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TB297 Yaskawa Sigma5 Step and Direction Setup for Acorn CNC Controller
Overview
This document will walk you through the process of configuring and tuning a Yaskawa Sigma V
Servopack and Servomotor with a Centroid Acorn based control
The following items are needed
� Computer with the Yaskawa SigmaWin+ software installed
� A to Mini B type USB cable Yaskawa part number JZSP CVS06 02 E � connected between
the laptop and the Yaskawa drive you wish to setup
Servopack Configuration Process
� Launch the Yaskawa SigmaWin+ software
� You will see the following screen
� Ensure "Online" is selected as shown above
� Select " Search " and make sure "Σ5 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
� Select the drive that appears and click " Connect "
� SigmaWin+ will then open to the main screen as shown below
� The best way to configure the Servopack is by using the Setup Wizard which is located under
the Parameters menu option as shown below
� Select � Parameters U � then click � Setup Wizard W � to start the wizard The � Setup
Wizard W � window is shown below
� 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
� Start by clicking the " Encoder Selection " button
� Nothing is displayed in the window under " Encoder Selection " until you click on " Apply " at
the lower right corner
� The encoder type will then be shown under the Encoder Selection button
� Click " Control Mode Selection "
� Select " Position Control pulse train reference " from the drop down menu
� Click " Apply "
� Click " Reference Input Setting "
Note the " Control Mode Selection " setting is now highlighted in green signifying that it has
been completed
� Select " SIGN + PULSE " and click " Next "
� You will then need to select pulse configuration logic type
� Select " Negative logic " as shown below
� Click " Next "
� You will then be asked to Select the electronic gear setting method Select "Enter the
electronic gear ratio directly" as shown below
� Click " Next "
� You will then need to enter the gear ratio Enter 1048576 on top and 4096 on bottom as shown
in the image below
� Verify the "Positioning Completed Width" is set to 7 and click " Apply "
� The "Reference Input Setting" will now be green
� Click " Motor Encoder Settings "
� On the right side of the screen you will see the option �Set the dividing output according to the
electronic gear ratio� as shown below Click � Apply � to set the number of output pulses per
motor rotation to 1024
� 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 does have an absolute encoder installed the � Absolute Encoder
Setting � must be changed to � Uses absolute encoder as an incremental encoder � as shown
below
Note The " Absolute Encoder Setting " option is grayed out if you have an incremental encoder
� Click " Next "
� Select " Standard Setting "
� Click " Apply "
� The " Motor Encoder Settings " will now also be green
� Click " Motor Stop Method "
� Pn001 0 should be set by default to the settings in the picture below If not make sure they are
set accordingly
� Set "Servo OFF" to " 0 Stops the motor by applying DB dynamic brake "
� Set "Overtravel" to " 0 Same setting as Pn001 0 Stops the motor by applying DB or by
coasting "
� Set "G2 alarm" to " 0 Stops the motor by setting the speed reference to "0" "
� If the Servomotor you are setting up has a brake you will need to check the " Use the Holding
brake " option as shown below
� Click " Apply "
� Click " IO Signal Settings " then click " Input Signal Settings "
� Disable "N OT" by clicking in the " Always OFF " column as shown below
� Disable "P OT" by clicking in the " Always OFF " column as shown below
� Click " OK "
� Click " Output Signal Settings "
� You must set "/COIN" and "/V CMP" to " Disable Do not use " as shown below
� For motors with a brake you must also set "/BK" to " SO1 CN1 25 26 " as shown below
� Click " OK "
� You will then be returned to the IO Signal Settings screen Hit " Apply " to save the settings
and then click " Save/Write "
� Select " Write with a backup file " then press " Write " This will save the current
configuration and then write the current configuration to the Servopack
� Click " Finish "
� Click " Yes " when prompted to complete the Setup Wizard
� The ServoPack will now have an A941 error as shown below This indicates that a reset is
required to apply the configuration changes
� To reset the Servopack you must click the " Software Reset " button in SigmaWin or remove
power from the Servopack Before clicking the � Software Reset � 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
� After pressing the " Software Reset " button you will receive a warning Simply click
" Execute " to continue as shown below
� Click " Execute " at the next screen that pops up to confirm reset of the Servopack
� 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
� 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
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
� To enter Jog Mode select " Jog " from the " Test Run " menu as shown below
� You will then see the Jog Operation window as shown below
� Click " Edit " to change the "JOG Speed" setting 50rpm is a good safe starting point
� Verify that the E stop button is released
� Click " Servo ON " to enable the Servopack Motor Power
The screen should then show "Servo ON" as shown below
� You can now jog the motor by pressing and holding either the Forward or Reverse buttons
� 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" � This is the default mode for the Servopack It obtains a stable response
without adjustment
2 "Autotuning" � 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
� Select " Tuning G " then " Tuning G " as shown below
� You will then see a safety warning about the use of Tuning Simply press " Execute " to
continue
� You will then see the following Tuning window
� Click " Execute " This will begin the process to calculate the Moment of Inertia for the
Servomotor
� You will then see the Condition Setting window as shown below Click " Next "
� Click " Start " to transfer reference conditions to the Servopack and then click " Next "
� You will then see the Moment of Inertia calculation as shown below
� Verify that the E stop button is released
� Click " Servo On " to apply power to the Servomotor
� Alternatingly click " Forward " then " Reverse " until the SigmaWin software will no longer
allow you to press either one signifying that the process is complete
� Push in the E stop button and click " Next "
� You will then see the window as shown below
� Click " Writing Results " to send the results to the Servopack
� Click " Finish "
� You will be prompted to execute a Software Reset on the Servopack
� You will then be returned to the Tuning window
� Under the " Autotuning " section click " No Reference Input " to ensure the correct mode
during tuning Click " Autotuning "
� You will then see the following Autotuning Set Conditions window
� The following settings should be set by default verify that they match the following settings
� Set "Switching the load moment of inertia load mass identification " to " 1 A moment
of inertia is not presumed "
� Set "Mode selection" to " 2 For positioning "
� Set "Mechanism selection" to " 2 Ball screw mechanism or linear motor "
� Ensure the "Moving Range" is set to " 3 0 " rotations
� Click " Next "
� You will receive another warning Click " Yes " to send the parameters to the Servopack
� You will then see the Autotuning � Automatic setting window as shown below
� Verify that the E stop button is released
� Click " Servo ON "
� 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
� Click " Finish " when tuning is complete
� At this point the Servopack and servomotor are tuned Exectue a Software Reset to be sure
everything is back in good operation
� Run Acorn Setup Wizard and set Steps/Rev to 4096