Sigmawin+ Online Manual: Yaskawa

YASKAWA
SigmaWin+ Online Manual
YASKAWA ELECTRIC CORPORATION
YASKAWA
Safety-Related Symbols
The following symbols are used in this manual according to the safety-related content.
Be sure to observe text annotated with these safety symbols as their content is important.
Indicates precautions that, if not heeded, could possibly result in loss of

! WARNING life or serious injury.
Indicates precautions that, if not heeded, could result in relatively seri-

! CAUTION ous or minor injury, damage to the product, or faulty operation.
Furthermore, items marked with ! CAUTION may have important consequences

depending on the situation.
Warning-related symbols differ between ISO and JIS standards.
ISO Standards JIS Standards
! !
This manual uses ISO standard symbols.

Product warning labels may use either the ISO or JIS standards. Treat either in the same
manner.
ii
Safety-Related Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
Manual Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
How to Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Notes on the PC Communication Function . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Regarding Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Safety Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
1 System Outline
1.1 Outline and Advantages of SigmaWin+ . . . . . . . . . . . . 1-1
1.2 Compatible Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.4 Installing SigmaWin+ Program . . . . . . . . . . . . . . . . . . . . . 1-3
1.5 Removing SigmaWin+ Program. . . . . . . . . . . . . . . . . . . . 1-8
1.6 Installing and Removing Other SigmaWin+
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
2 Starting SigmaWin+
2.1 Starting SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 From the Start Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.2 From a Shortcut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Selecting a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
3 Cable Between the PC and SERVOPACK
4 Install File List
iii
Appendix A: Connecting MECHATROLINK-II Adapter
PC Card (JUSP-NP115)
A.1 Connecting The NP115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
A.2 Installing The Device Driver . . . . . . . . . . . . . . . . . . . . . . . E-2
A.2.1 Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
A.2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
A.3 Removing The NP115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8
A.4 Updating The Device Driver . . . . . . . . . . . . . . . . . . . . . . . E-9
A.5 Uninstalling The Device Driver . . . . . . . . . . . . . . . . . . . . E-17
A.6 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-19
A.6.1 MECHATROLINK-II Connection Example . . . . . . . . . . . . . . E-19
A.6.2 Precautions on Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
A.7 Led Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
A.8 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-22
iv
Manual Outline
This manual explains the following areas for SigmaWin+ users.
• Outline of SigmaWin+ Functions and Operation
• SigmaWin+ Installation/Removal
How to Use this Manual

Meaning of Basic Terms
This manual applies the following meanings to the terms below unless otherwise specified.
• Servodrive : A servomotor integrated with a SERVOPACK
• Servo System : A complete servo control system in which a servodrive is integrated with
an upper level controller and peripheral devices.
Notes on the PC Communication Function

SERVOPACK Operator Panel and SigmaWin+
• Either the Operator Panel or SigmaWin+ is enabled at all times.

The operator panel will be disabled when using SigmaWin+. The LEDs on the panel display will
all be out, and input by the panel switches is not accepted.
The operator panel reactivates in the following situations.
• SigmaWin+ is closed correctly.
• More than three minutes have elapsed since SigmaWin+ was closed incorrectly.
MECHATROLINK-II-compatible SERVOPACK
The SERVOPACK for MECHATROLINK-II can carry out communications with SigmaWin+
(RS232C/RS422), SigamWin+ (MECHATROLINK-II), and the host controller
(MECHATROLINK-II). If the SERVOPACK is used to communicate with two or three of these
devices at the same time, note the following precautions.
• When parameters are written in from two or three devices, the latest parameter settings that was
written is valid.
• When an operation is conducted in utility function mode (Fn) from SigmaWin+ or the
host controller, the operation with other communications cannot be carried out.
v
Regarding Software
Usage Notes
• Use this software on one specified PC. Request a separate license to use this software on
another computer.
• Copying of this software for purposes other than use as backup copies is strictly prohib-
ited.
• Carefully store the CD-ROM (original medium) upon which this software is written.
• Reverse compiling or assembly of this software is strictly prohibited.
• Use of this software in whole or in part by a third party through transfer, exchange, resale,
and so forth, is strictly prohibited without the prior agreement of Yaskawa Electric Corpo-
ration.
• Copyright and all other rights for this software are reserved by Yaskawa Electric Corpora-
tion.
Operating Systems and Registered Trademarks

Windows 95, Windows 98, Windows NT, Windows 2000 and Windows Me are registered
trademarks of Microsoft Corporation in the United States.
vi
Safety Notes
The following are important cautionary items that must be observed in the wiring and use
of this product.
Notes on Wiring
! CAUTION
• Insertion and removal of communication cables should be done with the power off in both
the SERVOPACK and PC.
Insertion and removal of cables with the power on may result in damage to both or either of the
units.
• Never change cables while SigmaWin+ is running. Always close SigmaWin+ before
changing connections.
The operation of both or either the PC or SERVOPACK cannot be assured if this is not observed.
Usage Notes
! CAUTION
• Always be sure to close SigmaWin+ before turning the SERVOPACK power off or on.
The operation of both or either the PC or SERVOPACK cannot be assured if this is not observed.
Notes on Using WindowsXP
! CAUTION
• If using NTFS, contact a user with administrator privileges to log on to SigmaWin+.
If SigmaWin+ runs in Limited User mode with NTFS, the necessary settings cannot be read into
the application program so an error may occur at start up or the program may not successfully run.
If using FAT32, SigmaWin+ can be run in Limited User mode.
• When using SigmaWin+, do not change the active window to another window for another
application program even if using the Multi-user function.
If the active window is changed while SigmaWin+ is running, the window that shows the status of
the job may not be viewed and possibly result in an accident or harm to personnel or the motor.
vii
Notes on Using NP115
! CAUTION
• When removing the NP115 with the PC power supply ON, stop supplying the
power to the NP115, refer to 5 Removing the NP115.
Failure to observe this caution may cause electric stress, resulting in breakdown.
• During MECHATROLINK communications, do not turn OFF the personal computer
is connected to the NP115.
Failure to observe this caution may result in damage to the product because of communica-
tion errors.
• During MECHATROLINK communications, do not remove the parts shown in the
following diagrams.
Failure to observe this caution may result in damage to the product because of communica-
tion errors.
Do not remove
the card from the Do not remove
personal computer. the connection
cable from the card.
Cable connecting Cable connecting

card to external card to external box
box
Card Card
Personal computer Personal computer
To To
MECHATROLINK-II External MECHATROLINK-II
External box system box system
MECHATROLINK cable MECHATROLINK cable
Cable connecting card

to external box
Personal computer
MECHATROLINK
External box cable To MECHATROLINK-II
system
Do not remove the cable

from the external box.
• Do not connect or remove the external box while the NP115 card section is con-
nected to the PC. Connect or remove the NP115 card section to or from the exter-
nal box with the card section disconnected from the PC.
Failure to observe this caution may result in breakdown caused by electric stress or
mechanical damage caused by improper connector insertion.
viii
! CAUTION
• Do not apply excessive force to the connectors or cables connecting the NP115
card section and the external box. In addition, do not use the product with the
external box hanging from the PC or pulled from the MECHATROLINK cable.
• Do not pull the cable.
Failure to observe these cautions may result in mechanical damage or improper contact of
the connector section or breakdown caused by cable disconnection.
• To carry the NP115, take it out from the PC.
If you carry the NP115 connected to the PC, the external box hangs down so that excessive
force is applied to the connector section, resulting in mechanical damage.
• Be careful to remove the NP115 card section from the PC since this section
becomes hot.
ix
1.1 Outline and Advantages of SigmaWin+
1 System Outline
This section includes an outline of the SigmaWin+ system, and explains its advantages and
preparation prior to use.
1.1 Outline and Advantages of SigmaWin+

SigmaWin+ is a software tool for setup and optimum SERVOPACK tuning of Yaskawa
SERVOPACKs.
This product provides uniform features and functions enabling everyone from beginners to
persons experienced in servo tuning to easily perform connections, test runs, and tuning that
are matched to the customer’s machine right out of the box.
1.2 Compatible Devices

Σ Series • SGDA-S
• SGDA-P
• SGDB-
• DR2-Speed
• DR2-Position
• SGDE-S
• SGDE-P
• SGDF-S
• SGDF-P
• SGDL-S
• SGDL-P
Σ-II/Σ-II PLUS Series • SGDM-D
• SGDM-DA
• SGDH-E
• SGDP-P
• SGDP-PA
• SGDJ-S
• SGDJ-P
Σ-III Series • SGDS-01A
• SGDS-02A
• SGDS-05A
• SGDS-12A
• SGDS-15A
INDEXER • SGDH-E + NS600 or NS601
1-1
1.3 System Requirements
1.3 System Requirements

SigmaWin+ requires the following minimum system configuration.
Personal Computer (PC) PC/AT DOS/V-compatible device

Note: Operation cannot be assured on the NEC PC9821 series.
Processor Pentium 200MHz
Main Memory 64MB (96MB recommended)
Free Hard Disk Space At Normal Setup
• 250MB (300MB recommended at installation)
At Custom Setup
• Σ component: 40MB
• Σ-II component: 90MB
• SGDS component: 70MB
• INDEXER component: 70MB
• MECHATROLINK-II component: 70MB
(100MB recommended at each installation)
Monitor Super VGA (800×600 or greater using a small font)
Number of Colors 256 colors (65536 colors recommended)
Operating System (OS) • Windows 98
• Windows NT4.0 Service Pack 3 or later (IE4.01 Service Pack 2 or later)
• Windows 2000
• WindowsMe
• WindowsXP*
Note: MECHATROLINK-II component can only be installed in Windows 98,
Windows 2000, WindowsMe and WindowsXP.
Communication <Σ, Σ-II, SGDS, INDEXER component>
Interface One node or more RS-232C or RS-422A I/F
<ΜΕCHATROLINK-II component>
ΜΕCHATROLINK-II Adapter PC Card JUSP-NP115
(For details, see instruction manual (Manual No.: TOBPC72087800).)
Communication Cables <Σ component>
for SERVOPACK to PC DE9408565 (D-SUB 9-pin connector-compatible)
Connection <Σ-II, SGDS, INDEXER component>
JZSP-CMS02 (D-SUB 9-pin connector-compatible)
<ΜΕCHATROLINK-II component>
JEPMC-W6002- (MECHATROLINK-II communication cable)
JEPMC-W6022 (MECHATROLINK-II communication terminator)
Cables are available from Yaskawa. Contact Yaskawa if necessary.
For cable wiring, see Chapter 3.
Other CD-ROM drive (for installation only)
* If using HotfixQ328310, SigmaWin+ may or may not be installed. If it cannot be
installed, use Hotfix329623 instead.
1-2
1.4 Installing SigmaWin+ Program

To install SigmaWin+, run the setup file for SigmaWin+. And the installation process will
begin. In this process, SigmaWin+ and the related files will be installed, or stored on the
hard disk.
Operating conflicts may arise with the other programs during installation. Be sure to close
all other programs before installing SigmaWin+.
Install the program using the following procedure.
1. Insert the CD-ROM into the CD-ROM drive (the D-drive for example).
2. If "Autoplay" is enabled, the installation program will automatically start when the CD-
ROM is inserted.
If "Autoplay" is not enabled, either of the following methods may be used.
• On the Start menu, select Run. Type "D:\SETUP", and then click OK.
• Open the Explorer, load the CD-ROM contents, and double click "D:\SETUP.EXE".
A message will appear, welcoming you to the SigmaWin+ program.
1-3
3. Click Next to continue.
4. Follow the onscreen instructions to choose a destination folder to copy the SigmaWin+
file to, and click Next to continue.
1-4
5. Select the setup type.
<To install all components of SigmaWin+>

Choose "Normal Setup" and click Next.
<To install selected components of SigmaWin+>

(1) Choose "Custom Setup" and click Next.
1-5
(2) Select the components to be installed, and click Next.
6. Select the program group to create the SigmaWin+ icon. "YE_Applications" is the
default setting. After selecting the program group or folder, click Next to continue.
Then the PC files are copied from the CD-ROM. The percentage of the copying that
has been completed is shown.
Note: If new versions of the PC support files are needed to install SigmaWin+, a window will appear
asking whether to overwrite the current version or to cancel the installation. SigmaWin+ may not
run correctly if the new versions of the support files are not installed.
1-6
If SigmaWin+ has been successfully installed, one of two dialog boxes is displayed.
(a)
7. If dialog box (a) is displayed, click Finish to complete the setup.
(b)
8. If dialog box (b) is displayed, select Yes when asked if you want to restart the computer
and then click Finish to complete the setup.
1-7
1.5 Removing SigmaWin+ Program

Remove the SigmaWin+ program using the following procedure.
1. Click the Start button, point to Settings and click Control Panel.
2. Click the Add/Remove Programs icon. The Add/Remove Programs Properties box
appears.
3. Click the Install/Uninstall tab if it is not already selected. Click YASKAWA

SigmaWin+ English Edition as the program to be removed, and then click Add/
Remove.
A confirmation message will appear asking if you are sure you want to remove the
program.
1-8
4. Click OK to start removing the program. When the program has been successfully
removed, the following window will appear telling you that maintenance is complete.
5. Click Finish to complete the removal process.
1-9
1.6 Installing and Removing Other SigmaWin+ Programs
1.6 Installing and Removing Other SigmaWin+

Programs
To change the SigmaWin+ program which is now installed, use the following procedure.
1. Insert the CD-ROM into the CD-ROM drive (the D-drive for example).
The setup maintenance program will automatically start.
2. Choose "Modify" and click Next.
The components with check boxes are currently installed.
1-10
1.6 Installing and Removing Other SigmaWin+ Programs
3. To remove a component, clear the check box.

Select the components to be installed and click Next.
4. Click Finish to complete the changing process.
1-11
2.1 Starting SigmaWin+
2 Starting SigmaWin+
Start SigmaWin+ using the following method.
2.1 Starting SigmaWin+

Start SigmaWin+:
• from the Start menu
• from a shortcut
2.1.1 From the Start Menu

To start SigmaWin+ from the Start menu:
1. Click the Start button, and point to Programs.
2. Open the YE_Applications folder.
3. Click SigmaWin+.
2.1.2 From a Shortcut

To start SigmaWin+ from a shortcut on the desktop:
1. Open the YE_Applications folder on the desktop.
2. Click SigmaWin+.
SigmaWin+ Startup Screen
2-1
2.2 Selecting a SERVOPACK

When SigmaWin+ is in initially started, the Connect dialog box appears. Enter the settings
for communications between SigmaWin+ and the SERVOPACK by means of a
communication port.
Select the method to set up the SERVOPACK: online or offline. Online is the default
setting.
Online: Select when setting up or tuning the servo drive with the
SERVOPACK connected
Off-line:Select when editing parameters or checking screens for tracing
or mechanical analysis without the SERVOPACK connected
<When Offline is selected>
Select the SERVOPACK series and click Starting. The SigmaWin+ main window will
appear.
2-2
<When Online is selected>
Enter the necessary settings for communication setup.

(1) Click Search.
<For RS-232C/RS-422 connection>
Single Axis Connection Multi-axes Conneciton
2-3
Note: SigmaWin+ is compatible with the following SERVOPACKs.

Σ Series Σ-II, Σ-II PLUS Series
• SGDA-S • SGDM-D
• SGDA-P • SGDM-DA
• SGDB- • SGDH-E
• DR2- Speed • SGDP-P
• DR2- Position • SGDP-PA
• SGDE-S • SGDJ-S
• SGDE-P • SGDJ-P
• SGDF-S INDEXER
• SGDF-P • SGDH-E + NS600 or NS601
• SGDL-S Σ-III Series
• SGDL-P • SGDS-01A
• SGDS-02A
• SGDS-05A
• SGDS-12A
• SGDS-15A
<MECHATORLINK-II connection>
The PC card for the MECHATROLINK-II adapter (JUSP-NP115) has to be
connected to use the MECHATROLINK-II. See Appendix A.
If a C1 master such as a
controller exists on the
MECHATROLINK-II network,
SignaWin+ is connected as the
“C2 master.” If not, SigmaWin+
is connected as the “C1 master.” Updates the
connection status of the
MECHATROLINK-II
network.
Cannot be set if
“Auto” is selected.
Displays information
about the C1 master
and its slaves.
Can select “Auto” or “Manual.”
When “C2 master” is selected,
“Auto” is set automatically.
Note: 1. SigmaWin+ is compatible with the following SERVOPACKs.

Σ-III series
• SGDS-12A
• SGDS-15A
2. If a controller starts up as the C1 master after SigmaWin+ is already connected as the C1 master, an
error may occur in the controller or in communications. If so, disconnect SigmaWin+ and then start up
the controller again.
2-4
(2) Select SERVOPACK series and set necessary items. Click Search.
After the SERVOPACKs have been successfully connnected to SigmaWin+, a list
of the connected SEROVPACKs will appers on the screen.
SERVOPACK Selection Box
Note: When RS-232C is used, only one SERVOPACK will be displayed.
(3) Select the SERVOPACK to be connected and then click OK, or just double-click
the SERVOPACK to be connected. The SigmaWin+ main window will appear.
Click Cancel to close the dialog box.
2-5
< If the SERVOPACK is not Displayed >

If the SERVOPACK is not displayed though a SERVOPACK is connected, problems
may occur in communications.
Check the following items if the SERVOPACK is not displayed:
Check Item Note

Is the power on?
Are the connections loose? Fasten all communication cable connectors securely.
Was the correct communication interface Make sure that the communication interface (port)
(port) selected? connected to the communication cable is the same as the
communication interface (port) selected during
connection.
Is the axis address correct? <RS-232C: Single Axis Connection>
Make sure the setting for the axis address in the NS600 or
NS601 (set by rotary switches) is the same as the axis
address selected during connection.
<RS-422A:Multi-axis Connection>
Make sure that the axis address of the connected NS600
or NS601:
• Is not duplicated.
<MECHATROLINK-II Connection>
Make sure that the axis address of the connected NS600
or NS601:
• Is not duplicated.
Is the RS-232C port enabled? To save energy, it is possible to select the option of not
<RS-232C connection> feeding power to the RS-232C port in the PC. Check this
setting.
See the manual for the PC for details on how to select
this function.
Is a battery being used to power the PC? Problems in communications may occur if the PC is
running on batteries. Use AC power.
Is the wiring correct? Check the communication cable wiring.
See Chapter 3 or the SERVOPACK user's manual for
more information on the wiring.
Is the communication cable the Shorten the cable length as much as possible.
recommended length? Recommended Lengths of Communication Cables
RS-232C: Maximum 2m
RS-422A: Maximum 30m (total)
MECHATROLINK-II: Maximum 50m (total)
Minimum 30cm between stations
Is the number of connected slaves correct? The number of connectable slaves depends on the
<MECHATROLINK-II connection> communication settings of the MECHATROLINK.
See the SERVOPACK user’s manual.
Is the terminal processing correct? Attach a terminator to the last slave.
<MECHATROLINK-II connection>
2-6
If the SERVOPACK selection box still does not appear even after checking the above
items:
Communication may be impossible due to external environmental influences such as noise.
The SERVOPACK uses RS-422A specifications for serial communications. Sometimes the
RS-232C cannot be used, depending on the type of PC.
Execute the following if communications cannot be performed even after verifying the
aforementioned items:
• Use a different PC.
• If using RS-232C, change to an RS-422A connection.
2-7
3 Cable Between the PC and
SERVOPACK
Prepare a dedicated cable for connecting the PC to the SERVOPACK. Contact Yaskawa
for the dedicated cable.
Cable Specifications
<Σ Series>
Model : DE9408565 (D-sub 9 pins)
D-sub Connector
17JE-13090-02 (D8A)
Cable (Black)
UL2921 2-M3 Screw
2-M2.6 Screw 9-strand twisted Pitch 0.5
Pin Connector
Pitch 0.45 (0.16 × 7) 17JE-23090-02 (D1)
shielded cable
<Σ-II Series, SGDS, INDEXER>

Model : JZSP-CMS02 (D-sub 9 pins)
D-sub Connector Half-pitch Connector
17JE-13090-02 (D8A) Plug : 10114-3000VE
Dai-ichi Denshi Kogyo, Inc. Shell : 10314-52A0-008
Sumitomo 3M, Inc.
2000 ± 50
6 1 Cable
8 1
Cable Model : JZSP-CMS02 14 7

9 5
2-M2.6 Screw 6-M2.6 Screw
3-1
<MECHATROLINK-II>
• Communication Cable
Model: JEPMC-W6002-
L
• Terminator
Model: JEPMC-W6020
(8)
21
46
3-2
Connection Circuit
<Σ Series>
PC side SERVOPACK side
(D-sub 9 pins) (D-sub 9 pins)
Clamp to hood Clamp to hood
/ /
/ /
9
14

PC side SERVOPACK side
(D-sub 9 pins) (Half-pitch 14 pins)
Clamp to hood Clamp to hood
/ /
/ /
14
<MECHATROLINK-II>
• Communication Cable
Pin No. Line Color Signal name Signal name Line Color Pin No.
1 − − 1
2 Black /S /S Black 2
3 Red S S Red 3
4 − − 4
Shell − FG FG − Shell
• Terminator
1
120Ω
2
3
4
3-3
Communication Specifications
The communication specifications are:
<Σ Series, Σ-II Series, INDEXER>
• Baud Rate 9600 bps

• Bit Structure Start: 1 bit
Data: 7 bits
Stop: 1 bit
Odd Number Parity: 1 bit
• Synchronization Type Start-stop synchronization
• XON/XOFF Control None
• Shift Control None
• Communication Type Half-duplex communication
<SGDS>
• Baud Rate 19200 bps

• Bit Structure Start: 1 bit
Data: 8 bits
Stop: 1 bit
Odd Number Parity: 1 bit
• Synchronization Type Start-stop synchronization
• XON/XOFF Control None
• Shift Control None
• Communication Type Half-duplex communication
<MECHATROLINK-II>
• Baud Rate 10 Mbps/4 Mbps

• Number of Nodes Maximum 30/network
• Access Method Complete synchronization, master/slave method
• Cycle 125 µs to 8 ms (multiple of 125 µs)
(Depends on the setting of host computer)
• Data Size 17 byte sending + 17 byte receiving/station
32 byte sending + 32 byte receiving/station
• Connection Method Bus
• Transmission Distance Maximum 50 m (total)
• Code Manchester
• Frame HDLC
• Check CRC
3-4
Connection Circuit
When Using an RS-422A port
The cable can also be connected using an RS-422A port. The following diagram shows a
connection circuit.
• Transmission Range : 30m maximum (the maximum cable length is 30m.)
• Transmission Type : RS422A
< Multi-Axis Connection (for non-terminal connection) >
RS-422A Port SERVOPACK CN3

+5V
RXD TXD
*RXD *TXD
1KΩ to 10KΩ TXD
0V
*TXD
TXD RXD
Twist Pair Cable
*TXD *RXD
RXD
*RXD
RT
0V GND
Shield Case
3-5
< Multi-Axis Connection (for terminal connections) >
A 220Ω terminal resistor is inserted due to a short between pins 6 and 7.
RS-422A Port SERVOPACK CN3
+5V
RXD TXD
*RXD *TXD
TXD
1KΩ to 10KΩ
0V *TXD
TXD RXD
Twist Pair Cable
*TXD *RXD
RXD
*RXD
RT
0V GND
Shield Case
3-6
Connector Terminals on the SERVOPACK Side
<Σ Series>
Pin Number Signal Name Signal Line Name Signal Direction

1 TXD Transmission Data (non-inverted side) P *1 Å S *2
2 /TXD Transmission Data (inverted side) PÅS
3 RXD Reception Data (non-inverted side) PÆS
4 /RXD Reception Data (inverted side) PÆS
5 OPH # *3
6 /RXD A 220Ω terminal resistor between RXD - *RXD is inserted if
there is a short between pins 6 and 7.
7 RT
8 5VPP # *3
9 GND Signal 0V -
*1. P: PC
*2. S: SERVOPACK
*3. #: Reserved Terminal (always leave open)
Note: Peel back the cable shield on the end of each connector and affix it with a clamp.
3-7
Pin Number Signal Name Signal Line Name Signal Direction

1 TXD Transmission Data (non-inverted side) P *1 Å S *2
4 /RXD Reception Data (inverted side) PÆS

5 OPH Reserved Terminal -
6 /RXD A 220Ω terminal resistor between RXD - *RXD is inserted if
there is a short between pins 6 and 7.
7 RT
8 TXD Transmission Data (non-inverted side) PÅS
11 Reserved Terminal # *3
12 Reserved Terminal # *3
13 5VPP Reserved Terminal -
14 GND Signal 0V -
*1. P: PC
*2. S: SERVOPACK
*3. #: Reserved Terminal (always leave open)
<MECHATROLINK-II>
Pin Number Signal Name Signal Line Name

1 − Reserved Terminal∗
2 /S
Serial Data I/O
3 S
4 SH Reserved Terminal∗
* Always leave open.

3-8
4 Install File List
SigmaWin+ installs the following files into two directories on the PC.
The application default installation directory is C:\PROGRAM FILES\SgmaIDE\
SigmaSw.
For install file for each component, refer to each component user’s manual.
Main Application Files
File Name Function Installation Directory

SIGMAWINPLUS.exe Executable Module (EXE) Application Directory\Bin
BASELIB.dll Executable Module (DLL) Application Directory\Bin
CYELIB.dll Executable Module (DLL) Application Directory\Bin
SVBASE.dll Executable Module (DLL) Application Directory\Bin
SVLIB.dll Executable Module (DLL) Application Directory\Bin
SVLIBC.dll Executable Module (DLL) Application Directory\Bin
YEDBASEFI_II.dll Executable Module (DLL) Application Directory\Bin
YEDBASEFIII.dll Executable Module (DLL) Application Directory\Bin
YEDBASEMII.dll Executable Module (DLL) Application Directory\Bin
YESIGMAFI_II.dll Executable Module (DLL) Application Directory\Bin
YESIGMAFIII.dll Executable Module (DLL) Application Directory\Bin
YESIGMAMII.dll Executable Module (DLL) Application Directory\Bin
IDEINFOJFI_II.mdb Database File Application Directory\Bin
IDEINFOJFIII.mdb Database File Application Directory\Bin
IDEINFOJMII.mdb Database File Application Directory\Bin
SIGMAWINPLUS.chm Help File Application Directory\Help
Microsoft Foundation Support Files

MFC42.dll MFC Core Code Application Directory\Bin
Windows System Directory
MSVCIRT.dll C Runtime Library Application Directory\Bin
MSVCRT.dll C Runtime Library Application Directory\Bin
ODBC32.dll MFC DLL Application Directory\Bin
MSVCRT40.dll C Runtime Library Windows System Directory
VBAJET32.dll VBA Jet Expression Service Windows System Directory
4-1
VBAR332.dll VBA Runtime Windows System Directory
OLEPRO32.dll Microsoft OLE Property Support DLL Windows System Directory
OLEAUT32.dll Automation Support DLL Windows System Directory
DAO, Jet Support Files

DAO350.dll DAO DLL DAO Directory
DAO2535.tbl DAO TBL File DAO Directory
MSJET35.dll DAO DLL Windows System Directory
MSRD2X35.dll DAO DLL Windows System Directory
EXPSRV.dll DAO DLL Windows System Directory
MSJINT35.dll DAO DLL Windows System Directory
MSJTER35.dll DAO DLL Windows System Directory
Tool OCX

SPR32X30.ocx Spreadsheet OCX∗1 Windows System Directory
OLCH2X32.ocx Olectrachart 2D∗2 Windows System Directory
SSTBARS2.ocx Active Bar∗3 Windows System Directory
ACTRPT.dll Active Bar Report DLL∗4 Windows System Directory
FPSPR30.ocx Spreadsheet OCX∗1 Windows System Directory
*1. SPREAD
Copyright (C) 1999 FarPoint Technologies, Inc.
*2. Olectra Chart
Copyright (C) APEX Software Corporation
*3. ActiveToolBar Plus
Copyright (C) 2000 Sheridan Software Systems, Inc.
*4. ActiveReports
Copyright (C) 2000 Data Dynamics, Ltd.
Visual Basic Runtime Library

MSVBVM60.dll Visual Basic Runtime Library Windows System Directory
TABCTL32.ocx Tab Control OCX Windows System Directory
COMDLG32.ocx Common Dialog OCX Windows System Directory
4-2
User’s Manual

SIGMAWINPLUS.pdf SigmaWin+ User’s Manual Application Directory\Manuals
4-3
A.1 Connecting The NP115
Appendix A: Connecting
MECHATROLINK-II Adapter
PC Card (JUSP-NP115)
A.1 Connecting The NP115
1. Connect the card section to the external box.
2. Connect the MECHATROLINK cable or terminator (terminating resistor) to the
external box.
Note: The MECHATROLINK cable can be connected to the end or any part of the MECHATROLINK
network.
3. Connect the ground terminal on the external box to a ground pole with a minimum
resistance of 100 Ω .
Card
External box
MECHATROLINK cable
or terminator
A-1
A.2 Installing The Device Driver

A.2.1 Limitation
Only one NP115 can be attached on one PC. Do not attach more than one.
A.2.2 Installation
Follow the plug and play display of Windows to install the device driver. The following
describes an installation example of Windows 2000.
In case of any other OS, observe this procedure and follow the indications in the display.
1. Connect the NP115 to the PC (or insert the card section into the PC card socket). The
NP115 is detected, and the following displays appear in order.
2. Click the [Next] button when the following display appears.
A-2
3. Select “Search for a suitable driver for my device (recommended).”

Then click the [Next] button.
4. Select “Specify a location,” then click the [Next] button.
A-3
5. c To install the latest version from the attached floppy disk, insert the floppy disk.
d Click the [Browse...] button, specify the folder where the INF file (NP115∗∗.inf) of
the NP115 is stored. → See e in the following (∗∗ indicates OS).
f After specifying the folder, click the [OK] button.
e Folders are distinguished into the following types of OS. Specify the folder
corresponding to the OS used.
Windows2000: Win2k
Windows98/98SE: Win98
WindowsMe: WinMe
A-4
7. Click the [Finish] button when the following display appears.
A-5
8. Point to the “Settings” and then “Control Panel” from the start menu, and double-click
the “system.” After the system starts up, the following display appears. Click “Device
Manager...” on the “Hardware” tab.
9. Click the “MECHATROLINK,” and then double-click the “YASKAWA

MECHATROLINK-II Adapter PC Card JUSP-NP115.”
A-6
10. Confirm that the message “This device is working properly.” is displayed in the
“Device status.” Then, click the [Cancel] button to close the display.
Now the device driver has been installed.
A-7
A.3 Removing The NP115
A.3 Removing The NP115
! CAUTION
• When removing the NP115 with the PC power supply ON, stop supplying the power to
the NP115 in the following method.
Failure to observe this caution may cause electric stress, resulting in breakdown.
• Be careful to remove the NP115 card section from the PC since this section becomes
hot.
Follow the message displayed on the Windows to remove the NP115.

The following describes an example of Windows2000.
In case of any other OS, observe this procedure and follow the instructions in the display.
1. When the application software using the NP115 has been started up, terminate the
application software.
2. Click the icon or of the task bar.

3. Click the following display when it appears.
4. Click the [OK] button when the following message appears.
5. Pull the NP115 out of the PC.

Now the NP115 has been removed.
A-8
A.4 Updating The Device Driver

To replace the current NP115 device driver with that of the latest version, observe the
following procedure to update the device driver.
Follow the message displayed on the Windows to update the device drive.
In case of any other OS, observe this procedure and follow the instructions in the display
A-9
3. Click the “MECHATROLINK,” and then double-click the “YASKAWA

MECHATROLINK-II Adapter PC Card JUSP-NP115.”
4. Click the “Update Driver...” on the “Driver” tab.
A-10
6. Select “Search for a suitable driver for my device (recommended).”

Then click the [Next] button.
A-11
7. Select the “Specify a location,” then click the [Next] button.
8. c Click the [Browse...] button, specify the folder where the INF file (NP115∗∗.inf) of
the NP115 is stored. → See d in the following (∗∗ indicates OS).
e After specifying the folder, click the [OK] button.
A-12
d Folders are distinguished into the following types of OS. Specify the folder
Windows2000: Win2K
WindowsMe: WinMe
Note: The original name of the INF file is “NP115.inf,” which may be managed with a different file name
depending on the type of Windows.
A-13
10. The following display appears. Click the [OK] button.

To copy a file from a source other than the floppy disk, do not insert the disk into the
disk drive on the PC.
11. c Click the [Browse...] button, specify the folder where the INF file (NP115∗∗.inf) of
the NP115 is stored. → See d in the following (∗∗ indicates OS)
e After specifying the folder, click the [OK] button.
d Folders are distinguished into the following types of OS. Specify the folder
Windows2000: Win2K
WindowsMe: WinMe
A-14
12. Click the [Finish] button when the following display appears.
13. Click the “Driver Details....”
A-15
14. Confirm that the version has been updated.
15. Select the “General” tab and confirm that the message “This device is working
properly.” is displayed in the “Device status.”
If the device is working correctly, click the [Cancel] button to close the display.
Now the device driver has been updated.
A-16
A.5 Uninstalling The Device Driver

The following section describes how to uninstall the device driver of the NS115.
Follow the message displayed on the Windows to uninstall the device driver.
In case of any other OS, read this procedure and follow the indications in the display.
A-17
3. Right-click the “YASKAWA MECHATROLINK-II Adapter PC Card JUSP-NP115” in

the “MECHATROLINK” to select “Uninstall....”
4. Click the [OK] button when the following display appears.
5. Remove the NP115 from the PC.

Now the device driver has been uninstalled.
A-18
A.6 Wiring
A.6 Wiring
This section shows a standard example for connecting MECHATROLINK-II products to
the NP115.
For the following wiring, refer to MECHATROLINK-II products manuals.
A.6.1 MECHATROLINK-II Connection Example

An example of MECHATROLINK-II connection is shown below.
The NP115 as C2 Master and with Host Controller

Host controller
MP2300
218IF-01
RUN ERR
YASKAWA RDY RUN
STRX COL
ALM ERR
TX RX
TX BAT
STOP
SUP INIT
INT TEST
CNFG
MON OFF ON
TEST SW1 PORT
OFF ON
M-4/10
BATTERY
L1
CPU I/O
DC24V
DC 0V
10Base-T
L2 L3
Slave station Slave station Slave station

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
SGDS-02A12A SGDS-02A12A SGDS-02A12A
SW1 SW1 SW1

C C C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B
L1 L1 L1
L2 L2 L2
L1C C L1C C L1C C
N N N
L2C 3 L2C 3 L2C 3
B2 B2 B2
C C C
U N U N U N
1 1 1
V V V
W W W
C C C
N N N
2 2 2
C C C
N N N
4 4 4
NP115
Terminator
PC
Note: 1. The total lenght of the cable should be “L1+L2+•••Ln ≤ 50m.”

2. The NP115 can be connected to the end or any part of the MECHATROLINK-II network.
A-19
A.6 Wiring
The NP115 as C1 Master and without Host Controller
Terminator
NP115
L1
PC
L2 L3
Slave station Slave station Slave station

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
SGDS-02A12A SGDS-02A12A SGDS-02A12A
SW1 SW1 SW1

C C C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B
L1 L1 L1
L2 L2 L2 Terminator
L1C C L1C C L1C C
N N N
L2C 3 L2C 3 L2C 3
B2 B2 B2
C C C
U N U N U N
1 1 1
V V V
W W W
C C C
N N N
2 2 2
C C C
N N N
4 4 4
Note: 1. The total lenght of cable should be “L1+L2+•••Ln ≤ 50m.”

2. The NP115 can be connected to the end or any part of the MECHATROLINK-II network.
A-20
A.7 Led Indication
A.6.2 Precautions on Wiring

Note the following precautions for wiring.
Connectable Maximum Number of Stations

Up to 30 slave stations can be connected.
Make sure that maximum number depends on the settings: transmission speed, cycle, bytes
and other settings of the MECHATROLINK-II communication.
MECHATROLINK-II Communication Cable
Specifications
Type
Ferrite core Connector
JEPMC-W6002- − With connector on both
ends
JEPMC-W6003- Equipped
Note: indicates the length of the cable.
Total Cable Length

The total cable length should be 50 m or less.
(Station 1 + Station 2 + ••• Station n ≤ 50 m)
Terminator
Be sure to install the following terminator on the SERVOPACK of the terminal station.
Terminator Type
MECHATROLINK-II Communication Terminator JEPMC-W6022
A.7 Led Indication

The following describes the LED indication and its meaning.
LED
Meaning
Indication
Indicates the MECHATROLINK-II communications status and lights when the NP115 is sending
the data.
• Always lights when there is not any host controller and communications is done only between
TX the NP115 and the slave station from the beginning (or when the NP115 is the C1 master).
• Always lights until the application software recognizes time-out when the slave station does
not return any response for the data sent from the NP115.
• LED lights only when the NP115 sends the data in case the host controller starts up: the NP115
is as the C2 master.
A-21
A.8 Troubleshooting
A.8 Troubleshooting
This section describes the checking contents and the corrective action when the
communications is not done properly.
Refer to the instruction manuals for the MECHATROLINK-II product, application
software and OS.
Check 1.
Does your PC satisfy the conditions described in “Hardware Requirements” (page
E-2)?
Countermeasure 1.
Operations may be disabled when you use a PC card adapter for expansion.
If the cause is not clear, connect the NP115 to other PC and install the device driver to
confirm the operations.
Check 2.
Is icon or displayed in the task bar?
Countermeasure 2.
If any of the above icons is not displayed, the NP115 may not have been inserted properly.
Insert the NP115 into the PC card socket firmly again.
Check 3.
Does the following display appear when double-clicking the icon or ?
Countermeasure 3.
If any of the above icons is not displayed, the NP115 may not have been inserted properly.
Insert the NP115 into the PC card socket firmly again.
A-22
A.8 Troubleshooting
Check 4.
Is the “!” mark displayed as shown below?
Countermeasure 4.
If the “!” mark is displayed, it means that the device driver has not been installed properly.
Uninstall the device driver once and install it again. Or install it on the other PC.
Check 5.
Does the “TX” LED on the NP115 external box light when communication is
performed using application software such as SigmaWin+?
Countermeasure 5.
The “TX” LED lights whenever the data is sent disregarding the status of the slave station.
If it does not light, the NP115 card section may not have been connected properly to the
external box. Check the connection.
Check 6.
Does the MECHATROLINK-II communications LED of the slave device light when
the host controller is removed for communications only between the NP115 and the
slave station?
Note: To confirm the communications between the NP115 and the slave station, communications between
the host controller and the slave station must be made disabled.
Countermeasure 6.
If the “TX” LED on the external box lights while the MECHATROLINK-II
communications LED on the slave station does not light, the wiring or settings of the
MECHATROLINK-II may not have been done correctly. Check the wiring and settings.
Check 7.
Is the wiring of MECHATROLINK-II correct? Are the connections made correctly?
Are the terminators attached on both ends of the network?
Countermeasure 7.
Some host controller have terminators of which ON/OFF is switched by internal setting.
Check the wiring and terminators.
Check 8.
Does the MECHATROLINK-II communications have right settings?
Countermeasure 8.
Communications is disabled unless the devices have the same settings for the
MECHATROLINK-II communications such as axis address, transmission cycle, or number
of transmission bytes.
Refer to the manuals for the application software or MECHATROLINK-II products to
check that the settings of the MECHATROLINK-II communications are the same.
A-23
A.8 Troubleshooting
Check 9.
Is there any influence by noise?
Countermeasure 9.
When the communications does not work properly, noise may have affected. Try some
preventive action from noise such as attaching the following ferrite core on the
MECHATROLINK-II cable.
Ordering JEPMC-W6021
Number of turns 2 turns
A-24

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YASKAWA

SigmaWin+ Online Manual

YASKAWA ELECTRIC CORPORATION

Indicates precautions that, if not heeded, could possibly result in loss of

Indicates precautions that, if not heeded, could result in relatively seri-

Furthermore, items marked with ! CAUTION may have important consequences

ISO Standards JIS Standards

This manual uses ISO standard symbols.

3 Cable Between the PC and SERVOPACK

4 Install File List

How to Use this Manual

Notes on the PC Communication Function

• Either the Operator Panel or SigmaWin+ is enabled at all times.

Operating Systems and Registered Trademarks

Notes on Using WindowsXP

Cable connecting Cable connecting

Cable connecting card

Do not remove the cable

1.1 Outline and Advantages of SigmaWin+

1.2 Compatible Devices

1.3 System Requirements

Personal Computer (PC) PC/AT DOS/V-compatible device

1.4 Installing SigmaWin+ Program

A message will appear, welcoming you to the SigmaWin+ program.

3. Click Next to continue.

5. Select the setup type.

<To install all components of SigmaWin+>

<To install selected components of SigmaWin+>

(2) Select the components to be installed, and click Next.

7. If dialog box (a) is displayed, click Finish to complete the setup.

1.5 Removing SigmaWin+ Program

3. Click the Install/Uninstall tab if it is not already selected. Click YASKAWA

5. Click Finish to complete the removal process.

1.6 Installing and Removing Other SigmaWin+

2. Choose "Modify" and click Next.

The components with check boxes are currently installed.

3. To remove a component, clear the check box.

4. Click Finish to complete the changing process.

2.1 Starting SigmaWin+

2.1.1 From the Start Menu

2.1.2 From a Shortcut

SigmaWin+ Startup Screen

2.2 Selecting a SERVOPACK

<When Offline is selected>

<When Online is selected>

Enter the necessary settings for communication setup.

Single Axis Connection Multi-axes Conneciton

Note: SigmaWin+ is compatible with the following SERVOPACKs.

Note: 1. SigmaWin+ is compatible with the following SERVOPACKs.

SERVOPACK Selection Box

Note: When RS-232C is used, only one SERVOPACK will be displayed.

< If the SERVOPACK is not Displayed >

Check Item Note

<Σ-II Series, SGDS, INDEXER>

Cable Model : JZSP-CMS02 14 7

2-M2.6 Screw 6-M2.6 Screw

<Σ-II Series, SGDS, INDEXER>

<Σ Series, Σ-II Series, INDEXER>

• Baud Rate 9600 bps

• Baud Rate 19200 bps

• Baud Rate 10 Mbps/4 Mbps

< Multi-Axis Connection (for non-terminal connection) >

RS-422A Port SERVOPACK CN3

Note: indicates the length of the cable.