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TB108 Rev4 Yaskawa Sigma I & II AC Servo Parameters
Overview
This document describes the parameter settings for a Yaskawa Sigma I or Sigma II Servo Pack when insta lled onto a
CNC10 system or a CNC11 system that is in Velocity mode
CNC11
Velocity Mode control of 3rd party servo drives is one supported method of control on a CNC11 system b ecause of the
ease of setup and tuning The Sigma II should be se tup and run by itself before connecting the CN1 header to close the
loop to the Centroid system The following list of parameters details what is known to be required for standard usage of a
Sigma II pack drive If you have a special applicat ion contact Centroid technical support for recommen dations
Parameter Settings for the Sigma II Servo Pack
Before setting parameters it is good to start from factory defaults To do this press DSPL/SET to get to Fn000 Change
to Fn005 then press DATA/ENTER You will see P InIt on the display Press DSPL/SET to reset to factory defaults
Para
meter Value
Description
Fn005 Restore Factory Default
Pn00 1 0 Select Velocity Mode
Pn201 16384
65536 counts/rev
Pn300 450
4 5V at rated speed of 1500rpm 9V at 3000rpm
Pn304 0 Soft start accel time
Pn305 0 Soft start deccel time
Pn10B 4Gain App Switches 4 means no mode switch functio
n
available
CNC11 Settings
1 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F3 Params Set the motor max
RPM parameters 357 thru 360 to the max RPM of you r motors i e 3000
2 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F2 Mach Γ’F2 Motor Set the
Encoder Counts/Rev field to 65536
3 Using the axis pitch determine the max rate o f that axis using the following formula
Max Motor RPM / Motor Revs/Unit x 0 8 5 = Max Rate
4 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F2 Mach Γ’F1 Jog Set the Max
Rate
5 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F4 PID Γ’F1 PID Set the values
according to the following table
K p Ki KdLi
mit
KgKv1
KaAccel
0 04 0 0001 0 0
25
60
00 0 0
80 0 0 0
0 7
Jog Test
The Jog Test is performed to ensure that the motor
and drive run correctly before introducing more uncertainty One of
the common issues is that the wiring of motor power wires from the drive to the motor is incorrectly connected resulting
in drive errors This will be detected much more ea sily if only the motor and drive are part of the equation
CNC10
Parameter Settings for Yaskawa Sigma II Servo Pack
Para
meterVal
ue
Description
Pn000 0020Select torque mode control CCW is
forward rotation
Pn001 0020decel to stop on Overtravel then set
to coasting state
Pn10B 0004
disable Mode switching
Pn110 0012disable online autotune of Servo
Pack
Pn201 409
6*
16384 counts/rev
Pn400 30
100Torque reference gain set to suit
application
Pn407 150
0
2500Motor speed limit depends on Motor
and application
*Encoder count values are based on SGDH 10AE 0 85 kW motor running at 1500 RPM If a faster speed is used Pn201
must be reduced to 2048 for 8192 counts/rev
CNC10 Settings
1 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F2 Mach Γ’F2 Motor Set the Encoder
Counts/Rev field to 16384
2 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F2 Mach Γ’F1 Jog Set Deadstart and
Delta Vmax to 5 These values can be adjusted up or down depending on the machine and speed vs accura cy desired and
should only be adjusted by a qualified technician
3 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F4 PID Set Kp to 0 25 Ki to 0 00391 and
Kd to 5 Please note that we had best results on ou r test machine when Kv1 was set to 0 and Ka was set to 5 Optimal
settings may vary
Parameter Settings for Yaskawa Sigma I Servo Pack
Para
meter Value Description
CN 01
bit 8 OnAll others
off except
on Z
CN 01
bit 2 OnZ axis only
CN 02 0 All bits All axes
CN 0A 2 048PG dividing
Ratio
CN 13 5 0Torque
reference
Gain
CN 17 0 Torque reference
filter
CN 2B 2 Torque Mode
CNC10 Settings
1 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F2 Mach Γ’F2 Motor Set the Encoder
Counts/Rev field to 8192
2 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F3 Params Set parameter 60 to 8 This
parameter determines the size of the PID filter
3 From the main screen press F1 Setup Γ’F3 Config Γ’default password is 137 Γ’F4 PID Set Kp to 0 5 Ki to 00391 and
Kd to 5
Document History
Rev4 Created on 2016 09 09 by #270
Rev3 Created on 2012 02 20 by #240
Rev2 Created on 2008 09 22 by #297
Rev1 Created on 2000 11 13 by #000