Yaskawa Sigma II Indexer Manuel d'utilisateur

Sigma II Indexer User’s Manual

Sigma II Indexer User’s Manual Safety PrecautionsixSafety PrecautionsThe following precautions are for checking products upon delivery, installation,

Sigma II Indexer User’s Manual Absolute Encoders5-45Note: 1. The absolute position data within one revolution is the value before dividing.2. Absolute

Sigma II Indexer User’s Manual Absolute Encoders5-46The set value is the number of output pulses per revolution.The setting range varies according to

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-475.7 Program Table Mode (Mode 0)5.7.1 Program Table Mode SettingSet the /MODE 0/1 input

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-485.7.3 Program Step SelectionThe Sigma II Indexer can store up to 128 program steps. All

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-495.7.4 Program (Index) Table Set-upTable 5.6: Example program tableProgramStepTarget Posi

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-50RegistrationPositionSetting:0 ~ 99999999 Registration position [Reference Unit]- No regi

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-51EventEvent ConditionSets condition for execution of next program step, either repeat sam

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-52Note:1. When program moves to the next program step and a new position is commanded whil

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-535.7.5 Event Condition ExamplesNote: If t<t1, then new positioning is ignored and erro

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-545.7.6 Program OperationProgram Start-StopWhen changing /START-STOP to Active, program op

Sigma II Indexer User’s Manual Safety PrecautionsxOperation • Do not connect a three-phase power supply to the U, V, or W output terminals.

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-55Program ResetWhen changing /PGMRES to Active after changing /START-STOP to Non-Active, b

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-56Program Running (program run-ning or held, but not cancelled) Program HeldCancels progra

Sigma II Indexer User’s Manual Program Table Mode (Mode 0)5-575.7.8 Minimum Input Signal Timing for Program OperationThe following charts show the min

Sigma II Indexer User’s Manual Registration5-585.8 Registration5.8.1 Registration SpecificationsLatch delay time caused by /RGRT at the time of regist

Sigma II Indexer User’s Manual Registration5-59If the reserved registration distance (RDST) is too small compared to the distance it takes for the mot

Sigma II Indexer User’s Manual Registration5-60When /START-STOP becomes Non-Active during registration, program discontin-ues registration and stops m

Sigma II Indexer User’s Manual Zone Table Set-up5-615.9 Zone Table Set-upZone signals are used to set the five programmable outputs (/POUT0 – /POUT4)

Sigma II Indexer User’s Manual Zone Table Set-up5-62Setting Range: -99999999 ~ +99999999 reference unitsSetting at Shipping: ZONE N = ZONE P = 0Note:

Sigma II Indexer User’s Manual Program Table Examples5-635.10 Program Table ExamplesThe following are examples of program tables. Also, see Appendix

Sigma II Indexer User’s Manual Program Table Examples5-64Table 5.12: POUT Signal Output for Specified Time after Completing Positioning (Example)PGMST

Sigma II Indexer User’s Manual Safety PrecautionsxiMaintenance and Inspection General Precautions • Do not remove the panel cover while the

Sigma II Indexer User’s Manual Program Table Examples5-65Table 5.13: Event with SEL Signal (Example)PGMSTEP POS SPD RDST RSPD POUT EVENT LOOP NEXT0 I+

Sigma II Indexer User’s Manual Program Table Examples5-66Table 5.14: Use of ZONE Table (Example)PGMSTEP POS SPD RDST RSPD POUT EVENT LOOP NEXT0 A+5000

Sigma II Indexer User’s Manual Program Table Examples5-67Table 5.15: Use as Positioning Table (Example)PGMSTEP POS SPD RDST RSPD POUT EVENT LOOP NEXT0

Sigma II Indexer User’s Manual Program Table Examples5-6814 0 0 30 0 015 0 0 31 0 0Table 5.16: Use of Constant Speed Operation (Example)PGMSTEP POS SP

Sigma II Indexer User’s Manual Homing / Jog Speed Table Mode (Mode 1)5-695.11 Homing / Jog Speed Table Mode (Mode 1)5.11.1 Homing /Jog Mode SettingSet

Sigma II Indexer User’s Manual Homing / Jog Speed Table Mode (Mode 1)5-705.11.3 Homing Routine ParametersThe following parameters are used to setup th

Sigma II Indexer User’s Manual Homing Routine Operation5-715.12 Homing Routine OperationUse homing routine for incremental encoders only. Homing routi

Sigma II Indexer User’s Manual Jog Speed Table Operation5-725.13 Jog Speed Table OperationWhen changing /JOGP to Active, motor forwards with jog speed

Sigma II Indexer User’s Manual Jog Speed Table Operation5-735.13.2 Jog Speed Table SelectionX = ActiveBlank = Non-ActiveJog Speed ID: Jog speed number

Sigma II Indexer User’s Manual Jog Speed Table Operation5-745.13.4 Minimum Input Signal Timing for Homing and Jog OperationThe following charts show t

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Sigma II Indexer User’s Manual6-16Serial Commands6.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26.2 Control

Sigma II Indexer User’s Manual Specifications (CN6)6-26.1 Specifications (CN6)Table 6.1: Specifications (CN6)ITEMS SPECIFICATIONSStandard in complying

Sigma II Indexer User’s Manual Control Configuration6-36.2 Control Configuration6.2.1 Control Overview6.2.2 Serial Communication ParametersThe followi

Sigma II Indexer User’s Manual Control Configuration6-46.2.3 Axis Address Setting Graph

Sigma II Indexer User’s Manual Command Transmission (Host Controller Æ Sigma II In-6-56.3 Command Transmission (Host Controller o Sigma II Indexer)6.3

Sigma II Indexer User’s Manual Command Transmission (Host Controller Æ Sigma II In-6-66.3.2 Echo Back Response TimeTable 6.4: Parameter Pn800tmintmaxP

Sigma II Indexer User’s Manual Transmission Data (Sigma II Indexer Æ Host Controller)6-76.4 Transmission Data (Sigma II Indexer o Host Controller)6.4.

Sigma II Indexer User’s Manual Serial Command Functions6-86.5 Serial Command FunctionsAn axis address must be assigned at the beginning of each seria

Sigma II Indexer User’s Manual Serial Command Functions6-96.5.2 Moving CommandsTable 6.6: Moving CommandSerial Command Function / Description AnswerP

Sigma II Indexer User’s Manual Serial Command Functions6-10SPDnnnnnnnnPositioning Speed Reservation Setting Range: 1 d nnnnnnnn d +99999999 [x1000 Ref

Sigma II Indexer User’s Manual1-11Checking Products and Part NamesThis chapter describes the procedure for checking the Sigma II Indexer application m

Sigma II Indexer User’s Manual Serial Command Functions6-11STPositioning Start Performs positioning defined in POS, POSA, or POSI command at speed def

Sigma II Indexer User’s Manual Serial Command Functions6-12STI(±) nnnnnnnn(+ can be omitted)Positioning Start (Relative Position)Setting Range: -99999

Sigma II Indexer User’s Manual Serial Command Functions6-13RSPositioning Start with RegistrationPerform positioning defined in POS, POSA, POSI command

Sigma II Indexer User’s Manual Serial Command Functions6-14RJOGPnnnnnnnnRJOGNnnnnnnnnJog Forward/Reverse with Registration (Relative Position)Setting

Sigma II Indexer User’s Manual Serial Command Functions6-15ZRNHoming StartCommand to start zero-point return (homing) operation as shown below: Comman

Sigma II Indexer User’s Manual Serial Command Functions6-16ZSET (±) nnnnnnnnCoordinates SettingSetting Range: - 99999999 d nnnnnnnn d + 99999999 [Ref

Sigma II Indexer User’s Manual Serial Command Functions6-17HOLDPositioning Interruption (or Jog Stop)Command to interrupt positioning. Remaining posit

Sigma II Indexer User’s Manual Serial Command Functions6-18HOLD (Continued)(6) When reserving a new speed with SPD command while positioning before a

Sigma II Indexer User’s Manual Serial Command Functions6-19SKIPPositioning Stop (or Jog Stop)Command to stop operation at specified deceleration. (1)

Sigma II Indexer User’s Manual Serial Command Functions6-206.5.3 Parameter Operation CommandsThe following serial commands are used to monitor or re-w

Sigma II Indexer User’s Manual Introduction1-21.1 IntroductionThe Sigma II Indexer application module (P/N JUSP-NS600) is a single-axis position con-t

Sigma II Indexer User’s Manual Serial Command Functions6-21TRMppp = nnnnnnnn[ppp: parameter number](0 d ppp d FFF)Temporary Parameter WriteFor applica

Sigma II Indexer User’s Manual Serial Command Functions6-226.5.4 Program Table Set-up CommandsTable 6.8: Program Table Set-upSerial Command Function /

Sigma II Indexer User’s Manual Serial Command Functions6-23SPDTsss = (0 d sss d 127)Program Table SPD WriteProgram table SPD (positioning speed reserv

Sigma II Indexer User’s Manual Serial Command Functions6-24EVENTTsss(0 d sss d 127)Program Table EVENT ReadProgram table EVENT (event condition) read.

Sigma II Indexer User’s Manual Serial Command Functions6-25sss = Program Stepzz = Zone Table IDdd = Jog Speed Table IDNote: 1. See also 5.7 Program Ta

Sigma II Indexer User’s Manual Serial Command Functions6-266.5.5 Program Table Operation Commands.Table 6.9: Program Table OperationSerial Command Fun

Sigma II Indexer User’s Manual Serial Command Functions6-276.5.6 Monitor and Function CommandsTable 6.10: Monitors and FunctionsSerial Command Functio

Sigma II Indexer User’s Manual Serial Command Functions6-28IN2NS600 Input Signal MonitorPositive Response:IN2 = 01010101 [CR] [LF]: Photocoupler OFF

Sigma II Indexer User’s Manual Serial Command Functions6-29OUT 1 SGDH Side Output Signal MonitorPositive Response:OUT1 = 01010101 [CR] [LF]0: Photocou

Sigma II Indexer User’s Manual Serial Command Functions6-30PER or MON2Position Error Monitor [reference units]Positive Response:PER = + 12345678 [CR]

Sigma II Indexer User’s Manual Checking Products on Delivery1-31.2 Checking Products on DeliveryThe following procedure is used to check products upon

Sigma II Indexer User’s Manual Serial Command Functions6-31PGMSTEPProgram PGMSTEP Pass Through MonitorDisplays the current program step in progressPos

Sigma II Indexer User’s Manual Serial Command Functions6-32MTTYPE Motor Type DisplayPositive Response:MTTYPE = 00000001 [CR] [LF] (Display in Hexadeci

Sigma II Indexer User’s Manual Serial Command Functions6-33ABSPGRES Absolute PG ResetPositive Response: OKNegative Response: ExxEMLTLIMSET Multi Turn

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Sigma II Indexer User’s Manual7-17Using the Digital Operator7.1 Basic Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27.1

Sigma II Indexer User’s Manual Basic Operation7-27.1 Basic OperationThis section provides information on the basic operation of the digital operator f

Sigma II Indexer User’s Manual Basic Operation7-37.1.2 FunctionsThe digital operator can be used for parameter settings, operating references, and sta

Sigma II Indexer User’s Manual Basic Operation7-4Note: The panel display may be blank for up to 3 minutes each time control power is applied. The serv

Sigma II Indexer User’s Manual Basic Operation7-57.1.3 Resetting Servo Alarms Servo alarms can be reset using the digital operator.Using the Hand-Hel

Sigma II Indexer User’s Manual Basic Operation7-67.1.4 Basic Mode Selection The basic mode selection of the digital operator is used for indicating th

Sigma II Indexer User’s Manual Checking Products on Delivery1-4Figure 1.4 Block Diagram of Sigma II Indexer Functions.Figure 1.5 Note: Refer to Table

Sigma II Indexer User’s Manual8-1 8Dimensional Drawings8.1 Dimensions of the JUSP-NS600 Sigma II Indexer. . . . . 8-2

Sigma II Indexer User’s Manual8-28.1 Dimensions of the JUSP-NS600 Indexer are shown below.Dimensional Drawing Units in mm (inches).Approximate mass: 0

Sigma II Indexer User’s Manual9-1 9Troubleshooting9.1 Troubleshooting Problems with No Alarm Display . . . . 9-29.2 S

Sigma II Indexer User’s Manual Troubleshooting Problems with No Alarm Display9-29.1 Troubleshooting Problems with No Alarm Display Use the tables belo

Sigma II Indexer User’s Manual Troubleshooting Problems with No Alarm Display9-3Servomotor over-heatedAmbient temperature too highMeasure servomotor a

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-49.2 Sigma II Indexer Status Display Table9.2.1 Sigma II Indexer Alarm Status D

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-5Notes:1. Status Codes are displayed via the Sigma II Indexer JUSP-NS600. (CN7-d

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-62. The Panel Display is the built-in panel display on the SGDH Servo Amplifier.

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-79.2.2 Sigma II Indexer Error/Warning Status Display TableIndexer StatusStatus1C

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-8Error4E54E A.9FServo ON Incomplete ErrorServo is not enabled. Turn servo on.ON

Sigma II Indexer User’s Manual Checking Products on Delivery1-5Table 1.3: Part NumbersNote: See Sigma II Servo System Product Catalog Supplement for p

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-9Notes:1. Status codes are displayed via the Sigma II Indexer JUSP-NS600. (CN7-d

Sigma II Indexer User’s Manual Sigma II Indexer Status Display Table9-102. The Panel Display is the built-in panel display on the SGDH Servo Amplifier

Sigma II Indexer User’s Manual SGDH Servo Amplifier Status Display Tables9-119.3 SGDH Servo Amplifier Status Display Tables 9.3.1 SGDH Servo Amplifier

Sigma II Indexer User’s Manual SGDH Servo Amplifier Status Display Tables9-12Notes:A.81OFF OFF OFF OFFAbsolute Encoder Backup Error*All the power supp

Sigma II Indexer User’s Manual SGDH Servo Amplifier Status Display Tables9-131. OFF:Output transistor is OFF.ON:Output transistor is ON.2. (*) These a

Sigma II Indexer User’s Manual STS Status LEDs9-149.4 STS Status LEDsNote: One multi-color LED (green and red) is located on the Sigma II Indexer indi

Sigma II Indexer User’s ManualAppendix A-1Appendix AList of ParametersA.1 JUSP-NS600 Indexer Parameters . . . . . . . . . . . . . . . . . . A-2A.2 Ser

Sigma II Indexer User’s Manual JUSP-NS600 Indexer ParametersAppendix A-2A.1 JUSP-NS600 Indexer ParametersThe following list shows JUSP-NS600 paramete

Sigma II Indexer User’s Manual JUSP-NS600 Indexer ParametersAppendix A-3Pn807/SEL1;/JOG0(see note 1)-0 = Close = Program Select (Mode 0)0 = Close = Jo

Sigma II Indexer User’s Manual JUSP-NS600 Indexer ParametersAppendix A-4Pn80F/RGRT(see note 1)-0 = Close = Registration Start 2 = No Registration1

Sigma II Indexer User’s Manual Mounting the Sigma II Indexer Application Module to an SGDH 1-61.3 Mounting the Sigma II Indexer Application Module to

Sigma II Indexer User’s Manual JUSP-NS600 Indexer ParametersAppendix A-5Notes: 1. Parameters Pn800, Pn801, Pn803-Pn81E, Pn823, Pn833, Pn834 (parameter

Sigma II Indexer User’s Manual Servo Amplifier ParametersAppendix A-6A.2 Servo Amplifier ParametersThe following list shows parameters and their sett

Sigma II Indexer User’s Manual Servo Amplifier ParametersAppendix A-7Gain ParametersPn112Reserved parameters (Do not change.)% 0 to 1000 100Pn113 — 0

Sigma II Indexer User’s Manual Servo Amplifier ParametersAppendix A-8Speed ParametersPn300 Not Used — — —Pn301 Not Used — — —Pn302 Not Used — — —Pn303

Sigma II Indexer User’s Manual Servo Amplifier ParametersAppendix A-9Notes: 1. The multi-turn limit is valid only when parameter Pn002.2 Absolute Enc

Sigma II Indexer User’s Manual Servo Amplifier SwitchesAppendix A-10A.3 Servo Amplifier SwitchesThe following list shows the switches and their defau

Sigma II Indexer User’s Manual Servo Amplifier SwitchesAppendix A-11Pn003Function Selection Application Switches01Analog Monitor 1Torque Reference Mon

Sigma II Indexer User’s Manual Servo Amplifier SwitchesAppendix A-12Pn200Position Control Ref-erences Selection Switches0Not Used — — 01Not Used — — 0

Sigma II Indexer User’s ManualAppendix B-1Appendix BMonitor Modes and FunctionsB.1 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s Manual Monitor ModesAppendix B-2B.1 Monitor ModesThe following list shows monitor modes available via the CN7 port when using

Sigma II Indexer User’s ManualYASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and a

Sigma II Indexer User’s Manual Mounting the Sigma II Indexer Application Module to an SGDH 1-74. For grounding, connect the ground wire of the Sigma I

Sigma II Indexer User’s Manual Monitor ModesAppendix B-3(1) Value for the rated torque as 100%. Displays effective torque in 10 second cycles.(2) Valu

Sigma II Indexer User’s Manual Auxiliary FunctionsAppendix B-4B.2 Auxiliary FunctionsThe following list shows the auxiliary functions available via th

Sigma II Indexer User’s Manual Auxiliary FunctionsAppendix B-5Fn804 ZONE table save ZONESTOREFn805 JOG speed table save JOGSTOREALARM RESET ButtonAlar

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Sigma II Indexer User’s ManualAppendix C-1Appendix CSerial CommandsC.1 Alphabetical List of Serial Commands. . . . . . . . . . . . . . C-2

Sigma II Indexer User’s Manual Alphabetical List of Serial CommandsAppendix C-2C.1 Alphabetical List of Serial CommandsThe following table shows an al

Sigma II Indexer User’s Manual Alphabetical List of Serial CommandsAppendix C-3PER or MON2 Position Error Monitor 6.10PFB or MON7 Current Motor (actu

Sigma II Indexer User’s Manual Alphabetical List of Serial CommandsAppendix C-4STI(±) nnnnnnnn Positioning Start (Relative Position) 6.6STIFF Rigidity

Sigma II Indexer User’s ManualAppendix D-1 Appendix DExample ExercisesD.1 Example Indexer Exercise #1 . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s ManualAppendix D-2D.1 Example Indexer Exercise #1The following exercises are presented as a self-learning tool for the NS600 i

Sigma II Indexer User’s Manual Mounting the Sigma II Indexer Application Module to an SGDH 1-8When the Sigma II Indexer application module has been mo

Sigma II Indexer User’s ManualAppendix D-3Exercise #1bAdd a second index of 400 mm. /POUT1 should turn on at the end of the first index and turn off a

Sigma II Indexer User’s ManualAppendix D-4Exercise #1dAdd output /POUT2 as shown below.Exercise #1e:Add a homing routine:1. Actuator should start homi

Sigma II Indexer User’s ManualAppendix D-5D.2 Example Indexer Exercise #2Exercise #2a:Start a New Project. Enter and download the following program i

Sigma II Indexer User’s ManualAppendix D-6D.3 Example Indexer Exercise #1 SolutionSolution to Exercise #1a:First reset the Indexer to all factory def

Sigma II Indexer User’s ManualAppendix D-7Edit the Mechanical System window by selecting the Indexer Setup Module and then Tools, Indexer Setup, Mecha

Sigma II Indexer User’s ManualAppendix D-8Enter the index into the Index Table by selecting the Indexer Setup Module and then Tools...Indexer Setup...

Sigma II Indexer User’s ManualAppendix D-9Solution to Exercise #1b:Enter the new changes to the Index Table. Select Apply or OK and Download the new

Sigma II Indexer User’s ManualAppendix D-10Solution to Exercise #1c:Add the registration distance and speed to index#2. Select Apply or OK and Downlo

Sigma II Indexer User’s ManualAppendix D-11Solution to Exercise #1d:Enter the new changes to the Index Table. Select Apply or OK and Download the new

Sigma II Indexer User’s ManualAppendix D-12Solution to Exercise #1e:Enter the Homing parameters into the Homing window. Select Apply or OK to accept

Sigma II Indexer User’s Manual2-12InstallationThis chapter describes precautions for Sigma II Series and Indexer application module installation.The S

Sigma II Indexer User’s ManualAppendix D-13Solution to Exercise #1f:Convert 5000 rpm into mm/sec:Note: Value used assumes a 16-bit encoder is used.

Sigma II Indexer User’s ManualAppendix D-14D.4 Example Indexer Exercise #2 SolutionSolution to Exercise #2a:First reset the Indexer to all factory def

Sigma II Indexer User’s ManualAppendix D-15Edit the Mechanical System window by selecting the Indexer Setup Module and then Tools...Indexer Setup...Me

Sigma II Indexer User’s ManualAppendix D-16Edit the Over Travel window by selecting Tools, Indexer Setup, Over Travel. This window is used to select

Sigma II Indexer User’s ManualAppendix D-17Enter the rotary positions and output conditions into the Index Table by selecting the Indexer Setup Module

Sigma II Indexer User’s ManualAppendix D-18Solution to Exercise #2b:Edit the Index Table POUT column to accommodate for the zone conditions. Select A

Sigma II Indexer User’s ManualAppendix D-19Edit the Zone Table by selecting the Indexer Setup Module and then Tools, Indexer Setup, Zone. Enter the z

YASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone: (847) 887-7000 Fax: (847) 8

Sigma II Indexer User’s Manual Storage Conditions2-22.1 Storage ConditionsStore the servo amplifier within the following temperature range, as long as

Sigma II Indexer User’s Manual Installation Site2-32.2 Installation SiteTable 2.1: The following precautions apply to the installation site.Situation

Sigma II Indexer User’s Manual Orientation2-42.3 Orientation Install the servo amplifier perpendicular to the panel wall as shown in the figure. The s

Sigma II Indexer User’s Manual Installation2-52.4 InstallationFollow the procedure below to install multiple servo amplifiers side by side in a contro

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Sigma II Indexer User’s Manual3-13Connectors3.1 I/O Signals (CN1, CN4) . . . . . . . . . . . . . . . . . . . . . . . . . 3-23.1.1 Connection Exampl

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-23.1 I/O Signals (CN1, CN4)The section describes I/O signals for the SGDH Servo Amplifier and S

Sigma II Indexer User’s Manual Safety InformationSafety InformationThe following conventions are used to indicate precautions in this manual. Failure

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-3Figure 3.2 Sigma II Indexer JUSP-NS600 I/O (CN4)Note: Mode 0 enables input functions /START-ST

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-43.1.2 I/O Signals Connector (CN1, CN4)The following diagrams show the layout of CN1 and CN4 te

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-5Table 3.2: CN4 Terminal Layout (Sigma II Indexer) Table 3.3: CN1 Specifications (Servo Am

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-6Table 3.4: CN4 Specifications (Sigma II Indexer)Note: Yaskawa P/N DP9420007 includes 3M connec

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-7Table 3.7: CN4 Input Signals (Sigma II Indexer)Signal Name Pin No. Function+24V/COM 1Control p

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-83.1.4 Interface CircuitsSequence Input Circuit Interface The sequence input circuit interfac

Sigma II Indexer User’s Manual I/O Signals (CN1, CN4)3-9• Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for SGDH s

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-103.2 Serial Communication Connectors (CN6, CN7)This section describes the

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-113.2.3 Communication Specifications (CN6, CN7)The following table shows th

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-12.Table 3.11: CN7 Terminal Layout1TXD 8TXD2/TXD 9/TXD3RXD 10RXD4 /RXD 11 R

Sigma II Indexer User’s Manual Table of Contentsiii Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-133.2.5 Connector Signal Names (CN6,CN7)P: Personal computerS: Servopack#:

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-143.2.6 Connection ExamplesFigure 3.3 RS232C Single-Axis Communication (CN6

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-15Figure 3.5 RS422 Multi-Axis Communication (CN6)Figure 3.6 RS485 Multi-Axi

Sigma II Indexer User’s Manual Serial Communication Connectors (CN6, CN7)3-16RS422/485 Interface Cable1. Make sure that the drive system, control syst

Sigma II Indexer User’s Manual Sigma II Indexer Power Loss3-173.3 Sigma II Indexer Power LossSee the Sigma II Series Servo System User’s Manual (3.3.4

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Sigma II Indexer User’s Manual4-14Trial OperationThis chapter describes a two-step trial operation. Be sure to com-plete step 1 before proceeding to s

Sigma II Indexer User’s Manual Two-Step Trial Operation4-24.1 Two-Step Trial Operation Make sure that all wiring is completed prior to starting trial

Sigma II Indexer User’s Manual Two-Step Trial Operation4-34.1.1 Step 1: Trial Operation for Servomotor without LoadIn step 1, make sure that the servo

Sigma II Indexer User’s Manual Two-Step Trial Operation4-41. Secure the servomotor. Secure the servomotor mounting plate to the equipment in orde

Sigma II Indexer User’s Manual Table of ContentsivChapter 4: Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s Manual Two-Step Trial Operation4-5also appear in red immediately at power-up if an alarm occurs. In this case, turn OFF power

Sigma II Indexer User’s Manual Two-Step Trial Operation4-6f) Press the DATA/SHIFT key for a minimum of one second, and the display will revert to Fn00

Sigma II Indexer User’s Manual Two-Step Trial Operation4-7Turn ON and OFF each signal line to see if the LED monitor bit display on the panel changes

Sigma II Indexer User’s Manual Two-Step Trial Operation4-88. Check CN6 Serial Command Port (if applicable)Establish serial communication using either

Sigma II Indexer User’s Manual Two-Step Trial Operation4-9• Using autotuning to match the servo amplifier to the equipment’s characteristics.• Matchin

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Sigma II Indexer User’s Manual5-15Parameter Settings and Functions5.1 Parameter Limits with Sigma II Indexer. . . . . . . . . . . . . 5-45.2 Settings

Sigma II Indexer User’s Manual5-25.7.7 Evaluation of Program Operation Input Conditions. . 5-555.7.8 Minimum Input Signal Timing for Program Ope

Sigma II Indexer User’s Manual5-3Before Reading this ChapterThis chapter describes the use of each CN1 and CN4 I/O signal for the SGDH Servo ampli-fie

Sigma II Indexer User’s Manual Parameter Limits with Sigma II Indexer5-45.1 Parameter Limits with Sigma II IndexerThis section explains the limits for

Sigma II Indexer User’s Manual Table of Contentsv5.10 Program Table Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s Manual Parameter Limits with Sigma II Indexer5-5These parameters are set automatically the first time the power to the servo a

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-65.2 Settings According to Device CharacteristicsThis section describes t

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-75.2.2 Setting the Overtravel Limit Function The overtravel limit functio

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-8Set the following parameters to specify whether or not the input signals

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-9The forward and reverse position reference limits are used to set the ro

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-10Servo OFF Stop Mode SelectionThe SGDH servo amplifier turns OFF under t

Sigma II Indexer User’s Manual Settings According to Device Characteristics5-11 Note: If the Servomotor is stopped or rotating at extremely low

Sigma II Indexer User’s Manual Sequence I/O Signals5-125.3 Sequence I/O Signals Sequence I/O signals are used to control servo amplifier and indexer o

Sigma II Indexer User’s Manual Sequence I/O Signals5-13Input Signal Connections (CN4) Connect the sequence input signals as shown below. Figure 5.4

Sigma II Indexer User’s Manual Sequence I/O Signals5-14Output Signal Connections (CN1) Connect the sequence output signals as shown in the following f

Sigma II Indexer User’s Manual Table of ContentsviChapter 9: Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II Indexer User’s Manual Sequence I/O Signals5-155.3.1 Using the Servo ON Input Signal The basic use and wiring procedure for the Servo ON (/S

Sigma II Indexer User’s Manual Sequence I/O Signals5-165.3.2 Using Servo Alarm and Alarm Code Outputs The basic procedure for connecting alarm output

Sigma II Indexer User’s Manual Sequence I/O Signals5-17These signals output alarm codes to indicate the type of alarm detected by the servo amplifier.

Sigma II Indexer User’s Manual Sequence I/O Signals5-18Wiring ExampleUse the servo amplifier output signal /BK and the brake power supply to form a br

Sigma II Indexer User’s Manual Sequence I/O Signals5-19Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied, se

Sigma II Indexer User’s Manual Sequence I/O Signals5-20Set the brake timing used when the servo is turned OFF by input signal /S-ON (CN1-40) or when a

Sigma II Indexer User’s Manual Sequence I/O Signals5-21This signal indicates that the servo amplifier has completed all preparations and is ready to r

Sigma II Indexer User’s Manual Sequence I/O Signals5-22The following parameter is used to output warning details (overload, regenerative overload, and

Sigma II Indexer User’s Manual Sequence I/O Signals5-235.3.6 Using the /INPOSITION Output Signal The basic use and wiring procedure for the positionin

Sigma II Indexer User’s Manual Sequence I/O Signals5-245.3.7 Using the Programmable Output Signals (/POUT0 ~ /POUT4)The basic use and wiring procedure

Sigma II Indexer User’s Manual OverviewviiOverviewManual OutlineThis manual provides the following information for the Sigma II Series SGMH/SGDH serv

Sigma II Indexer User’s Manual Sequence I/O Signals5-25The following parameters are used to set the state of the /POUT0 ~ /POUT4 outputs.Parameter Sig

Sigma II Indexer User’s Manual Using the Encoder Signal Output5-265.4 Using the Encoder Signal Output Encoder output signals divided inside the servo

Sigma II Indexer User’s Manual Using the Encoder Signal Output5-27Divided encoder signals are output. The dividing ratio setting is not related to the

Sigma II Indexer User’s Manual Using the Encoder Signal Output5-28The setting range varies with the encoder used.Note: 1. Turn OFF power once and turn

Sigma II Indexer User’s Manual Setting up the Reference Units5-295.5 Setting up the Reference Units The Sigma II Indexer stores all positioning data i

Sigma II Indexer User’s Manual Setting up the Reference Units5-303. Determine the reference unit used. A reference unit is the minimum position data u

Sigma II Indexer User’s Manual Setting up the Reference Units5-31Electronic gear ratio = Note: Make sure the electronic gear ratio satisfies the foll

Sigma II Indexer User’s Manual Setting up the Reference Units5-32Ball ScrewsCircular Tables Belts and Pulleys 5.5.2 Setting Spe

Sigma II Indexer User’s Manual Setting up the Reference Units5-33The following parameter is used to set the default positioning and registration speed

Sigma II Indexer User’s Manual Setting up the Reference Units5-34Note: Smoothing Filter (Average Movement Filter) set by Pn208 = Movement Averaging Ti

Sigma II Indexer User’s Manual Using This ManualviiiUsing This ManualIntended AudienceThis manual is intended for the following users.• Those designin

Sigma II Indexer User’s Manual Absolute Encoders5-355.6 Absolute EncodersIf a motor with an absolute encoder is used, the absolute position is detecte

Sigma II Indexer User’s Manual Absolute Encoders5-36The following parameter is used to periodically clear the encoder’s counter (return the setting to

Sigma II Indexer User’s Manual Absolute Encoders5-375.6.3 Handling Batteries In order for the absolute encoder to retain position data when the power

Sigma II Indexer User’s Manual Absolute Encoders5-38Setup Using the Hand-held Digital Operator 1. Press the DSPL/SET key to select the auxiliary funct

Sigma II Indexer User’s Manual Absolute Encoders5-39Setup Using the Built–in Panel Operator 1. Press the MODE/SET key to select the auxiliary function

Sigma II Indexer User’s Manual Absolute Encoders5-40Note: If the following absolute encoder alarms are displayed, the alarms must be cleared using the

Sigma II Indexer User’s Manual Absolute Encoders5-412. Press the Up Arrow or Down Arrow key to select the parameter Fn013.3. Press the DATA/SHIFT

Sigma II Indexer User’s Manual Absolute Encoders5-425.6.5 Absolute Encoder Reception Sequence A host device can be used to monitor the absolute encode

Sigma II Indexer User’s Manual Absolute Encoders5-43Contents of Absolute Data • Serial data: Indicates how many turns the motor shaft has made from

Sigma II Indexer User’s Manual Absolute Encoders5-444. The system enters a normal incremental operation state approximately 50ms after the last serial