PARAMETER SETTING RANGE DEFAULT Home Position 99999999 99999999 Ref Units 0 No Homing 1 DEC and C Pulse Pn823 Homing Method 2 DEC only 0 3 C Pulse only Pn824 Homing Direction o Forward 0 1 Reverse Pn825 Homing Move Speed 0 99999999 x1000 Ref Unit min 1000 Pn826 Homing Approach Speed
153. rial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer Coordinates Setting Setting Range 99999999 nnnnnnnn 99999999 Reference Units Absolute PG Re writes machine zero point to nnnnnnnn Incremental PG Re writes current position to nnnnnnnn Incremental PG Command to re write the current position to nnnnnnnn Pos After execution of this command a new coordinate becomes effective OK ZSET nnnnnnnn Parameter Pn81D Home Position is not renewed The new coordinate is invalid after the RES command or turning ON OFF the control power supply Neg ExxE Absolute PG Command to re write machine zero point absolute offset position from initial set up position so that current position will be nnnnnnnn After execution of this command the new coordinate becomes effective immediately Parameter Pn81D Home Position saves the new offset position The new coordinate remains valid even after the RES command or after turning OFF ON the control power sup ply Note Pn81D is used as a home position 6 16 Sigma II Indexer User s Manual Serial Command Functions Table 6 6 Moving Command Serial Command Function Description Answer HOLD Positioning Interruption or Jog Stop Command to interrupt positioning Remaining position is held 1 When this command is sent during positioning by ST command operation stops at a specified deceler
154. ring if applicable Check CN6 serial command wiring if applicable Make sure the host device and other adjustments are completed as much as possible in step 1 prior to connecting the servomotor to equipment nma SGDH enoni QFE jm Ino nol l A Ino In Oo Do not connect to the equipment 4 3 Sigma II Indexer User s Manual Two Step Trial Operation 1 Secure the servomotor Secure the mounting plate of the servomotor to the equipment Do not connect anything to the sh mie no load conditions Ct i Secure the servomotor mounting plate to the equipment in order to prevent the servo motor from moving during operation 2 Check the wiring Disconnect the CN1 CN4 and CN6 connectors Disconnect the CN1 CN4 and CN6 connectors and check servomotor wiring in the power supply circuit The CN1 I O CN4 I O and CN6 serial command signals are not used so leave the connectors disconnected 3 Turn ON power Normal display LIL Example of Alarm Display C L JAF amp Turn ON servo amplifier power If the servo amplifier has turned ON normally the LED display on the front panel of the servo amplifier will appear as shown above It may take approximately 3 minutes before any display appears on the front panel Power is not supplied to the servomotor because the servo is OFF If an alarm display appears on the LED indicator
155. rvomotor is not ready The following parameter is used to set the state of the S RDY output 1 Output Open Servo ready 5 3 5 Using the Warning Output Signal The basic use and wiring procedure for the warning WARN output signal photo coupler output signal are given below The signal consists of the following output signals WARN signals overload regenerative overload low battery and indexer error I O power supply 24V NOV Servo amplifier Photocoupler output levels per output node Maximum operating volt age 30Vpc Maximum output current 50mApc Output WARN CNI 25 26 Warning Output Signal This output signal indicates an overload regenerative overload warning low battery or indexer error CN1 25 WARN od iod PAS E State Error warning overload regenerative over Output Cl sedor low level load low battery and indexer error Output Open or high level Normal operation No warning The following parameter is used to set the state of WARN output 0 Output Closed Error Warning mee WARN Ore 1 Output Open Error Warning 5 21 Sigma II Indexer User s Manual Sequence I O Signals The following parameter is used to output warning details overload regenerative overload and low battery only with an alarm code Pn001 3 Warning Code Output Selection Pn001 3 Setting Default Setting 0 Outputs alarm codes alon
156. rward and Rotary Reverse 5 T Stop Hethod bizton athe Foran Prakan A eeience Lira deol Teresita Preiion Aeterence Land deol pepe Wyuncsamacl E HEAT mi Appendix D 16 Sigma II Indexer User s Manual Enter the rotary positions and output conditions into the Index Table by selecting the Indexer Setup Module and then Tools Indexer Setup Index Select Apply or OK to accept the changes Select Tools Download Download All or Download New to send changes to the Indexer hii Husa Hun HUHH Apy Temes tinm Danan ont ian rere d ELM I EMIL SMELL Ie tne EACE unm Appendix D 17 Sigma II Indexer User s Manual Solution to Exercise 2b Edit the Index Table POUT column to accommodate for the zone conditions Select Apply or OK to accept the changes NE Teach Exerciscdrz Index Works d i leja Pis Edt Wiew Module Todi Winker Heip D ca M d X Surat kr ash rin There Rc Seto Mirai Fanem Frein ipei Fersreter Ezttor oa 1 6 43 3 180 4 24D 5 M E lum on POLIT T huno POUTA Esaten Sta Danica Conte BapHaTeE meesus zeen ve a start A B deine icta Bs Teac E serea Ne icm Appendix D 18 Sigma II Indexer User s Manual Edit the Zone Table by selecting the Indexer Setup Module and then Tools Indexer Setup Zone Enter the zone boundary limits to the appropriate zone number Select Apply or OK to accept the changes Select Tools
157. s Table 5 14 Use of ZONE Table Example renter ws so T wor em sour Erw ioo D WERT A 500000 30000 1000 ZZZZZ A 000000 30000 1000 ZZ ITO PGMSTEP O PGMSTEP 1 i PGMSTEP O PGMSTEP 1 PGMSTEP 0 Motor Speed START STOP i INPOSITION j i i POUTO POUT1 POUT3 Table 5 14a Zone Table 499995 500004 099995 100004 199995 200004 0 0 299995 300004 o 399995 400004 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 o o o o o o 9 9 9 O o ojojo 5 66 Sigma II Indexer User s Manual Program Table Examples Table 5 15 Use as Positioning Table Example PGMSTEP A 000000 A 100000 A 200000 A 300000 A 400000 PGMSTEPO PGMSTEP1 i PGMSTEP2 PGMSTEP3 PGMSTEP4 Motor Speed ISTART STOP OL s amp o i SEL1 SEL2 SEL3 SEL4 INPOSITION l l POUTO i POUT1 POUT2 POUT3 i E i Pour i pT OO Table 15a Zone Table 399000 401000 001000 001000 099000 101000 0 0 199000 201000 299000 301000 0 0 Oo CO NT DY TY BY WwW WKH RK j N clo ojoc o ojocjojoc ooc o o clo ocj o o ojojojo ooc o o Uo
158. s detects 2 Homingd peration absolute position 5 6 1 Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor Absolute encoder Servo amplifier S Connector shell Shielded wire shell te Indicates twisted pair wires Figure 5 10 Absolute Encoder Interface Circuit 5 6 2 Configuring an Absolute Encoder Select the absolute encoder s application with the following parameter Pn002 2 Absolute Encoder Application Setting Range 0 or 1 10 0 Either 0 or 1 in the following table must be set in order to enable the absolute encoder 0 Uses the absolute encoder as an absolute encoder Sigma II Indexer User s Manual Absolute Encoders Pn002 2 Setting Result 1 Uses the absolute encoder as an incremental encoder The following parameter is used to periodically clear the encoder s counter return the setting to 0 after a designated ratio of motor to load axis revolutions This func tion is called the multi turn limit Note The term Multi turn Limit refers to the highest number of rotations the encoder s counter will display before returning the counter to 0 Pn205 Multi turn Limit Setting Setting Range 0 to 65535 65535 When Pn205 is set to the default 65535 multi turn data varies in the range of 32768 to 432767 With any other Pn205 value entered data varies from 0 to the set value Note To activate reassig
159. s eL LA tU nero MM E n bd vii Using THs Manuals erine snina ete e setae hen Lae bes viii Intended Audience uro ace euet e EY Ua ae er eoe eene S sc deci os viii Description of Technical Terms viii Indication of Reverse Signals x22 ed rd wie sa E eee RE Vili Safety Precautions Arek naa ma elie a he aue cC Teg AVE La ix Checking Products upon Delivery 0 0 cece eee eee eee ee ix Tistallatigi seere kree P OR SERE E S a OS E A ix WINNS Sie eal weg on PON S E Poder s VDO RES ar eO E PN i as ix Operation NE X Maintenance and Inspection 0 cee eee eee eee ene xi General Precautions sis RERLAGOGG GERONA WEG AGOq x REST xi Chapter 1 Checking Products and Part Names 0 cee eee eee eee 1 1 Tof introduction 63 0 S gree ot bona pence wd e HOSCE eC P C RUR 1 2 1 2 Checking Products on Delivery is os 206 24 ey kaee dey nee ERI 1 3 1 2 1 External Appearance And Nameplate Examples 1 3 1 3 Mounting the Sigma II Indexer to an SGDH Servo Amplifier 1 6 Chapter 2 Instal latoTEo csse Gees ba s atus e A ra ete s aed 2 1 2 1 Storage Conditions so ze hi eke OPERAS SORE CRGA HEU aS 2 2 2 2 IR SELLE OTES TUO oos Rte SHOP d donde Yo xd Para reto RE 2 3 2 5 Drientaliofi s aos dX eb OR d ae rs ears IN d Cotes a eu ars QUE Ri 2 4 2A ImstallaluUb 2o see tu te ug eee ee Sa a Pee ee hee oe we ee ees 2 5 2 4 1 Servo Amplifier Orientation 0 0 eee ee eee ee 2 5 2212 Cooling ii
160. s of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification xi Sigma II Indexer User s Manual Safety Precautions This page intentionally left blank xii Sigma II Indexer User s Manual efesotomasyon com 1 Checking Products and Part Names This chapter describes the procedure for checking the Sigma II Indexer application module upon delivery It also describes the name of product parts 1 1 Introduction 22s e pe ER Sete sobs ERR Ee EAS 1 2 1 2 Checking Products on Delivery 1 3 1 2 1 External Appearance And Nameplate Examples 1 3 1 3 Mounting the Sigma II Indexer Application Module to a SGDH Servo Amplifier 05 1 6 Sigma II Indexer User s Manual Introduction 1 1 Introduction The Sigma II Indexer application module P N JUSP NS600 is a single axis position con troller with registration capabilities which connects to an SGDH servo amplifier via dual port RAM This combination expands the amplifier s functionality to include simple point to point positioning with an available registration function The Sigma II Indexer option has two operating modes serial command mode and digital I O mode The serial command mode allows immediate interpretation and execution of ASCII com mand strings sent via RS232 422 485 to the Sigma II Indexer The digital I O mode consists of the program or index table mode 0 and the j
161. se run prohibited input N OT CN 1 43 5 9 Sigma II Indexer User s Manual Settings According to Device Characteristics After stopping Hold DB Coast Status Coast Status Stop Mode Stop by dynamic brake Coast to a stop Decelerate to a stop Overtravel Pn001 0 0 1 1 Servo is in base block after stopping Pn819 1 or 2 Servo remains enabled after stopping Pn819 Overtravel Stop Mode Default Setting 0 Parameter Setting Description Stops the servomotor the same way as turning the servo OFF accord ing to Pn001 0 Servo is in baseblock after stopping Decelerates the servomotor immediately to a stop and puts the servo Overtravel Stop Mode motor in servo lock Decelerates the servomotor to a stop at the preset deceleration and puts the servomotor in servo lock Deceleration setting Pn820 deceleration parameter Pn820 Range 1 to 99999999 1000 Stop Mode Stop by dynamic brake Coast to a stop Decelerate to a stop Forward run prohibit input P OT CN1 42 Reverse run prohibit input N OT CN1 43 Servo OFF Stop Mode Selection The SGDH servo amplifier turns OFF under the following conditions Servo ON input signal S ON CN1 40 is turned OFF Servo alarm occurs Power is turned OFF Specify the Stop Mode if any of these occur during operation Servo OFF or Pn001 0 Alarm Stop Made Default Setting 0 5 10
162. shock or fire Wiring A WARNING e Connect the ground terminal to a class 3 ground 100 or less Improper grounding may result in electric shock or fire Required for 7 5kW amplifiers Use Yaskawa kit Number XXX for wiring the power input and output terminals or equivalent UL listed closed loop ring terminals designed to accept 4 AWG wires Sigma II Indexer User s Manual Safety Precautions A CAUTION Do not connect a three phase power supply to the U V or W output terminals Doing so may result in injury or fire Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire Operation A CAUTION Never touch any rotating motor parts while the motor is running Doing so may result in injury A CAUTION Conduct trial operation on the servomotor alone with the motor shaft discon nected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Before starting operation with a machine connected make sure that an emer gency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Not doing so may result in burns due to high temperatures Sigma
163. sition Turns ON when the position error is within the inposition window setting Pn821 INPOSITION and when the commanded position profile has ended also known as DEN distribution end POUT 0 POUTO POUTI POUTI POUT2 POUT2 Programmable Outputs POUT3 POUT3 POUT4 POUT4 3 7 Sigma II Indexer User s Manual I O Signals CN1 CN4 3 1 4 Interface Circuits Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open collector tran sistor circuit Select a low current relay otherwise a faulty contact will result Sigma II Indexer and Servo amplifier Sigma Il Indexer and Servo amplifier 24V COM Output Circuit Interfaces Any of the following three types of servo amplifier output circuits can be used Con nect an input circuit at the host controller following one of these types Connecting to an Open Collector Output Circuit Alarm Code Outputs Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit Vpc Photocoupler Vpc Ipc ee R we i 3K Servo amplifier oP get mop i end iE ams Servo amplifier end A CAUTION The maximum allowable voltage and current capacities for open collector circuits are Vpc Voltage 30Vpc max Ipc Curre
164. sponse ExxE Positive Response OK ALMTRCCLR Alarm Trace Clear Negative Response ExxE Positive Response INERTIA Auto tuning Inertia Display INERTIA T 1232 ence Negative Response ExxE Positive Response OK TUNESTORE Auto tuning Inertia Save Negative Response ExxE p Positive Response OK coo Maur Cur Ze J Negative Response ExxE 6 33 Sigma II Indexer User s Manual Serial Command Functions This page intentionally left blank Sigma II Indexer User s Manual 7 efesotomasyon com 7 1 7 1 1 7 1 2 7 1 3 7 1 4 Using the Digital Operator Basic Operati n sreci soer Pu rete ranra pR nS 7 2 Connecting the Digital Operator 7 2 Function 44s excess poet ia es hee RV REXaeX GU Rhe 7 3 Resetting Servo Alarms 2ssss esse chr yen 7 5 Basic Mode S lection 2 avs esses RR Rex ERG 7 6 7 1 Sigma II Indexer User s Manual Basic Operation 7 1 Basic Operation This section provides information on the basic operation of the digital operator for setting operating conditions All parameter settings and motor operations can be executed by sim ple convenient operations Additional information on using the digital operator is available in engineering document Using the Digital Operator with the Sigma II Indexer pub eng 01 054 MCD Also refer to the Sigma II User s Manual for information on using the digital operator with the SGDH servo amplifier 7 1 1 Connecting the Digital Operat
165. starts Motor Speed t ISTAR STOP i1 RGRT M Sigma II Indexer User s Manual Registration If the reserved registration distance RDST is too small compared to the distance it takes for the motor to decelerate to the reserved registration speed RSPD alarm E23E occurs The motor does not stop at the reserved registration distance Motor Speed START STOP RGRT l ALM A second RGRT is ignored while positioning to the reserved registration distance Motor Speed t START STOP second registration input is ignored RGRT l 1 When RGRT becomes Active during motor deceleration and START STOP becomes Active later registration starts registration target position ISTART j STOP RGRT Motor Speed Sigma II Indexer User s Manual Registration When START STOP becomes Non Active during registration program discontin ues registration and stops motor When START STOP becomes Active registration resumes Motor Speed registration target position ISTART i i STOP j IRGRT E Sigma II Indexer User s Manual Zone Table Set up 5 9 Zone Table Set up Zone signals are used to set the five programmable outputs POUTO POUTA4 based on posi tion Up to 32 zones are available The zone signal outputs function like a programmable function Table 5 10 Zone Table ZONE ID c nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnnnn nnnnnn
166. t lock washer and flat washer SGDH A3 02BE SGDH A3 10AE SGDH 15 50AE SGDH 05 50DE M4x8 round head phillips with split lock Use front panel side screw hole washer and flat washer SGDH 60 1EAE SGDH 60 1EDE GROUND WIRE ooo Qs rower Q GROUND WIRE YASKAWA senvopack 200v SGDH For SGDH 6 0 kW to 15 kW Figure 1 7 1 7 Sigma II Indexer User s Manual Mounting the Sigma II Indexer Application Module to an SGDH When the Sigma II Indexer application module has been mounted correctly the SGDH servo amplifier will appear as shown in the following diagram lli mm SGDH o o E z i z I eo JL ELA D 45 I oA je 5 A w DER xS S Figure 1 8 Sigma II Indexer User s Manual efesotomasyon com 2 Installation This chapter describes precautions for Sigma II Series and Indexer application module installation The SGDH servo amplifiers are base mounted units Incor rect installation will cause problems Always observe the installation precautions shown in this chapter 2 1 Storage Conditions asana asana RR ERR CR 2 2 2 2 Installation Site issues suae aae Rex and 2 3 2 3 So Onca PERRO TTORETP T 2 4 Z3 J stallaDOfk 1aescoqeka e ete e x wa rae doni es 2 5 2 4 1 Servo Amplifier Orientation 2 5 24 27 OUS olola4 ek p eR SX x EX ERO RUE n 2 5 2 4 3 Side by side Installati
167. t the power circuit Tighten any loose parts Refer to connection diagram and correct wiring Reconnect wiring Reduce load or replace with larger capacity servomotor Turn S ON input ON or use the SVON command P OT and N OT inputs are turned OFF Refer to section 5 2 2 Turn P OT and N OT input sig nals ON Software position limit P LS or N LS reached Check error code from JUSP NS600 Check position of motor and move off of the position limit No position reference Check error code from JUSP NS600 Reserve a position reference before a program start Servomotor moves suddenly then stops Servomotor or encoder wir ing incorrect Refer to Chapter 3 of Sigma II Servo System User s Manual Unstable servomo tor speed Defective wiring connection to the motor Check the connections of the power lead U V and W phases and the encoder connec tors Tighten any loose terminals or connectors Servomotor vibrates at approxi Speed loop gain value too Reduce speed loop gain Pn100 mately 200 to high uM preset value 400Hz Reduce speed loop gain Pn100 Speed loop gain value too preset value high mE Increase integration time con High rotation speed overshoot on start ing and stopping stant Pn101 Speed loop gain is too low compared to position loop gain Increase the value of parameter Pn100 speed loop gain Reduce the
168. ted to the equipment The servo amplifier is now adjusted in the fol lowing ways to meet the specific equipment s characteristics 4 8 Sigma II Indexer User s Manual Two Step Trial Operation Using autotuning to match the servo amplifier to the equipment s characteristics Matching the direction of rotation and speed to the equipment s specifications Checking the final control form SGDH servo amplifier Connect to the machine Follow the procedures below to perform the trial operation 1 2 5 Make sure power is OFF Connect the servomotor to the equipment See Sigma II User s Manual 2 1 Servomotors for more details on connecting the servomotor Use autotuning to match the servo amplifier to equipment characteristics See Sigma II User s Manual 6 3 Autotuning Operate the servomotor by digital I O or serial mode operation See 5 Parameter Settings and Functions and 6 Serial Commands for more information Set and record user settings Set parameters as required and record all settings for use later in maintenance Note The servomotor will not be broken in completely during the trial operation Therefore let the system run for a sufficient amount of time after the trial operation has been completed to ensure that it is properly broken in 4 9 Sigma II Indexer User s Manual Two Step Trial Operation This page intentionally left blank 4 10 Sigma II Indexer User s Manual efesotomasyon com
169. thods for serial communications Procedures for setting parameters and program tables Procedures for digital I O and serial mode operation Troubleshooting procedures Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of Sigma II Series servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary Manual Name Manual Number Contents Describes the procedure used to select YEA S1A S800 32 2 Sigma II Series servodrives and capacities and detailed information Sigma II Series Servo System User s Manual Sigma II Series Servo System G M1 99001D Describes the procedure used to select Product Catalog Supplement Sigma II Series servodrives and capacities Refer to Sigma II User s Manual for the following information Procedures for installing and wiring the servomotor and servo amplifier encoder motor and power Procedures for using functions and adjusting the servodrives Selecting a regen resistor special wiring tuning and analog monitor Procedures for using the built in panel operator and the hand held digital operator Ratings and specifications for standard models vii Sigma II Indexer User s Manual Using This Manual Using This Manual Intended Audience This manual is intended for the following users Those designing Sigma II Series servodrive systems Those installing or wiring
170. tion Control Function Switches o 0001 See note 3 Pn208 Position Reference Movement 0 01ms 0 to 6400 0 Averaging Time See note 3 Appendix A 7 Sigma II Indexer User s Manual Servo Amplifier Parameters Category did Name Unit B an pots Pn300 Not Used mE E Pn301 Not Used mE Pn302 Not Used Pn303 Not Used Speed Pn304 Not Used Parameters Pn305 Not Used Pn306 Not Used E Pn307 Not Used E Pn308 ee er ae 0 01ms 01065535 0 Pn400 Not Used ap Pn401 a Reference Filter Time Con 0 01ms 0 to 65535 100 Pn402 Forward Torque Limit 0 to 800 800 Pn403 Reverse Torque Limit 0 to 800 800 Torque Pn404 Not Used Parameters Pn405 Not Used mE T Pn406 Not Used p Pn407 Not Used Pn408 Torque Function Switches 0000 Pn409 Notch Filter Frequency Hz 50 to 2000 2000 Pn500 Not Used Pn501 Not Used mE Pn502 Rotation Detection Level rpm 1 to 10000 20 Pn503 Not Used mE Sequence Pn504 Not Used LT oe Pn505 Overflow Level S iy 11032767 1024 Pn506 Scal Reference Servo OFF Delay 10ms 0 to 50 0 Pn507 Brake Reference Output Speed Level rpm 0 to 10000 100 Pn508 DR Pr NE Output soe 1010100 50 Pn509 Momentary Hold Time ms 20 to 1000 20 Pn50A Input
171. tioning command dur ing jog operation etc PG Non Coincide Error F61E AOF 1 Cannot execute absolute encoder specific ON ON No Change commands with an incremental encoder 2 Cannot execute a homing routine with an absolute encoder etc Error due to no A CC Multi turn Limit was E62E A 9F executed without A CC ON ON No Change Warning A XX A 9x SGDH Warning Activation Warning ON ON No Change bb or Forward Pot P OT ON OFF Motion run ER Over Prohibited 5 Travel bb or Reverse not ium N OT ON OFF Motion Prohibited bb or Forward PLS ui P LS ON OFF Motion Software Prohibited P Limit bb or Reverse nLS ed N LS ON OFF Motion Prohibited bb bb Servo OFF ON OFF Normal run run Servo ON ON OFF Notes l Status codes are displayed via the Sigma II Indexer JUSP NS600 CN7 digital operator CN6 response to serial commands ALM ERR or denial response to other commands Sigma II Indexer User s Manual Sigma II Indexer Status Display Table 2 The Panel Display is the built in panel display on the SGDH Servo Amplifier Operation panel dis play may be deleted depending on the communication status between SGDH and NS600 3 OFF Output transistor is OFF Alarm status ON Output transistor is ON No alarm Alarms continue to keep their status until they are released 4 OFF Output transistor is OFF No error warning ON Output transistor is ON Error Warning Status
172. to the correct pins of the servo amplifier CN1 connec tor Forward Run Prohibited Forward Overtravel Input P OT CN1 42 Input N OT CN1 43 Reverse Run Prohibited Reverse Overtravel Connect limit switches as shown below to prevent damage to the devices during lin ear motion Reverse rotation end a Forward rotation end H Servomotor Limit Limit switch switch Servo Amplifier Figure 5 1 Hardware Overtravels Drive status with an overtravel input signal P OT N OT ON or OFF is shown in the following table These are the default settings Description ON Input signal closed Forward rotation allowed normal operation status OFF Input signal open Forward run prohibited reverse rotation allowed ON Input signal closed Reverse rotation allowed normal operation status OFF Input signal open Reverse run prohibited forward rotation allowed 5 7 Sigma II Indexer User s Manual Settings According to Device Characteristics Set the following parameters to specify whether or not the input signals are used for overtravels The factory setting is that the input signals are used for overtravels Parameter Signal Pin No Setting 0 Input Signal Open OT Status Forward Run Prohibited 1 Input Signal Closed OT Status Forward Run Prohibited 2 Always OT Status Forward Run Prohibited 3 Forward Run Always Allowed 0 Input Signal Open
173. ts set by this command are returned to the contents set by PRMppp nnnnnnnn command at the beginning by turning ON OFF the control power sup ply or executing RES command Positive Response OK Negative Response ExxE PRMINIT Parameter Initialization Returns parameter settings to setting at shipping Cycle control power OFF ON or command RES to enable setting Positive Response OK Negative Response ExxE 6 21 Sigma II Indexer User s Manual Serial Command Functions 6 5 4 Program Table Set up Commands Table 6 8 Program Table Set up Serial Command Function Description Answer Program Initialization Positive Response OK PGMINIT Returns program table settings to setting at shipping Negative Response ExxE ZONE Table Initialization Positive Response OK ZONEINIT Returns zone table settings to setting at shipping Negative Response ExxE JOG Speed Table Initialization Positive Response OK JSPDINIT Returns jog speed table setting to setting at shipping Negative Response ExxE Programi Table Save Positive Response OK POMS TORE Saves program table settings in Flash memory At power ON Nevative Response ExxE program table last saved by PGMSTORE is restored P ZONE Table Save Positive Response OK ZONESTORE Saves zone table settings in Flash memory At power ON zone Nevative Response ExxE table last saved by ZONESTORE is restored d P JOC Spoed Tanie Saig
174. ttings and Functions 5 1 5 1 Parameter Limits with Sigma IL Indexer esses 5 4 5 2 Settings According to Device Characteristics 00005 5 6 5 2 1 Switching Servomotor Rotation Direction 4 5 6 5 2 2 Setting the Overtravel Limit Function 00 5 5 7 5 A TOFQUES un oco ve Bane xv ond ee EPA m obedit 5 11 0 9 sequence TO Signals sss scoase Nu sce telo os Y qais vos pesos 5 12 5 3 1 Using the Servo ON Input Signal 0 0000 5 15 5 3 2 Using Servo Alarm and Alarm Code Outputs 5 16 5 3 3 Using the Holding Brake 46s ud end OSs Aen Oa a4 5 17 5 3 4 Using the Servo Ready Output Signal 00 0 5 20 5 3 5 Using the Warning Output Signal 0 0 00 5 21 5 3 6 Using the INPOSITION Output Signal 5 23 5 3 7 Using the Programmable Output Signals POUTO POUT4 5 24 5 4 Using the Encoder Signal Output eee 5 26 5 5 Setting up the Reference Units 0 0 0 cee eee ee eee 5 29 5 5 1 Electronic Gear Setting Examples el ete Rm RE 5 31 5 5 2 Calculating Speed x1000 Reference Units min 5 32 5 5 3 Setting the Accel Decel Rate x 1000 Reference Units min ms 5 33 2 5 sXbsolute Encoders 2 55 uerb wd tub ez exer Ex pP 5 35 325 1 Interface Cu culbia eis Pe CU eh es seis teen ais 5 35 5 6 2 Configuring an Absolute Encoder 000 cee ee eee 5 35 5 0 3 Handling Batteries uc tyr
175. ut Signal Timing for Program Operation The following charts show the minimum timing requirements between inputs for program operation When selecting Mode 0 and starting a program step MODEM l 0 p LL When resetting a program step PGMRES OF eee START STOP c a PE Min 4ms i Min 4ms When reserving SELO 6 for program step operation Min 4 ms SELS amp I LL Min 8 mte L4 Min 0 ms When reserving SELO 4 in EVENT ISELO 4 bh T LLL ISTART STOP 4 Min Oms 4 Min 4ms Max Event Time Sigma II Indexer User s Manual Registration 5 8 Registration 5 8 1 Registration Specifications Latch delay time caused by RGRT at the time of registration maximum time delay to latch position Max 30us gt gt e Min 20s when Pn80F 0 Min 200us when Pn80F 1 RGRT Li Latch Operation l Move time from RGRT input signal to registration move at the time of registration maximum time delay to change motor operation Max 8ms c Motor Speed RGRT l 5 8 2 Registration Input Setting The following parameters are used to define the registration input Table 5 9 PARAMETER SIGNAL PIN No SETTING 0 Input Signal Closed Registration Start 1 Input Signal Open Registration Start 5 8 3 Registration Operation When RGRT becomes Active during positioning registration
176. ve Response MTSIZE 12345678 CR LF Display in Hexadecimal Negative Response ExxE PGTYPE PG Type Display Positive Response MTSIZE 00000110 CR LF Display in Hexadecimal 000D 13 bit incremental 0011 17 bit incremental 0110 16 bit absolute 0111 17 bit absolute Negative Response ExxE SVYSPEC SGDH Y Spec No Display Positive Response SVYSPEC 12345678 CR LF Negative Response ExxE SVVER SGDH Software Version Display Positive Response VER 00001234 CR LF Display in Hexadecimal Negative Response ExxE PGVER PG Software Version Display Positive Response VER 00001234 CR LF Display in Hexadecimal Negative Response ExxE TYPE NS600 Type Code 0600H Display Positive Response TYPE 00001234 CR LF Display in Hexadecimal YSPEC NS600 Y Spec No Display Positive Response YSPEC 12345678 CR LF STIFF Rigidity Monitor Positive Response STIFF 12345 CR LF Negative Response ExxE STIFFd Rigidity Reservation 1 d 10 Positive Response OK Negative Response ExxE 6 32 Sigma II Indexer User s Manual Serial Command Functions Table 6 10 Monitors and Functions Serial Command Function Description Answer Positive Response OK ABSPGRES Absolute PG Reset Negative Response ExxE Positive Response OK MLTLIMSET Multi Turn Limit Setting Negative Re
177. vo Amplifier Warning Display Table 9 13 OA STS Status LEDS 2 5 ce oheedigedivsediesnyds Dae Ia exa Bees 9 14 Appendix A List of Parameters iy 027 dev EVO Sev haa Reh owe S Ee eS A 1 A JUSP NS600 Indexer Parameters 0 0 0 eee ee eee eee A 2 A 2 Servo Amplifier Parameters 2 2 2 25 00sec eee eee ee eee A 6 A3 Servo Amplifier Switches ntact er E EXER ECKE A 10 Appendix B Monitor Modes and Functions 0 0 00 ee eee eee ene B 1 Bl Monitor Modes Susie ara see pU Eua CAL uM tA B 2 B2 Auxiliary Functions veet e Leon mes xed eae Rea ee eie Le E B 4 Appendix C Serial Commands cu aba ke b URBE RIA IER Pedes C 1 C 1 Alphabetical List of Serial Commands lelseeee esee C 2 Appendix D Example Exercises Js o5 SL Reo th a elata COMES RUN GR BEG D 1 Dsl Example Indexer Exercise 4 44 ese e Tu RR Ex TNR EERESUE E D 2 D 2 Example Indexer Exercise 2 42 2 epexl ueruetip Rer eras ey Mete D 5 D 3 Example Indexer Exercise 1 Solution llle essen D 6 D 4 Example Indexer Exercise 2 Solution 00 00 e eee D 14 vi Sigma II Indexer User s Manual Overview Overview Manual Outline This manual provides the following information for the Sigma II Series SGMLIH SGDH servodrives with a JUSP NS600 Indexer Application Module Procedures for installing and wiring the Sigma II Indexer Application Module Procedures for trial operation of the servodrive Specifications and me
178. ware position reference limits Pn81B and Pn81C are used when Pn81A 0 linear 2 Cannot combine Infinite with I 99999999 or A 99999999 unless a stop position reference is specified after the Infinite reference Setting s 1 99999999 Speed reservation x1000 Reference Unit min Setting at shipping 1000 5 49 Sigma II Indexer User s Manual Program Table Mode Mode 0 Table 5 7 Functions of the program table FUNCTION Setting 0 99999999 Registration position Reference Unit Registration Position T No registration position reserved Setting at shipping Setting Pi d 1 99999999 Registration speed x1000 Reference Unit min Setting at shipping 1000 Setting nnnnn n N A Z or POUTO N Non Active POUTI A Active POUT2 Z Zone signal Status of output signal e POUT3 dependent upon Zone Table see 5 9 Zone Table Set up utpat POUT4 Maintains previous status The POUT function sets the output signal configuration at the start of the block If the output signals need to change at the end of a block specify a Setting at shipping EE eo position move and set the outputs on the following block 5 50 Sigma II Indexer User s Manual Program Table Mode Mode 0 Table 5 7 Functions of the program table FUNCTION Event Event Condition Sets condition for execution of next program step either repeat same program step LOOP or go to n
179. wing list shows monitor modes available via the CN7 port when using a digital operator Table B 1 Monitor Modes Digital Equivalent Serial Operator Content of Display Unit Remarks EVERE E Command CN6 CN7 Un000 Actual Motor Speed rpm NFB or MON3 Un001 N A N A Value for Un002 Internal Torque Reference TREF or MONS rated torque Number of Un003 Rotational Angle 1 Pulse Pulses from None Origin Angle from Un004 Electrical Angle 2 Degree Origin elec None trical Un005 SGDH Input Signal Monitor INI Un006 SGDH Output Signal Monitor OUTI Un007 Input Reference Pulse Speed rpm NREF or MONA Un008 Position Error reference units PER or MON2 Un009 Accumulated Load Rate 1 TRMS Un00A Regenerative Load Rate 2 RGRMS Un00B Power Consumed by DB Resistor 3 DBRMS Un00C SGDH Position Reference Counter Disp lay dn None Hexadecimal Un00D PG Counter Feedback Pulse Counter Disp lay oe None Hexadecimal Un800 Last Error ERR Un801 NS600 Input Signal Monitor IN2 Un802 NS600 Output Signal Monitor OUT2 Un803 Status Flag Monitor STS or MON6 Un804 Current Issue Position Monitor reference units PUN or MON1 Un805 Current Motor Position Monitor reference units PFB or MON7 Un806 Target Position Monitor reference units POS or MON8 Un807 Target Distance Monitor reference units DST or M
180. zone position limit Read ZONENTI23 123436 8 CR LE 0 zz 31 Negative Response ExxE Zone Table ZONEN negative side zone position limit Write ZONENTZzz Positive Response OK Setting PUER 99999999 99999999 Zone position limit reference unit 0 zz 31 Negative Response ExxE Setting at shipping 0 Positive Response JSPDTod Jog Speed Table JSPD jog speed reservation Read JSPDTI23 4 12343078 CR LE 0 dd 15 Negative Response ExxE JOG Speed Table Write JSPDTdd Jog Speed Table JSPD jog speed reservation Write Positive Response OK nnnnnnnn Setting 0 dd 15 E Negative Response ExxE 99999999 Jog speed x1000 reference unit min Setting at shipping 1000 Sss Program Step zz Zone Table ID dd Jog Speed Table ID Note 1 See also 5 7 Program Table Mode 5 9 Zone Table 5 11 Jog Speed Table for more details 2 Changes to program table become effective immediately Use the PGMSTORE command to save the changes otherwise the settings last saved by PGMSTORE will become effective on next power ON or after RES command The same holds true for Zone Table ZONESTORE and Jog Speed Table JSPDSTORE 6 25 Sigma II Indexer User s Manual Serial Command Functions 6 5 5 Program Table Operation Commands Table 6 9 Program Table Operation Serial Command Function Description Answer START Program Operation Restart Command restarts progra

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