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TB267 Rev12 CNC11/CNC12 Yaskawa Sigma V Sigma 5 Precision Mode Setup for OAK/MPU11
Overview
This document will walk you through the process of configuring and tuning a Yaskawa Sigma V Servopack and
Servomotor with a Centroid CNC11/CNC12 based control running in Precision Mode Some notes are also
provided for Sigma 7 Centroid's Precision Mode can provide very good resolution and high feedrates but the
following maximum should not be exceeded
CNC11/CNC12 Max Counts/min = 72 000 000
This maximum is derived from the maximum counts per interrupt using the following formula
300 counts/int * 4000 int/sec * 60 seconds
The maximum commanded counts per second that the Yaskawa drive can accept is 1 200 000/s The following
table shows examples of resolutions resulting from selected encoder counts per rev and ballscrew pitch
Encoder Counts/Rev Yielding Resolution and Speeds
12mm Pitch Counts/Rev Resolution
β/Count Max RPM Max Speed
β/Min Max Speed
mm/Min
8192 0 000058 8789 4152 49828
16384 0 000029 4395 2076 24914
See Notes* 24000 0 000020 3000 1417 17008
32768 0 000014 2197 1038 12457
16mm Pitch Counts/Rev Resolution
β/Count Max RPM Max Speed
β/Min Max Speed
mm/Min
8192 0 000077 8789 5536 88583
16384 0 000038 4395 2768 44291
See Notes* 24000 0 000026 3000 1890 30236
32768 0 000019 2197 1384 22146
*Yaskawa Sigma V Series Motors SG MGV Maximum RPM = 3000
The 8192 default value referred to in this tech bulletin and manual refers to 8192 lines which corresponds to
32768 encoder counts per revolution
Prerequisites
The following items are needed
β’ Computer with the Yaskawa SigmaWin+ software installed SigmaWin+ Version 5 54 was used for
this document SigmaWin+ Version 7 has a different look
β’ A to Mini B type USB cable Yaskawa part number JZSP CVS06 02 E β connected between the
laptop and the Yaskawa drive you wish to setup
Servopack Configuration Process
β’ Launch the Yaskawa SigmaWin+ software
β’ You will see the following screen
β’ Ensure "Online" is selected as shown above
β’ Select "Search" and make sure "Ξ£5 drives" are selected This search must be done every time you
power up the software or connect to a different Servopack because the SigmaWin+ software
remembers the last drive that was connected to it and displays that rather than what is currently
connected
β’ Select the drive that appears and click "Connect"
β’ SigmaWin+ will then open to the main screen as shown below
β’ The best way to configure the Servopack is by using the Setup Wizard which is located under the
Parameters menu option as shown below
β’ Select βParameters U β then click βSetup Wizard W β to start the wizard The βSetup Wizard W β
window is shown below
β’ To run the setup wizard you will click on the buttons at the left of the window Starting at the top and
working down the list
β’ Start by clicking the "Encoder Selection" button
β’ Nothing is displayed in the window under "Encoder Selection" until you click on "Apply" at the lower
right corner
β’ The encoder type will then be shown under the Encoder Selection button
NOTE You can quickly and easily determine if you have a Sigma 5 or Sigma 7 based on the Encoder
Selection menu Sigma 5 uses a 20 bit encoder whereas Sigma 7 uses a 24 bit encoder
β’ If you intend to set up the encoder as absolute make sure an absolute encoder is detected
β’ Click "Control Mode Selection"
β’ Select "Position Control pulse train reference " from the drop down menu
β’ Click "Apply"
β’ Click "Reference Input Setting"
Note the "Control Mode Selection" setting is now highlighted in green signifying that it has been
completed
β’ Select "phase A + phase B" and click "Next"
β’ You will then need to select how far the servomotor will move in response to a one pulse input
β’ Select "4 times multiple " as shown below
β’ Click "Next"
β’ You will then be asked to Select the electronic gear setting method Select "Enter the electronic gear
ratio directly" as shown below
β’ Click "Next"
β’ You will then need to enter the gear ratio Enter 1048576 on top and 32768 on bottom as shown in the
image below
β’ Note Sigma 7 use 512 top / 1 bottom for 24bit encoder
β’ Verify the "Positioning Completed Width" is set to 7 and click "Apply"
β’ The "Reference Input Setting" will now be green
β’ Click "Motor Encoder Settings"
β’ On the right side of the screen you will see the option βSet the dividing output according to the
electronic gear ratioβ as shown below Click βApplyβ to set the number of output pulses per motor
rotation to 8192
β’ Absolute encoders are supported with CNC12 v4 06 and newer DriveComm or OpticDirect drive
interface cards support Yaskawa absolute encoders A battery is needed for absolute encoders which
may be on DriveComm or OpticDirect or in Yaskawa cable JZSP CSP12 E If these requirements for
software hardware and battery are met the control system supports absolute encoders See TB301
for more information on the absolute encoder
β’ Sometimes due to availability you may receive a servomotor with an absolute encoder instead of an
incremental encoder The wizard will detect this and allows you to set the following option If the
servomotor has an absolute encoder installed but the control does not support it the βAbsolute
Encoder Settingβ must be changed to βUses absolute encoder as an incremental encoder β as shown
below
Note The "Absolute Encoder Setting" option is grayed out if you have an incremental encoder
β’ If the control supports absolute encoders and you would like to use the feature leave the option set to
use absolute as shown
β’ Click "Next"
β’ Select "Standard Setting"
β’ Click "Apply"
β’ The "Motor Encoder Settings" will now also be green
β’ Click "Motor Stop Method"
β’ Pn001 0 should be set by default to the settings in the picture below If not make sure they are set
accordingly
β’ Set "Servo OFF" to "0 Stops the motor by applying DB dynamic brake "
β’ Set "Overtravel" to "0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting "
β’ Set "G2 alarm" to "0 Stops the motor by setting the speed reference to "0" "
β’ If the Servomotor you are setting up has a brake you will need to check the "Use the Holding brake"
option as shown below
β’ Click "Apply"
β’ Click "IO Signal Settings" then click "Input Signal Settings"
β’ Disable "N OT" by clicking in the "Always OFF" column as shown below
β’ Disable "P OT" by clicking in the "Always OFF" column as shown below
β’ Click "OK"
β’ Click "Output Signal Settings"
β’ You must set "/COIN" and "/V CMP" to "Disable Do not use " as shown below
β’ For motors with a brake you must also set "/BK" to "SO1 CN1 25 26 " as shown below
β’ Click "OK"
β’ You will then be returned to the IO Signal Settings screen Hit "Apply" to save the settings and then
click "Save/Write"
β’ Select "Write with a backup file" then press "Write" This will save the current configuration and then
write the current configuration to the Servopack
β’ Click "Finish"
β’ Click "Yes" when prompted to complete the Setup Wizard
β’ The ServoPack will now have an A941 error as shown below This indicates that a reset is required to
apply the configuration changes
β’ To reset the Servopack you must click the "Software Reset" button in SigmaWin or remove power from
the Servopack Before clicking the βSoftware Resetβ button push in the E stop button on the control
This avoids putting the control into an error state when the drive and motor go offline The Software
Reset button is shown below
β’ After pressing the "Software Reset" button you will receive a warning Simply click "Execute" to
continue as shown below
β’ Click "Execute" at the next screen that pops up to confirm reset of the Servopack
β’ Every time the Yaskawa Servopack is reset you will normally get an error on the Centroid control
Having the E stop button pressed will avoid getting that error message
β’ Once the Servopack is reset you will have a "Motor Base Blocked bb" message displayed on the
Servopack This message means that everything is OK
Absolute Encoder Reset
β’ If an absolute encoder was enabled the following error will appear
β’ This error will recur any time the backup battery is disconnected Reset the absolute encoder position
as follows
Test Run
We are now ready to perform a test run of the Servopack and Servomotor This test run will be performed from
the SigmaWin+ software using the Jog Mode
β’ To enter Jog Mode select "Jog" from the "Test Run" menu as shown below
β’ You will then see the Jog Operation window as shown below
β’ Click "Edit" to change the "JOG Speed" setting 50rpm is a good safe starting point
β’ Verify that the E stop button is released
β’ Click "Servo ON" to enable the Servopack Motor Power
The screen should then show "Servo ON" as shown below
β’ You can now jog the motor by pressing and holding either the Forward or Reverse buttons
β’ If everything is working correctly you should have smooth motion of the Servomotor Simply close the
Jog Operation window to exit Jog Mode Cycle the E stop button
Servopack Tuning
We are now ready to tune the Yaskawa Servopack There are two main options for doing this
1 "Tune Less Mode" β This is the default mode for the Servopack It obtains a stable response without
adjustment
2 "Autotuning" β In this mode the Servopack will attmept to tune itself to the dynamics of the system
saving the parameters for use after that
Note Most Servopack/Servomotor combinations seem to perform better once they have been Autotuned so
that is the option in which we will proceed
β’ Select "Tuning G " then "Tuning G " as shown below
β’ You will then see a safety warning about the use of Tuning Simply press "Execute" to continue
β’ You will then see the following Tuning window
β’ Click "Execute" This will begin the process to calculate the Moment of Inertia for the Servomotor
β’ You will then see the Condition Setting window as shown below Click "Next"
β’ Click "Start" to transfer reference conditions to the Servopack and then click "Next"
β’ You will then see the Moment of Inertia calculation as shown below
β’ Verify that the E stop button is released
β’ Click "Servo On" to apply power to the Servomotor
β’ Alternatingly click "Forward" then "Reverse" until the SigmaWin software will no longer allow you to
press either one signifying that the process is complete
β’ Push in the E stop button and click "Next"
β’ You will then see the window as shown below
β’ Click "Writing Results" to send the results to the Servopack
β’ Click "Finish"
β’ You will be prompted to execute a Software Reset on the Servopack
β’ You will then be returned to the Tuning window
β’ Under the "Autotuning" section click "No Reference Input" to ensure the correct mode during tuning
Click "Autotuning"
β’ You will then see the following Autotuning Set Conditions window
β’ The following settings should be set by default verify that they match the following settings
β’ Set "Switching the load moment of inertia load mass identification " to "1 A moment of inertia
is not presumed "
β’ Set "Mode selection" to "2 For positioning"
β’ Set "Mechanism selection" to "2 Ball screw mechanism or linear motor"
β’ Ensure the "Moving Range" is set to "3 0" rotations
β’ Click "Next"
β’ You will receive another warning Click "Yes" to send the parameters to the Servopack
β’ You will then see the Autotuning β Automatic setting window as shown below
β’ Verify that the E stop button is released
β’ Click "Servo ON"
β’ Click "Start tuning" The Servopack will then tune itself Sometimes the autotune will fault This can
usually be fixed by performing a Software Reset and re starting the Autotune
β’ Click "Finish" when tuning is complete
β’ At this point the Servopack and servomotor are tuned Exectue a Software Reset to be sure everything
is back in good operation
Centroid PID Configuration
Verify that parameter 256 is set to 2 on the CNC11/CNC12 software as this parameter tells the control that it's
in Position Mode From the main screen press F1 Setup >F3 Config >default password is 137 >F3 Params
Press F8 Next Table until parameters 200 299 are being displayed
When the CNC11/CNC12 software is in Precision Mode the PID values should be set according to the table
below From the main screen press F1 Setup >F3 Config >default password is 137 >F4 PID >F4 PID
Config
Kp Ki Kd Limit Kg Kv1 Ka Accel
0 0 0 2560000 0 0 0 0 500
The "Encoder counts/rev" field should be set to the same value that was used on the SigmaWin+ software
which is 32768 From the main screen press F1 Setup >F3 Config >default password is 137 >F2 Mach
>F2 Motor
Using the SigmaWin+ software to jog the motors as done in the Test Run section above confirm that the βAbs
Posβ field in the PID menu is increasing when the Servomotor shaft is moving counter clockwise If it is
counting backwards or not counting at all the encoders are wired incorrectly or the encoder mapping on the
CNC11/CNC12 software is not set correctly
For a standard 3 axis OAK system parameters 300 302 should be set to 1 2 and 3 and parameters 308 310
should also be set to 1 2 and 3 For a 3 axis OpticDirect system parameters 300 302 should be set to 1 2
and 3 and parameters 308 310 should be set to 7 8 and 9 Parameters 357 359 should be set to 3000
***After the Yaskawa Servopacks have been configured and tuned or any time you have changed any settings
on the Servopack s an Autotune on the CNC11/CNC12 software must be performed This is done by
pressing F1 Setup >F3 Config >default password is 137 >F4 PID >F5 Tune Make sure that all axes can
move the specified amount without running into any obstacles or a limit switch
Note If your axis motors are excessivly growling when moving after running the Centroid Auto Tune function
please follow the section below to "fine tune" delay
Servopack Delay Fine Tuning
The CNC software Autotune can only adjust delays to the nearest 250us increment Fine tuning must be
completed with Yaskawa SigmaWin+
See the PID Menu section of chapter 14 Configuration in the M Series Operator's Manual for information on
the live tuning procedure if you are not already familiar with it Run a short back and forth movement test
program while observing the output graph
If there is a consistent error proportional to Vabs as shown below fine tuning is needed in SigmaWin+
This error is due to a delay time mismatch Centroid autotune has corrected the delay to the best of its ability
but the smallest correction it can make is 250us A residual delay mismatch may remain that is between 0 and
250us
Follow the following steps to get to the SigmaWin+ Custom Tuning menu
β’ Do not change the moment of inertia simply click next
While the live tuning program is running adjust the "Feed forward level FF " in Sigma Win+ Relatively fine
changes will be needed here that will not undo previous tuning efforts The "Feed forward level FF " changes
will take effect when the motor stops at direction changes The error trace on Centroid's live tuning should
get closer to 0 If not adjust "Feed forward level FF " the other way The error trace will be centered around
0 when the adjustment is correct
Corrected performance after delay fine tuning
Press the "Completed " button in Sigma Win+ and disconnect from the drive
Braking Resistors
If the Yaskawa Servopack is wired to use an external braking resistor you must set Parameter 600
Regenerative Resistor Capacity on the Yaskawa to be equal to 20% of the wattage of the braking resistor
Load Meter Setup
1 If using the OAK board all that is needed is the Yaskawa interface cable for the OAK board Centroid part
number 13134 Just connect the analog input connector of the Yaskawa interface cable to the CN5 connector
of the Yaskawa drive which is located underneath the display cover as shown in the photo below
If using the OpticDirect boards please verify that the OpticDirect board has the analog section populated as
shown in the photo below
2 Verify that the following
is defined in the PLC program Note β The input and word definitions may vary depending on the component
that is being used to read the analog torque voltage from the Yaskawa drive as well as what is already being
defined in the PLC program
Input Definitions
AnalogInput1 IS INP241
AnalogInput2 IS INP257
AnalogInput3 IS INP273
AnalogInput4 IS INP289
AnalogInput5 IS INP305
Word Definitions
XMeterADC_W IS W14
YMeterADC_W IS W15
ZMeterADC_W IS W16
AMeterADC_W IS W17
SpindleMeterADC_W IS W20
Main Stage
IF true THEN BTW XMeterADC_W AnalogInput1 16
BTW YMeterADC_W AnalogInput2 16
BTW ZMeterADC_W AnalogInput3 16
BTW AMeterADC_W AnalogInput4 16
BTW SpindleMeterADC_W AnalogInput5 16
IF XMeterADC_W > 32767 THEN XMeterADC_W = XMeterADC_W β 65536
IF YMeterADC_W > 32767 THEN YMeterADC_W = YMeterADC_W β 65536
IF ZMeterADC_W > 32767 THEN ZMeterADC_W = ZMeterADC_W β 65536
IF AMeterADC_W > 32767 THEN AMeterADC_W = AMeterADC_W β 65536
IF SpindleMeterADC_W > 32767 THEN
SpindleMeterADC_W = SpindleMeterADC_W β 65536
; TODO Pre compute constants in initial stage
; The Delta drives put out +/ 8V at max torque
; The spindle is +/ 10V
IF true THEN XMeterADC_W = 100 * XMeterADC_W / 1638
YMeterADC_W = 100 * YMeterADC_W / 1638
ZMeterADC_W = 100 * ZMeterADC_W / 1638
AMeterADC_W = 100 * AMeterADC_W / 1638
SpindleMeterADC_W = 100 * SpindleMeterADC_W / 2048
IF true THEN SV_METER_1 = abs XMeterADC_W
SV_METER_2 = abs YMeterADC_W
SV_METER_3 = abs ZMeterADC_W
SV_METER_4 = abs AMeterADC_W
SV_METER_6 = abs SpindleMeterADC_W
3 Verify that parameters 35 57 137 143 and 313 are set correctly
Parameter 35
This is the axis that is assigned as your spindle axis By default it should be set to 6
Parameter 57
This is bit based parameter that tells the CNC11/CNC12 software which axes to turn the load meters
on for
Axis 1 2 3 4 5 6 7 8
Bit 0 1 2 3 4 5 6 7
Value 1 2 4 8 16 32 64 128
For example we have a 3 axis system with a spindle in which it is desired to see the load
meters of all the axes as well as the spindle Therefore bits 0 1 2 and 5 would be set That means
that parameter 57 would be a value of 1+2+4+32 = 39
Parameter 137
This parameter tells the CNC11/CNC12 software how many samples to use when calculating the
average output for the load meter display By default it should be set to 0 but if the load meter jumps
around a lot with it set to 0 this parameter can be adjusted to minimize the amount of βjumpinessβ of
the load meter display
Parameter 143
This is another bit based parameter that controls the display of the axis load meters It is
recommended to set it to 11 which enables the load meters and its outlines as well as the
Distance to Go DRO Ctrl+D switches between Current Position and Distance to Go DRO in the DRO
Display Window
Parameter 313
This parameter tells the CNC11/CNC12 software which encoder input to look at for the 6th axis which
is the spindle axis that was set by parameter 35 By default it should 6
Oak to Yaskawa hookup schematics
https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=oak%20yaskawa
Oak installation manual
https //www centroidcnc com/downloads/centroid_Oak_install_manual pdf
Oak CNC Tech support options
1 Free Support start a support thread here https //centroidcncforum com/viewforum php?f=64
2 One on One Factory support https //shopcentroidcnc com/centroid factory direct 11 technical support/
Document History
Rev 12 Created on 2026 07 28 by #499
Rev 11 Created on 2025 11 3 by #376
Rev10 Created on 2025 11 3 by #376
Rev9 Created on 2023 01 11 by #376
Rev8 Created on 2020 08 13 by #446
Rev7 Created on 2020 04 07 by #423
Rev6 Created on 2017 04 28 by #199
Rev5 Created on 2016 06 20 by #270
Rev4 Created on 2015 05 03 by #240
Rev3 Created on 2015 16 02 by #397
Rev2 Created on 2013 02 08 by #000
Rev1 Created on 2012 07 18 by #358
Z \tech\Technical bulletins\TB267\ Z \tech\Technical bulletins\TB267\TB267 CNC11 12 Yaskawa Sigma 5
Precision Mode Setup Oak MPU11 20260728 r12 odt