ENGINEERING DOCUMENT

757-4005-089 Rev. G

SUBJECT: Installation Procedures and Parameter

Settings for TM and TMM Series Turning Centers
with Sigma II Drives

Responsible Reviewed/Approved

Jim Hennke 4/17/06 Dan Ornelas 5/19/06

Originator Date Date
RECORD OF CHANGES

Engineering Document 757-4005-089

Revision ECN # Revision Description Rev Date Appd Date

By By
A 15756 Original Release WCM 11/5/04 DEO 11/5/04
B 15796 Updates to TM10 Z-axis: Changed parameter WCM 1/6/05 DEO 1/14/05
Pn100 from 30 to 40; Changed parameter
Pn401 from 150 to 160.
C 15870 Changed parameter Pn300 for all three models WCM 5/27/05 DEO 6/17/05
from 787 to 771 for X-axis & from 625 to 612
for Z-axis. For TM10 Z-axis, changed
parameter Pn100 from 40 to 30 & parameter
Pn401 from 160 to 250.
D 15890 For all three TM models, parameter Pn110 WCM 8/26/05 DEO 9/1/05
was changed from 0010 to 0012 to disable
Online Autotuning.
E 15983 Added TMM8 and TMM10 Live Tooling JEH 4/17/06 DEO 5/19/06
Lathes
F 16304 Updates to TMM8 Drive Tuning, JEH 8/17/07 DEO 8/31/07
1) X Axis changed parameter FN001 from 4 to
6, PN100 from 40 to 120, PN101 from 1500 to
800, PN401 from 100 to 105.
2) Z Axis changed parameter FN001 from 4 to
6, PN100 from 30 to 75, PN101 from 1500 to
1200, PN401 from 150 to 250.

Updates to TMM10 Drive Tuning,

3) X Axis changed parameter FN001 from 4 to
6, PN100 from 40 to 90, PN401 from 100 to 95.
4) Z Axis changed parameter FN001 from 4 to
6, PN100 from 30 to 75, PN101 from 1500 to
1200, PN401 from 250 to 250 (unchanged).
G 16364 Updates to TMM10 Drive Tuning, JEH 01/28/08 DEO 01/29/08
1) X Axis changed parameter PN101 from
1500 to 1000.
2) Z Axis changed parameter PN401 from 250
to 350. Shown as “Field Adjustable” for both
X and Z settings.
3) Page 3, Added Axis Balance Routine.

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Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 3 of
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for TM and TMM Series Turning Centers w/ Sigma II Drives
I. INTENT

To provide a standardized method to configure Yaskawa Sigma II Series servo drive parameters
on the TM and TMM Series turning centers.

II. APPLICABILITY

Specific to all TM6, TM8, and TM10 and TMM Series Live Tooling turning centers. This is the
only procedure to be used within Hurco facilities and should be used at customer installations to
help achieve factory proven performance.

III. REFERENCE DOCUMENTS

1. Yaskawa Sigma Series Users Manual YEA-SIA-S800-32.2A

IV. INDEX
Page 3 Axis Balance Routine
Page 4-5 Parameter Setup Procedure, SIGMA WIN Software
Page 5-7 Parameter Setup Procedure, Digital Operator Keypad
Page 8-11 User Constant Parameters, TM6 Turning Center
Page 12-15 User Constant Parameters, TM8 Turning Center
Page 16-19 User Constant Parameters, TM10 Turning Center
Page 20-23 User Constant Parameters, TMM8 LT Turning Center
Page 24-27 User Constant Parameters, TMM10 LT Turning Center
G3
V. AXIS BALANCE ROUTINE
A. Press the MENU button on Hurco controller.
B. Select the UTILITY SCREEN softkey.
C. Enter Integration Support Services (Password = 46268).
D. Enter X-AXIS CONFIGURATION.   (Note to repeat steps for the Z Axis)
E. Enter X-AXIS TUNING.  (Note to repeat steps for the Z Axis)
F. Set the DAC Zero Offset value to (0) Zero.
G. Make note of the value in the field labeled INTEGRAL GAIN. Write it down,   __________  then enter a zero
(0)
value into this field. (Note: zero (0) only applicable with software V1.2 or greater).
H. With the control power on, (Power ON, Cycle Start) monitor the FERROR.  For proper operation, this value
should be between –5 to 5.  If the following error falls outside a threshold check range (+-25)
     with the  axis in a stopped state, the control power will be disabled.
I. Go to the Yaskawa Servo Amp from the Digital Operator, select parameter Fn00A by repeatedly depressing the
Mode/Set key. 
J. Depress the Data key once and Spd will be displayed. 
K. Depress the Data key again to display the data of Spd. N.
L. Press the Up or Down key to adjust speed reference until the FERROR reads +5 to -5.  
M. Depress and hold the Data key to store speed reference offset adjustment. 
N. Depress Mode/Set key repeatedly to return to monitor mode (run).
O. Jog the axis in both directions, stopping after short moves to monitor the FERROR.  Verify that the FERROR
value remains close to zero.  
P. Restore the INTEGRAL GAIN back to its original value. See G above.

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Q. Press the SAVE & EXIT softkey to store the DAC Zero Offset setting.
R. Repeat steps D thru Q for the Z-axis.
VI. PARAMETER SETUP PROCEDURE

There are two methods of initializing or changing parameters using Yaskawa Sigma series servo
drives. They involve a software program, SIGMA WIN, or a Digital Operator keypad for
manual data entry. Both the software and manual keypad operations are described below:

SIGMA WIN, Software

1. The SERVOPACK parameters may be configured using personal computer and SIGMA
WIN software.

2. Cable harness, RS232 (See Below)

3. Communication Port (COM1) Properties

 Bits per second = 9600
 Data bits = 7
 Parity = Even
 Stop bits = 1
 Flow control = None

4. Download Parameter Files

A. Ensure drive and PC power is turned ON.
B. Connect RS232 cable harness from PC to desired axis SERVOPACK.
C. Select and start-up SIGMA WIN software from PC menu or icon.
D. Once communications is established select SERVOPACK Type SGDH-***E
Series. Select OK.
E. Four separate windows will appear and dynamically display data for the specific
SERVOPACK selected.
 Status Monitor
 Monitor
 SERVOPACK
 I/O Signal Monitor
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 F. Select “Constants” from main menu.
G. Select “Constants Number” and User Constants Table will appear.
H. Select “Disk to PC”.
I. Load specific SERVOPACK file from table below for desired machine and axis.

Axis TM6 Files TM8 Files TM10 Files TMM8 Files TMM10
Files
X TM6xa.usr TM8xa.usr TM10xa.usr TMM10mxa.u TMM10mxa.u
sr sr
Y TM6ya.usr TM8ya.usr TM10ya.usr TMM8ya.usr TMM10ya.usr

Z TM6za.usr TM8za.usr TM10za.usr TMM10mza.u TMM10mza.u

sr sr

J. To download parameter set select “PC to Drive”.

K. To commence download transmission, select “Start”. Once window closes
transmission is complete
L. If you wish to confirm download select “Verify” then “Start”. If compare agrees
the following message will appear: “The setup in the user constants list and
internal SERVOPACK settings all agree with other. Select OK.
M. To close open windows hit ESC (Escape).
N. To quit SIGMA WIN at main menu display press ALT-X.
(NOTE: Whenever a Memory Switch parameter is changed power to the drive
must be cycled for the change to take effect).

Digital Operator, Keypad

1. User constant (Memory Switch) setup and checks for Pn001 thru Pn003.

A. Depress the Mode/Set key to enter the setup for Memory Switch bit values
(PnXXX).
B. Depress and hold the Data key to display value of switch settings.
C. Use the Data key (“<”) to scroll through the columns and use the Up/Down
Arrow keys to change the viewed values if necessary.
D. Depress and hold Data key to enter any new switch settings.
(NOTE: If values are not changed the display will revert back to PnXXX after
item E is executed.)
E. Depress and hold Data key again to return to PnXXX display.
F. To advance to the next PnXXX number, use the Up arrow key to change the
PnXXX number to be viewed next.
G. Repeat steps A thru E to verify or change the remaining Memory Switch Settings.
H. Once all Memory Switch Settings are made, depress Mode/Set key repeatedly to
return to monitor mode (run).
(NOTE: Whenever a Memory Switch parameter is changed the power to the
drive must be cycled for the changes to take effect.)

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 2. User constant (Data) setup and checks for Pn-100 thru Pn-601.

A. Depress the Mode/Set key to enter the User Constants (PnXXX).

B. Depress and hold the Up arrow key until display shows PnXXX number to be
verified or changed.
C. Depress and hold the Data key to display value stored in the PnXXX constant.
D. Use the Data key (“<”) to scroll through the columns and use the Up/Down
Arrow keys to change the viewed values if necessary.
E. Depress and hold Data key to enter any new values for User Constant.
(NOTE: If values are not changed the display will revert back to PnXXX after
item E is executed.)
F. Depress and hold Data key again to return to PnXXX display.
G. Repeat steps A thru F to verify or change the remaining User Constants.
H. Depress the MODE/SET key repeatedly to return to monitor mode (run).

3. Monitor Mode

A. In the Monitor Mode speed reference, torque reference, and other data can be
observed on the digital operator.
B. Select Monitor Mode Indication by selecting UN-XX. See table below for
various monitor modes. ((*)Bit Indication of Monitor Mode UN-05 Internal Status Display)
C. Monitor Number Data Monitored
UN-00 Feedback Speed (r/min)
UN-01 Speed Reference (r/min)
UN-02 Torque Reference (%)
UN-03 No. of Pulses from Pulse edge (Phase-U)
UN-04 Electrical Angle (deg)
UN-05* Internal Status Bit Display

13 10 7 4 1
14 11 8 5 2
15 12 9 6 3
16 . 17 . 18 . 19 . 20 .

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 Bit Number Description
1 Servo Alarm
2 Dynamic Brake
3 Reverse Run Mode
4 Motor Running
5 Speed Agree
6 Mode Switch ON
7 Forward Current Limit
8 Reverse Current Limit
16 Servo ON
18 Forward Running Prohibit Input (P-OT)
19 Reverse Running Prohibit Input (N-OT)

4. Error Display Mode

A. In the error or abnormal trackback mode you can display the data for a particular
error as indicated by 0-A.XX. See table below for typical abnormal data.

Bit Number Description

A.02 Parameter Breakdown
A.04 Parameter Setting Error
A.10 Overcurrent
A.40 Overvoltage
A.51 Feedback Overspeed
A.52 Overspeed Reference Input
A.71 Momentary Overload
A.72 Continuous Overload
A.B1 Reference Input Read Error
A.C3 Phase A, B Disconnection
A.C4 Phase C Disconnection

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM6 Turning Center DIMENSION X-AXIS Z-AXIS
Pn000 Function Selection Basic Switches - 0000 0001
Pn001 Function Selection Application Switches 1 - 0010 0010
Pn002 Function Selection Application Switches 2 - 0000 0000
Pn003 Function Selection Application Switches 3 - 0002 0002
Pn004 Function Selection Application Switches 4 - 0000 0000
Pn005 Function Selection Basic Switches - 0000 0000
Pn100 Speed Loop Gain Hz 40 35
Pn101 Speed Loop Integral Time Constant 0.01ms 1500 1500
Pn102 Position Loop Gain 1/s 40 40
Pn103 Inertia Ratio % 100 100
Pn104 2nd Speed Loop Gain Hz 40 40
Pn105 2nd Speed Loop Integral Time Constant 0.01ms 2000 2000
Pn106 2nd Position Loop Gain 1/s 40 40
Pn107 Bias Rpm 0 0
Pn108 Bias Width Addition Ref. Units 7 7
Pn109 Feed-Forward % 0 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 0
Pn10B Gain Application Switches - 0000 0000
Pn10C Mode Switch Torque Reference % 200 200
Pn10D Mode Switch Speed Reference Rpm 0 0
Pn10E Mode Switch Acceleration 10rpm/s 0 0
Pn10F Mode Switch Error Pulse Ref. Units 0 0
Pn110 Online Autotuning Switches - 0012 D1 0012 D1
Pn111 Speed Feedback Compensation % 100 100
Pn112 Reserved % 100 100
Pn113 Reserved - 1000 1000
Pn114 Reserved - 200 200
Pn115 Reserved - 32 32
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM6 Turning Center DIMENSION X-AXIS Z-AXIS
Pn116 Reserved - 16 16
Pn117 Reserved % 100 100
Pn118 Reserved % 100 100
Pn119 Reserved 1/s 50 50
Pn11A Reserved 0.1% 1000 1000
Pn11B Reserved Hz 50 50
Pn11C Reserved Hz 70 70
Pn11D Reserved % 100 100
Pn11E Reserved % 100 100
Pn11F Reserved Ms 0 0
Pn120 Reserved 0.01ms 0 0
Pn121 Reserved Hz 50 50
Pn122 Reserved Hz 0 0
Pn123 Reserved % 0 0
Pn200 Position Control Reference Selection Switches - 0000 0000
Pn201 PG Divider P/r 16384 16384
Pn202 Electronic Gear Ratio (Numerator) - 4 4
Pn203 Electronic Gear Ratio (Denominator) - 1 1
Pn204 Position Reference Accel/Decel Paramter 0.01ms 0 0
Pn205 Multi-turn Limit Setting Rev 65535 65535
Pn206 Reserved P/rev 16384 16384
Pn207 Position Control Function Switches - 0000 0000
Pn208 Position Reference Movement Averaging Time 0.01ms 0 0
Pn300 Speed Reference Input Gain 0.01V/speed 771 612
Pn301 Speed 1 Rpm 100 100
Pn302 Speed 2 Rpm 200 200
Pn303 Speed 3 Rpm 300 300
Pn304 Jog Speed Rpm 500 500
Pn305 Soft Start Acceleration Time Ms 0 0
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM6 Turning Center DIMENSION X-AXIS Z-AXIS
Pn306 Soft Start Deceleration Time Ms 0 0
Pn307 Speed Reference Filter Time Constant 0.01ms 40 40
Pn308 Speed Fast-Forward Filter Time Constant 0.01ms 0 0
Pn400 Torque Reference Input Gain 0.1V/torque 30 30
Pn401 Torque Reference Filter Time Constant 0.01ms 100 150
Pn402 Forward Torque Limit % 800 800
Pn403 Reverse Torque Limit % 800 800
Pn404 Forward External Torque Limit % 100 100
Pn405 Reverse External Torque Limit % 100 100
Pn406 Emergency Stop Torque % 125 125
Pn407 Speed Limit During Torque Control Rpm 10000 10000
Pn408 Torque Function Switches - 0000 0000
Pn409 Notch Filter Frequency Hz 2000 2000
Pn500 Positioning Completed Width Ref. Units 7 7
Pn501 Zero Clamp Level Rpm 10 10
Pn502 Rotation Detection Level Rpm 20 20
Pn503 Speed Coincidence Signal Output Width Rpm 10 10
Pn504 NEAR Signal Width Ref. Units 7 7
Pn505 Overflow Level 256 ref. Units 1024 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 50 0
Pn507 Brake Reference Output Speed Level Rpm 1125 100
Pn508 Timing for Brake Reference Output during Motor Operation 10ms 10 50
Pn509 Momentary Hold Time Ms 20 20
Pn50A Input Signal Selections 1 - 2100 2100
Pn50B Input Signal Selections 2 - 6543 6543
Pn50C Input Signal Selections 3 - 8888 8888
Pn50D Input Signal Selections 4 - 8888 8888
Pn50E Output Signal Selections 1 - 3200 3200
Pn50F Output Signal Selections 2 - 0100 0000
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM6 Turning Center DIMENSION X-AXIS Z-AXIS
Pn510 Output Signal Selections 3 - 0000 0000
Pn511 Reserved - 8888 8888
Pn512 Output Signal Reversal Settings - 0000 0000
Pn600 Regenerative Resistor Capacity 10W 10 10
Pn601 Reserved - 0 0

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn000 Function Selection Basic Switches - 0000 0001
Pn001 Function Selection Application Switches 1 - 0010 0010
Pn002 Function Selection Application Switches 2 - 0000 0000
Pn003 Function Selection Application Switches 3 - 0002 0002
Pn004 Function Selection Application Switches 4 - 0000 0000
Pn005 Function Selection Basic Switches - 0000 0000
Pn100 Speed Loop Gain Hz 40 30
Pn101 Speed Loop Integral Time Constant 0.01ms 1500 1500
Pn102 Position Loop Gain 1/s 40 40
Pn103 Inertia Ratio % 100 100
Pn104 2nd Speed Loop Gain Hz 40 40
Pn105 2nd Speed Loop Integral Time Constant 0.01ms 2000 2000
Pn106 2nd Position Loop Gain 1/s 40 40
Pn107 Bias Rpm 0 0
Pn108 Bias Width Addition Ref. Units 7 7
Pn109 Feed-Forward % 0 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 0
Pn10B Gain Application Switches - 0000 0000
Pn10C Mode Switch Torque Reference % 200 200
Pn10D Mode Switch Speed Reference Rpm 0 0
Pn10E Mode Switch Acceleration 10rpm/s 0 0
Pn10F Mode Switch Error Pulse Ref. Units 0 0
Pn110 Online Autotuning Switches - 0012 D1 0012 D1
Pn111 Speed Feedback Compensation % 100 100
Pn112 Reserved % 100 100
Pn113 Reserved - 1000 1000
Pn114 Reserved - 200 200
Pn115 Reserved - 32 32
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn116 Reserved - 16 16
Pn117 Reserved % 100 100
Pn118 Reserved % 100 100
Pn119 Reserved 1/s 50 50
Pn11A Reserved 0.1% 1000 1000
Pn11B Reserved Hz 50 50
Pn11C Reserved Hz 70 70
Pn11D Reserved % 100 100
Pn11E Reserved % 100 100
Pn11F Reserved Ms 0 0
Pn120 Reserved 0.01ms 0 0
Pn121 Reserved Hz 50 50
Pn122 Reserved Hz 0 0
Pn123 Reserved % 0 0
Pn200 Position Control Reference Selection Switches - 0000 0000
Pn201 PG Divider P/r 16384 16384
Pn202 Electronic Gear Ratio (Numerator) - 4 4
Pn203 Electronic Gear Ratio (Denominator) - 1 1
Pn204 Position Reference Accel/Decel Paramter 0.01ms 0 0
Pn205 Multi-turn Limit Setting Rev 65535 65535
Pn206 Reserved P/rev 16384 16384
Pn207 Position Control Function Switches - 0000 0000
Pn208 Position Reference Movement Averaging Time 0.01ms 0 0
Pn300 Speed Reference Input Gain 0.01V/speed 771 612
Pn301 Speed 1 Rpm 100 100
Pn302 Speed 2 Rpm 200 200
Pn303 Speed 3 Rpm 300 300
Pn304 Jog Speed Rpm 500 500
Pn305 Soft Start Acceleration Time Ms 0 0
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn306 Soft Start Deceleration Time Ms 0 0
Pn307 Speed Reference Filter Time Constant 0.01ms 40 40
Pn308 Speed Fast-Forward Filter Time Constant 0.01ms 0 0
Pn400 Torque Reference Input Gain 0.1V/torque 30 30
Pn401 Torque Reference Filter Time Constant 0.01ms 100 150
Pn402 Forward Torque Limit % 800 800
Pn403 Reverse Torque Limit % 800 800
Pn404 Forward External Torque Limit % 100 100
Pn405 Reverse External Torque Limit % 100 100
Pn406 Emergency Stop Torque % 125 125
Pn407 Speed Limit During Torque Control Rpm 10000 10000
Pn408 Torque Function Switches - 0000 0000
Pn409 Notch Filter Frequency Hz 2000 2000
Pn500 Positioning Completed Width Ref. Units 7 7
Pn501 Zero Clamp Level Rpm 10 10
Pn502 Rotation Detection Level Rpm 20 20
Pn503 Speed Coincidence Signal Output Width Rpm 10 10
Pn504 NEAR Signal Width Ref. Units 7 7
Pn505 Overflow Level 256 ref. Units 1024 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 50 0
Pn507 Brake Reference Output Speed Level Rpm 1125 100
Pn508 Timing for Brake Reference Output during Motor Operation 10ms 10 50
Pn509 Momentary Hold Time Ms 20 20
Pn50A Input Signal Selections 1 - 2100 2100
Pn50B Input Signal Selections 2 - 6543 6543
Pn50C Input Signal Selections 3 - 8888 8888
Pn50D Input Signal Selections 4 - 8888 8888
Pn50E Output Signal Selections 1 - 3200 3200
Pn50F Output Signal Selections 2 - 0100 0000
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn510 Output Signal Selections 3 - 0000 0000
Pn511 Reserved - 8888 8888
Pn512 Output Signal Reversal Settings - 0000 0000
Pn600 Regenerative Resistor Capacity 10W 10 10
Pn601 Reserved - 0 0

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn000 Function Selection Basic Switches - 0000 0001
Pn001 Function Selection Application Switches 1 - 0010 0010
Pn002 Function Selection Application Switches 2 - 0000 0000
Pn003 Function Selection Application Switches 3 - 0002 0002
Pn004 Function Selection Application Switches 4 - 0000 0000
Pn005 Function Selection Basic Switches - 0000 0000
Pn100 Speed Loop Gain Hz 40 30
Pn101 Speed Loop Integral Time Constant 0.01ms 1500 1500
Pn102 Position Loop Gain 1/s 40 40
Pn103 Inertia Ratio % 100 100
Pn104 2nd Speed Loop Gain Hz 40 40
Pn105 2nd Speed Loop Integral Time Constant 0.01ms 2000 2000
Pn106 2nd Position Loop Gain 1/s 40 40
Pn107 Bias Rpm 0 0
Pn108 Bias Width Addition Ref. Units 7 7
Pn109 Feed-Forward % 0 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 0
Pn10B Gain Application Switches - 0000 0000
Pn10C Mode Switch Torque Reference % 200 200
Pn10D Mode Switch Speed Reference Rpm 0 0
Pn10E Mode Switch Acceleration 10rpm/s 0 0
Pn10F Mode Switch Error Pulse Ref. Units 0 0
Pn110 Online Autotuning Switches - 0012 D1 0012 D1
Pn111 Speed Feedback Compensation % 100 100
Pn112 Reserved % 100 100
Pn113 Reserved - 1000 1000
Pn114 Reserved - 200 200
Pn115 Reserved - 32 32
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn116 Reserved - 16 16
Pn117 Reserved % 100 100
Pn118 Reserved % 100 100
Pn119 Reserved 1/s 50 50
Pn11A Reserved 0.1% 1000 1000
Pn11B Reserved Hz 50 50
Pn11C Reserved Hz 70 70
Pn11D Reserved % 100 100
Pn11E Reserved % 100 100
Pn11F Reserved Ms 0 0
Pn120 Reserved 0.01ms 0 0
Pn121 Reserved Hz 50 50
Pn122 Reserved Hz 0 0
Pn123 Reserved % 0 0
Pn200 Position Control Reference Selection Switches - 0000 0000
Pn201 PG Divider P/r 16384 16384
Pn202 Electronic Gear Ratio (Numerator) - 4 4
Pn203 Electronic Gear Ratio (Denominator) - 1 1
Pn204 Position Reference Accel/Decel Paramter 0.01ms 0 0
Pn205 Multi-turn Limit Setting Rev 65535 65535
Pn206 Reserved P/rev 16384 16384
Pn207 Position Control Function Switches - 0000 0000
Pn208 Position Reference Movement Averaging Time 0.01ms 0 0
Pn300 Speed Reference Input Gain 0.01V/speed 771 612
Pn301 Speed 1 Rpm 100 100
Pn302 Speed 2 Rpm 200 200
Pn303 Speed 3 Rpm 300 300
Pn304 Jog Speed Rpm 500 500
Pn305 Soft Start Acceleration Time Ms 0 0
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn306 Soft Start Deceleration Time Ms 0 0
Pn307 Speed Reference Filter Time Constant 0.01ms 40 40
Pn308 Speed Fast-Forward Filter Time Constant 0.01ms 0 0
Pn400 Torque Reference Input Gain 0.1V/torque 30 30
Pn401 Torque Reference Filter Time Constant 0.01ms 100 250
Pn402 Forward Torque Limit % 800 800
Pn403 Reverse Torque Limit % 800 800
Pn404 Forward External Torque Limit % 100 100
Pn405 Reverse External Torque Limit % 100 100
Pn406 Emergency Stop Torque % 125 125
Pn407 Speed Limit During Torque Control Rpm 10000 10000
Pn408 Torque Function Switches - 0000 0000
Pn409 Notch Filter Frequency Hz 2000 2000
Pn500 Positioning Completed Width Ref. Units 7 7
Pn501 Zero Clamp Level Rpm 10 10
Pn502 Rotation Detection Level Rpm 20 20
Pn503 Speed Coincidence Signal Output Width Rpm 10 10
Pn504 NEAR Signal Width Ref. Units 7 7
Pn505 Overflow Level 256 ref. Units 1024 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 50 0
Pn507 Brake Reference Output Speed Level Rpm 1125 100
Pn508 Timing for Brake Reference Output during Motor Operation 10ms 10 50
Pn509 Momentary Hold Time Ms 20 20
Pn50A Input Signal Selections 1 - 2100 2100
Pn50B Input Signal Selections 2 - 6543 6543
Pn50C Input Signal Selections 3 - 8888 8888
Pn50D Input Signal Selections 4 - 8888 8888
Pn50E Output Signal Selections 1 - 3200 3200
Pn50F Output Signal Selections 2 - 0100 0000
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn510 Output Signal Selections 3 - 0000 0000
Pn511 Reserved - 8888 8888
Pn512 Output Signal Reversal Settings - 0000 0000
Pn600 Regenerative Resistor Capacity 10W 20 20
Pn601 Reserved - 0 0

P No. User Constants for TMM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn000 Function Selection Basic Switches - 0000 0001

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn001 Function Selection Application Switches 1 - 0010 0010
Pn002 Function Selection Application Switches 2 - 0000 0000
Pn003 Function Selection Application Switches 3 - 0002 0002
Pn004 Function Selection Application Switches 4 - 0000 0000
Pn005 Function Selection Basic Switches - 0000 0000
Fn001 Rigidity Setting - 6 F1 6 F2
Pn100 Speed Loop Gain Hz 120 F1 75 F2
Pn101 Speed Loop Integral Time Constant 0.01ms 800 F1 1200 F2
Pn102 Position Loop Gain 1/s 40 40
Pn103 Inertia Ratio % 100 100
Pn104 2nd Speed Loop Gain Hz 40 40
Pn105 2nd Speed Loop Integral Time Constant 0.01ms 2000 2000
Pn106 2nd Position Loop Gain 1/s 40 40
Pn107 Bias Rpm 0 0
Pn108 Bias Width Addition Ref. Units 7 7
Pn109 Feed-Forward % 0 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 0
Pn10B Gain Application Switches - 0000 0000
Pn10C Mode Switch Torque Reference % 200 200
Pn10D Mode Switch Speed Reference Rpm 0 0
Pn10E Mode Switch Acceleration 10rpm/s 0 0
Pn10F Mode Switch Error Pulse Ref. Units 0 0
Pn110 Online Autotuning Switches - 0012 0012
Pn111 Speed Feedback Compensation % 100 100
Pn112 Reserved % 100 100
Pn113 Reserved - 1000 1000
Pn114 Reserved - 200 200
Pn115 Reserved - 32 32
Pn116 Reserved - 16 16
Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 21
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn117 Reserved % 100 100
Pn118 Reserved % 100 100
Pn119 Reserved 1/s 50 50
Pn11A Reserved 0.1% 1000 1000
Pn11B Reserved Hz 50 50
Pn11C Reserved Hz 70 70
Pn11D Reserved % 100 100
Pn11E Reserved % 100 100
Pn11F Reserved Ms 0 0
Pn120 Reserved 0.01ms 0 0
Pn121 Reserved Hz 50 50
Pn122 Reserved Hz 0 0
Pn123 Reserved % 0 0
Pn200 Position Control Reference Selection Switches - 0000 0000
Pn201 PG Divider P/r 16384 16384
Pn202 Electronic Gear Ratio (Numerator) - 4 4
Pn203 Electronic Gear Ratio (Denominator) - 1 1
Pn204 Position Reference Accel/Decel Paramter 0.01ms 0 0
Pn205 Multi-turn Limit Setting Rev 65535 65535
Pn206 Reserved P/rev 16384 16384
Pn207 Position Control Function Switches - 0000 0000
Pn208 Position Reference Movement Averaging Time 0.01ms 0 0
Pn300 Speed Reference Input Gain 0.01V/speed 771 612
Pn301 Speed 1 Rpm 100 100
Pn302 Speed 2 Rpm 200 200
Pn303 Speed 3 Rpm 300 300
Pn304 Jog Speed Rpm 500 500
Pn305 Soft Start Acceleration Time Ms 0 0
Pn306 Soft Start Deceleration Time Ms 0 0
Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 22
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn307 Speed Reference Filter Time Constant 0.01ms 40 40
Pn308 Speed Fast-Forward Filter Time Constant 0.01ms 0 0
Pn400 Torque Reference Input Gain 0.1V/torque 30 30
Pn401 Torque Reference Filter Time Constant 0.01ms 105 F1 250 F2
Pn402 Forward Torque Limit % 800 800
Pn403 Reverse Torque Limit % 800 800
Pn404 Forward External Torque Limit % 100 100
Pn405 Reverse External Torque Limit % 100 100
Pn406 Emergency Stop Torque % 125 125
Pn407 Speed Limit During Torque Control Rpm 10000 10000
Pn408 Torque Function Switches - 0000 0000
Pn409 Notch Filter Frequency Hz 2000 2000
Pn500 Positioning Completed Width Ref. Units 7 7
Pn501 Zero Clamp Level Rpm 10 10
Pn502 Rotation Detection Level Rpm 20 20
Pn503 Speed Coincidence Signal Output Width Rpm 10 10
Pn504 NEAR Signal Width Ref. Units 7 7
Pn505 Overflow Level 256 ref. Units 1024 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 50 0
Pn507 Brake Reference Output Speed Level Rpm 1125 100
Pn508 Timing for Brake Reference Output during Motor Operation 10ms 10 50
Pn509 Momentary Hold Time Ms 20 20
Pn50A Input Signal Selections 1 - 2100 2100
Pn50B Input Signal Selections 2 - 6543 6543
Pn50C Input Signal Selections 3 - 8888 8888
Pn50D Input Signal Selections 4 - 8888 8888
Pn50E Output Signal Selections 1 - 3200 3200
Pn50F Output Signal Selections 2 - 0100 0000

Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 23

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM8 Turning Center DIMENSION X-AXIS Z-AXIS
Pn510 Output Signal Selections 3 - 0000 0000
Pn511 Reserved - 8888 8888
Pn512 Output Signal Reversal Settings - 0000 0000
Pn600 Regenerative Resistor Capacity 10W 10 10
Pn601 Reserved - 0 0

Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 24

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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn000 Function Selection Basic Switches - 0000 0001
Pn001 Function Selection Application Switches 1 - 0010 0010
Pn002 Function Selection Application Switches 2 - 0000 0000
Pn003 Function Selection Application Switches 3 - 0002 0002
Pn004 Function Selection Application Switches 4 - 0000 0000
Pn005 Function Selection Basic Switches - 0000 0000
Fn001 Rigidity Setting - 6 F3 6 F4
Pn100 Speed Loop Gain Hz 90 F3 75 F4
Pn101 Speed Loop Integral Time Constant 0.01ms 1000 G1 1200 F4
Pn102 Position Loop Gain 1/s 40 40
Pn103 Inertia Ratio % 100 100
Pn104 2nd Speed Loop Gain Hz 40 40
Pn105 2nd Speed Loop Integral Time Constant 0.01ms 2000 2000
Pn106 2nd Position Loop Gain 1/s 40 40
Pn107 Bias Rpm 0 0
Pn108 Bias Width Addition Ref. Units 7 7
Pn109 Feed-Forward % 0 0
Pn10A Feed-forward Filter Time Constant 0.01ms 0 0
Pn10B Gain Application Switches - 0000 0000
Pn10C Mode Switch Torque Reference % 200 200
Pn10D Mode Switch Speed Reference Rpm 0 0
Pn10E Mode Switch Acceleration 10rpm/s 0 0
Pn10F Mode Switch Error Pulse Ref. Units 0 0
Pn110 Online Autotuning Switches - 0012 0012
Pn111 Speed Feedback Compensation % 100 100
Pn112 Reserved % 100 100
Pn113 Reserved - 1000 1000
Pn114 Reserved - 200 200
Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 25
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn115 Reserved - 32 32
Pn116 Reserved - 16 16
Pn117 Reserved % 100 100
Pn118 Reserved % 100 100
Pn119 Reserved 1/s 50 50
Pn11A Reserved 0.1% 1000 1000
Pn11B Reserved Hz 50 50
Pn11C Reserved Hz 70 70
Pn11D Reserved % 100 100
Pn11E Reserved % 100 100
Pn11F Reserved Ms 0 0
Pn120 Reserved 0.01ms 0 0
Pn121 Reserved Hz 50 50
Pn122 Reserved Hz 0 0
Pn123 Reserved % 0 0
Pn200 Position Control Reference Selection Switches - 0000 0000
Pn201 PG Divider P/r 16384 16384
Pn202 Electronic Gear Ratio (Numerator) - 4 4
Pn203 Electronic Gear Ratio (Denominator) - 1 1
Pn204 Position Reference Accel/Decel Paramter 0.01ms 0 0
Pn205 Multi-turn Limit Setting Rev 65535 65535
Pn206 Reserved P/rev 16384 16384
Pn207 Position Control Function Switches - 0000 0000
Pn208 Position Reference Movement Averaging Time 0.01ms 0 0
Pn300 Speed Reference Input Gain 0.01V/speed 771 612
Pn301 Speed 1 Rpm 100 100
Pn302 Speed 2 Rpm 200 200
Pn303 Speed 3 Rpm 300 300
Pn304 Jog Speed Rpm 500 500
Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 26
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 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn305 Soft Start Acceleration Time Ms 0 0
Pn306 Soft Start Deceleration Time Ms 0 0
Pn307 Speed Reference Filter Time Constant 0.01ms 40 40
Pn308 Speed Fast-Forward Filter Time Constant 0.01ms 0 0
Pn400 Torque Reference Input Gain 0.1V/torque 30 30
Pn401 Torque Reference Filter Time Constant (Field Adjustable) 0.01ms 95 F3 350 F4, G2
Pn402 Forward Torque Limit % 800 800
Pn403 Reverse Torque Limit % 800 800
Pn404 Forward External Torque Limit % 100 100
Pn405 Reverse External Torque Limit % 100 100
Pn406 Emergency Stop Torque % 125 125
Pn407 Speed Limit During Torque Control Rpm 10000 10000
Pn408 Torque Function Switches - 0000 0000
Pn409 Notch Filter Frequency Hz 2000 2000
Pn500 Positioning Completed Width Ref. Units 7 7
Pn501 Zero Clamp Level Rpm 10 10
Pn502 Rotation Detection Level Rpm 20 20
Pn503 Speed Coincidence Signal Output Width Rpm 10 10
Pn504 NEAR Signal Width Ref. Units 7 7
Pn505 Overflow Level 256 ref. Units 1024 1024
Pn506 Brake Reference Servo OFF Delay Time 10ms 50 0
Pn507 Brake Reference Output Speed Level Rpm 1125 100
Pn508 Timing for Brake Reference Output during Motor Operation 10ms 10 50
Pn509 Momentary Hold Time Ms 20 20
Pn50A Input Signal Selections 1 - 2100 2100
Pn50B Input Signal Selections 2 - 6543 6543
Pn50C Input Signal Selections 3 - 8888 8888
Pn50D Input Signal Selections 4 - 8888 8888
Pn50E Output Signal Selections 1 - 3200 3200
Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 27
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for TM amd M Series Turning Centers w/ Sigma II Drives
 Sigma II Series Servo Drive Parameters

P No. User Constants for TMM10 Turning Center DIMENSION X-AXIS Z-AXIS
Pn50F Output Signal Selections 2 - 0100 0000
Pn510 Output Signal Selections 3 - 0000 0000
Pn511 Reserved - 8888 8888
Pn512 Output Signal Reversal Settings - 0000 0000
Pn600 Regenerative Resistor Capacity 10W 20 20
Pn601 Reserved - 0 0

Installation Procedures and Parameter Settings 757-4005-089 Rev. G Page 28

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for TM amd M Series Turning Centers w/ Sigma II Drives