¥ YASKAWA ‘A World of Automation Solutions™ Sigma II Indexer User’s Manual‘Sigma Il Indexer User's Manual AWWARNING 'YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. ‘The selection and application of YASK AWA products remains the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fal safely under all circumstances. ll products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part's safe use and operation. Any warnings provided by YASKAWA must be promptly provided to the end user. YASKAWA offors an express warranty only as ta the quality of its products in conforming to standards and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products‘Sigma Il Indexer User's Manual Safety Information Safety Information ‘The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related products and systems, AWARNING + Warning: Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury. A CAUTION + CAUTION: Indicates precautions that, if not heeded, could result in relatively se ous of minor injury, damage to the produet, or faulty operation. >Yaskawa, 2000 ‘Ailrights reserved. No part of this publication may be reproduced, stored ina retrieval system or transmitted in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.Sigma Il Indexer User's Manual Table of Contents OVERVIEW cece vii Manual Outline vii SO ee vii ‘Using This Manual . . wee Vili Intended Audience... ..... 0... .00000ceeeeeeeeeeeeeree vii Description of Technical Terms vill Indication of Reverse Signals......... Safety Precautions.......... 6. eee e ees Checking Products upon Delivery Installation ............ Wiring oo... eee eee ee eee eeee Operation eee cece ‘Maintenance and Inspection General Precautions Chapter 1: Checking Products and Part Names 1.1 Introduction 1.2 Checking Products on Delivery 1.2.1 Extemal Appearance And Nameplate Examples.......0......... 1.3 Mounting the Sigma II Indexer to an SGDH Servo Amplifier. .... Chapter 2: Installation. 0.000066. c cece 2.1 Storage Conditions .....0.0....ece 2.2 Installation Site.......... 2.3 Orientation 2A lnstallation 0.6.6 2.4.1 Servo Amplifier Orientation 24.2 Cooling............ 2.4.3 Side-by-side Installation .. Chapter 3: Connectors 2.2.0. ceeceeee cere 3.1 10 Signals (CNI, CNA)... 3.1.1 Connection Example of /O Signal Connector (CN1, CNA). . 32 3.1.2 /O Signals Connector (CNL, CN4). 3 3.1.3 VO Signal Names and Functions ....... 6600000 s ec eee eevee ees 36 3.1.4 Interface Cireuits ...... : 3.2 Serial Communication Connectors (CN6, CNT)... 0000000 3.2.1 Single Axis System Example (CN6, CN7) 3.2.2 Multi-Axis System Example (CN6 only) ........... 2.2 2e cece 3.2.3 Communication Specifications (CN6,CN7).............- 3.2.4 Communication Connectors (CN6, CN7) 3.2.5 Connector Signal Names (CN6,CN7) . 3.2.6 Connection Examples .......... 3.3 Sigma II Indexer Power Loss ........Sigma Il Indexer User's Manual Table of Contents Chapter 4: Trial Operation 2.000000... eee ceeeeee ee ctteeeee eens 4d 4.1 Two-Step Trial Operation. 42 4.1.1 Step 1: Trial Operation for Servomotor without Load... 43 4.1.2 Step 2: Trial Operation with Servomotor Connected to Machine ... 4-8 Chapter 5: Parameter Settings and Functions... 600000000 ceeeeeeeeeeeeres Sel 5.1 Parameter Limits with Sigma TI Indexer. .. 54 Settings According to Device Characteristics ©... 0.0.06. sccecce 56 5.2.1 Switching Servomotor Rotation Direction ............+-+ woe 56 5.2.2 Setting the Overtravel Limit Function 5.2.3 Limiting Torques 5.3 Sequence VO Signals ...........00. 5.3.1 Using the Servo ON Input Signal 5.3.2 Using Servo Alarm and Alarm Code Outputs............. 5.3.3 Using the Holding Brake ........ 0. .000000cceeeeeeee 5.3.4 Using the Servo Ready Output Signal............000000eeee 5.3.5 Using the Warning Output Signal ..............0.0000+ 5.3.6 Using the /INPOSITION Output Signal 5.3.7 Using the Programmable Output Signals (/POUTO ~ (POUT)... ‘Using the Encoder Signal Output... . . Setting up the Reference Units.......... 5.5.1 Electronic Gear Setting Examples 5.5.2 Calculating Speed [x1000 Reference Units /min.]............. 5.5.3 Setting the Accel/ Decel Rate [x 1000 Reference Units/min/ms] 5.6 Absolute Encoders ....... 5.6.1 Interface Circuit 3.6.2 Configuring an Absolute Encoder . 5.6.3 Handling Batteries ............. 5.6.4 Absolute Encoder Setup......... 5.6.5 Absolute Encoder Reception Sequence 5.7 Program Table Mode (Mode 0) ........... 2.0 ..0-22520 00005 5.7.1 Program Table Mode Setting. 3.7.2 Program Operation Inputs Setting 5.7.3 Program Step Selection 5.7.4 Program (Index) Table Set-up... . 5.7.5 Event Condition Examples $.7.6 Program Operation. ....... 0... eceeeeeeeeeeeeeeeeernee 5.7.7 Evaluation of Program Operation Input Conditions ........... 5.7.8 Minimum Input Signal Timing for Program Operation. 5.8 Registration... 5.8.1 Registration Specifications 5.8.2 Registration Input Setting 5.8.3 Registration Operation. 5.9 Zone Table Set-up. . 5.9.1 Zone Signal Conditions .........Sigma Il Indexer User's Manual Table of Contents 5.10 Program Table Examples ............. 5-63 5.11 Homing / Jog Speed Table Mode (Mode 1) $.11.1 Homing /Jog Mode Setting ..........000000ceeeceeeeeeees 5.11.2 Homing / Jog Speed Table inputs Setting .............-. 5.11.3 Homing Routine Parameters... ... 60.0.0 0e cece 5.12 Homing Routine Operation. 5.13 Jog Speed Table Operation. ......... 5.13.1 Jog Speed Table Example 5.13.2 Jog Speed Table Selection...... 5.13.3 Jog Speed Table and Homing Operation Input Conditions . 5.13.4 Minimum Input Signal Timing for Homing and Jog Operation Chapter 6: Serial Commands 6.1 Specifications (CNO). 0.000.000 0cccceececeeeeeeeeeeeeee eee 6.2 Control Configuration. .... 6.2.1 Control Overview ...... eee... 6.2.2 Serial Communication Parameters. 6.2.3 Axis Address Setting Graph 6.3 Command Transmission (Host Controller + Sigma Il Indexer)......... 6-5 6.3.1 Command Format ............. 6.3.2 Echo Back Response Time 6.4 Transmission Data (Sigma II Indexer —> Host Controller), 67 6.4.1 Transmission Data Format 6.4.2 Positive Response Format ....... 6.4.3 Negative Response Format 6.5 Serial Command Functions 6.5.1 Basic Operation Commands ..... 6.5.2 Moving Commands ............ 6.5.3 Parameter Operation Commands... 6.5.4 Program Table Set-up Commands. 6.5.5 Program Table Operation Commands. ........ 000000. 6.5.6 Monitor and Function Commands Chapter 7: Using the Digital Operator 7.1 Basic Operation 7.1.1 Connecting the Digital Operator . . 7.1.2 Funetions .......... 7.1.3 Resetting Servo Alams......... 7.1.4 Basic Mode Selection Chapter 8: Dimensional Drawings &1 8.1 Dimensions of the JUSP-NS600 Indexer are shown below. we 82Sigma Il Indexer User's Manual Table of Contents Chapter 9: Troubleshooting .....0.660.0 000 cc beeee cette 9-1 9.1 Troubleshooting Problems with No Alarm Display 9-2 9.2 Sigma II Indexer AlammyError/Wamning Status Display Table........... 9-4 9.2.1 Sigma II Indexer Alarm Display Table see Od 9.2.2 Sigma II Indexer Error/Warning Display Table ........... 9.7 9.3 SGDH Servo Amplifier Alarm Display Tables 9.3.1 SGDH Servo Amplifier Alarm Display Table. : 9.3.2 SGDH Servo Amplifier Warning Display Table........... oo O13 9.4 STS Stats LEDS 00.000 Appendix A: List of Parameters....0...0.0.0. A.1 JUSP-NS600 Indexer Parameters A.2 Servo Amplifier Parameters. . : : A Servo Amplifier Switches ........0..0. 000020. 0c0c0e ees eee Appendix B: Monitor Modes and Functions B.1 Monitor Modes. ............-.2.2.5 B.2 Auniliary Functions ......00.0.0.0000cecececeeecseeeeererees Appendix C: Serial Commands C.1 Alphabetical List of Serial Commands Appendix D: Example Exercises Dat Example Indexer Exercise #1 D.2 Example Indexer Exercise # D.3 Example Indexer Exercise #1 Solution . D4 Example Indexer Exercise #2 Solution.‘Sigma Il Indexer User's Manual Overview Overview Manual Outline This manual provides the following information for the Sigma II Series SGMCIH/SGDH servodrives with a JUSP-NS600 Indexer Application Module. + Procedures for installing and wiring the Sigma II Indexer Application Module. + Procedures for trial operation of the servodrive. * Specifications and methods for serial communications. + Procedures for setting parameters and program tables. + Procedures for digital /O and serial mode operation. + Troubleshooting procedures. Related Manuals Refer to the following manuals as required. Read this manual carefully to ensure the proper use of Sigma II Series servodrives. Also, keep this manual in a safe place so that it ean be referred to whenever necessary. ‘Manual Name [Manual Number (Contents DDeserites the procedure used t select YEA-SIA-S800-32.2 Sigma II Series srvodrives and capacities and detailed information, "Describes the procedure used to select ‘Sigma II Series sorvodrives and capacities Sigma II Series Servo System ‘User's Manual ‘Sigma T Series Servo System Product Catalog Supplement _|OM1499001D Refer to Sigma II User’s Manual for the following information. + Procedures for installing and wiring the servomotor and servo amplifier (encoder, motor and power). + Procedures for using functions and adjusting the servodrives: Selecting a regen resistor, special wiring, tuning and analog monitor. + Procedures for using the built-in panel operator and the hand-held digital operator. + Ratings and specifications for standard models.‘Sigma Il Indexer User's Manual Using This Manual Using This Manual Intended Audience This manual is intended for the following users. + Those designing Sigma II Series servodrive systems + Those installing or wiring Sigma II Series servodrives. + Those performing trial operation or adjustments of Sigma II Series servodrives. + Those maintaining or inspecting Sigma II Series servodrives. Description of Technical Terms In this manual, the following terms are defined as follows: + Servomotor = Sigma II Series SGMAH/SGMPH/SGMGHISGMSH servomotor. + Servo Amplifier = Sigma II Series SGDH servo amplifier. + Servodrive = A set including a servomotor and servo amplifier. + Servo System = A servo control system that includes the combination of a servodrive with a host computer and peripheral devices. Indication of Reverse Signals In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following equations: + /S-ON= SON + /RGRT=RGRT + START-STOP/HOME = START-STOP; HOME (dual purpose input)‘Sigma Il Indexer User's Manual Safety Precautions Safety Precautions The following precautions are for checking produets upon delivery, installation, wiring, operation, maintenance and inspections. Checking Products upon Delivery A CAUTION ‘Always use the servomotor and servo amplifier in one of the specified combina- tions. Not doing so may cause fire or malfunction. Installation ACAUTION + Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles. Doing so may result in electric shock or fire Wiring AWARNING * Connect the ground terminal to a class 3 ground (10022 or less). Improper grounding may result in electric shock or fire. Required for 7.SkW amplifiers: Use Yaskawa kit Number XXX for wiring the power input and output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 4 AWG wires‘Sigma Il Indexer User's Manual Safety Precautions A CAUTION + Do not connect a three-phase power supply to the U, V, or W output terminals. Doing so may result in injury or fire. + Securely fasten the power supply terminal screws and motor output terminal serews. Not doing so may result in fire. Operation ACAUTION + Never touch any rotating motor parts while the motor is running. Doing so may result in injury A CAUTION + Conduct trial operation on the servomotor alone with the motor shaft discon- nected from machine to avoid any unexpected accidents. Not doing so may result in injury. + Before starting operation with a machine connected, change the settings to match the parameters of the machine. Starting operation without matching the proper settings may cause the machine to run out of control or malfunction. + Before starting operation with a machine connected, make sure that an emer- gency stop can be applied at any time. Not doing so may result in injury. + Do not touch the heat sinks during operation. Not doing so may result in bums due to high temperatures.‘Sigma Il Indexer User's Manual Safety Precautions Maintenance and Inspection AWARNING + Do not remove the panel cover while the power is ON. Doing so carries a tisk of electric shock, + Do not touch terminals for five minutes after the power has been turned OFF. Residual voltage may cause electric shock. + Never touch the inside of the servo amplifier. Doing so may result in electric shock. ACAUTION + Do not semble the servomoto Doing so may result in electric shock or injury + Do not attempt to change wiring while the power is ON. Doing so may result in electric shock or injury. General Precautions Note the following to ensure safe application: + The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual. + The drawings presented in this manual are typical examples and may not match the product you received. + This manual is subject to change due to product improvement, specification modifi- cation, and manual improvement, When this manual is revised, the manual code is Updated and the new manual is published as a next edition. The edition number appears on the front and back covers. + Ifthe manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual. + Yaskawa will not take responsibility for the results of unauthorized modifica- tions of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.‘Sigma Il Indexer User's Manual Safety Precautions This page intentionally left blankSigma Il Indexer User's Manual 1 Checking Products and Part Names This chapter describes the procedure for checking the Sigma II Indexer application module upon delivery. It also describes the name of product parts 1.1 Introduction 12 12 Checking Products on Delivery ....... 13 1.2.1 External Appearance And Nameplate Examples 13 1.3 Mounting the Sigma II Indexer Application Module toa SGDH Servo Amplifier 16 1Sigma Il Indexer User's Manual Introduction 11 Introduction ‘The Sigma II Indexer application module (P/N JUSP-NS600) is a single-axis position con- troller with registration capabilities which connects to an SGDH servo amplifier via dual- port RAM, This combination expands the amplifier’s functionality to include simple point-to-point positioning with an available registration function. The Sigma II Indexer option has two ‘operating modes, serial command mode and digital /O mode. The serial command mode allows immediate interpretation and execution of ASCII com- mand strings sent via RS232/422/485 to the Sigma Il Indexer. The digital /O mode consists of the program or index table (mode 0) and the jog speed table and homing (mode 1). While in Mode Cuthe program table allows execution of stored index moves, selected with input- signal patterns (binary format). While in Mode 1, the jog speed table allows execution of stored jog speeds, selected with input-signal patterns (binary format). Three types of homing routines are also available while in Mode 1. Figure 1.1 JUSP-NS600 Indexer/SGDH Combination ‘Table 1.1: Sigma I Indexer Functions Finston Design Distal 10 Mde- Program index) Table (Mode 0) Positioning data ae slecod fom the rogeam le Woved tne exer by wnng the pooung data selection inp signals (binary format). The indexer can store up to 128 program steps, All program steps may be addressed wits inputs The program steps may be linked together to generat ore complex moves. Pisa VO Made ning U1 16 og sped ae avslable, Speeds are selaetad by wing the jog season apu-signla foie *® | ary format), Homing salable whl in his mode Serial Command Mode Positioning data are lap by ASCII comand svinge sent via RSIS] RSWID ROWS tothe inden Commands ca be sent upto 16 axes with one saster controller. Positioning data can also be selested from the program table stored inthe indexer by ASCTI commands Registration Both sia command and prograu able mode support the restraion fiction (external positon ing). Programmable Oupit Sigaals | 5 progranaable ouput agaale are avaiable Tip to 5 differen sone can be defined to program the programmble opt anal Fone Sale |(POUTO - /POUTS) based on position, sed for aero-poiatretara(hewing) when neremestal coder is wed. Both vera sommaa and homing mode allow execution ofthe avilable homing rourines. Thee types of homing routines are availabe: Homing 1. Decel limit snitch snd encoder oops are ured 2. Only decel init swith suse. 3. Only cusoderco-puloe is wed‘Sigma Ul Indexer User's Manual Checking Products on Delivery 1.2 Checking Products on Delivery The following procedure is used to check products upon delivery. Check the following items when produets are delivered Table 1.2: Cieak eas Comma Tre the delivered prods ones [USK ie moc mabe Marked He ampaes OF He APHIS tat were onder? module F (Check the overall appearauce, and check for damage or states tat may bere any damage? have occurred during shipping. [Can the application module be [Check the model number given on the SGDH serve amplifier nameplate. The installed on the SGDH servo amplifier | model number must coutaia “SODH- ga E” to support the Sigma I usec? Indexer application mode Iany of the above items are faulty or incorrect, contact your Yaskawa sales representative or the dealer from whom you purchased the products. 4.21 External Appearance And Nameplate Examples 9 Figure 1.2 External Appearance of Sigma Il Indexer Application Module [— Application Module model number Application Module name ‘SERVOPACK INDEXER OPTION UNIT. MODEL JUSP-NSE0O. ‘ON OPO2TO-.1 ‘SN a00@T 703490001, eUL)us YASKAWA ELECTRIC MADE IN JAPAN AVY T° I< L serial number ‘version ——] Figure 1.3 Nameplate 13‘Sigma Ul Indexer User's Manual Checking Products on Delivery sco JUSP.NS600 Temo0 WaEND SERIAL, COU hea Figure 1.4 Block Diagram of Sigma Il Indexer Functions. mer [THERE +— a) JUSP.NS600 Indoxer Application Modtlo Je STS Status LED (green and red). |+— 0.6) GN7 Setup and Maintenance connector: Used for indexer set-up, parameter ‘setings and mainionance using te digital operator |< — ADAS Axis Address: Rotary switch used to st ans aderess, ee | | FES| 6) CNS Sigman connecter: Used only for hight courte » ung and ata wacng MOM | b) CN4 Vo Signal connector: Used for sequence IO signals ©) CNT VO Signal connector: Used for sequence I signa I} — «cn sen! Command connector: Used fr sel command mode. epee exec tl cman Sejos 4 setngs, maintenance, and conto, Figure 1.5 [FES] ‘Note: Refer to Table 1.3 for part numbers of items a-e. 14Sigma Il Indexer User's Manual Checking Products on Delivery Table 1.3: Part Numbers Dain raNare i a | sigma m ndexer susp.xs600 +0 cali pia ee Sono cxaascna 8: cali pia ec, Sin 2. cxmxscna . CN4 I/O Cable (with pigtail leads), 36 pin, 3.0m (CKI-NS600-03 2 ‘CN4 VO Cable (with terminal block) SUSP-TA3@P_ 3 crv cae piste sin 10m er) * ‘CNI1/0 Cable (with pigtail leads), 50 pin, 2.0m IZSP-CKIOI-2(A) . CNI TO Cable (with pigtail leads), 50 pin, 3.0m_ IZSP-CKIOI-3(A) (10 Cale eil Boal) ToseTAS 3. Lee EET ja o CN6 Serial Communication Cable (with pigtail leads), 2.0m | YS-14 Accessories Software Hand-held Digitel Operator Panel ‘CN, CNG, CN7 Mating Counzctor ‘C4 Mating Connector, 36 pia ‘NI Mating Connecter, 50 pin Index Works indexer Support Software SUSP-OPO2A-I = JZSP-CMSOO-1 Ysc-l ‘DP9420007 ESP-CKI 3600-607 ‘Note: See Sigma I Servo System Product Catalog Supplement for part numbers and additional information ‘on servo motors, servo amplifier, motor power cables, encoder cables and accessories.Sigma If Indexer User's Manual ‘Mounting the Sigma I Indexer Application Module to an SGDH 1.3 Mounting the Sigma II Indexer Application Module to an SGDH Servo Amplifier This section describes how to mount a Sigma II Indexer application module on the SGDH servo amplifier. Use the following procedure to ensure the Sigma II Indexer application module is mounted correctly. 1, Remove the connector cover from the CN10 connector on the SGDH servo amplifier. [Connector cover 2. Insert the lower two mounting notches into the mounting holes at the bottom of the right side of the SGDH servo amplifier Figure 1.6 Mounting the JUSP-NS600 to an SGDH Servo Amplifier 3. Push the Sigma II Indexer application module in the direction indicated by the arrows in the figure above, and insert the npper mounting notches of the Sigma II Indexer application module into the upper mounting holes on the right side of the SGDH servo amplifier. 16‘Sigma Ul Indexer User's Manual ‘Mounting the Sigma I Indexer Application Module to an SGDH 4, For grounding, connect the ground wire of the Sigma II Indexer application module to the point marked “G” on the SGDH servo amplifier. Refer to table 1.4 for the selection of the proper screw size. Screws are provided with the application module. Table 1.4: Sigma II Indexer Ground Wire Screw Serew Now Naxi0 (cound head philips with split lock ‘washer and flat washer) ‘MaKiO (round head phillips with spit lock. washer and flat washer) NaS (roune head phillips with spit lock] Use front panel side screw hole. washer and flat washer) SGDH-A3-O0BE SGDH-AS-10AE SGDH-1S-SOAE ‘SGDH-05-S0DE SGDH.G0-IEAE SGDH-60-1EDE GROUND WIRE For SGDH (80 W to 5.0 KWW) | — crouno wine For SGDH (6.0 kW to 15 KW) Figure 1.7 1?‘Sigma Ul Indexer User's Manual ‘Mounting the Sigma I Indexer Application Module to an SGDH ‘When the Sigma II Indexer application module has been mounted correctly, the SGDH servo amplifier will appear as shown in the following diagram. Cpsep se *s- 4 Figure 1.8 Ls‘Sigma Il Indexer User's Manual 2 21 22 24 24.1 24.2 243 Installation This chapter describes precautions for Sigma II Series and Indexer application module installation. ‘The SGDH servo amplifiers are base-mounted units. Incor- rect installation will cause problems. Always observe the installation precautions shown in this chapter. Storage Conditions .... 22 Installation Site ...... 23 Orientation 24 Installation . es 25 Servo Amplifier Orientation ve 2S Cooling... ee eevee eee 25 Side-by-side Installation 25‘Sigma Il Indexer User's Manual Storage Conditions 2.1 Storage Conditions Store the servo amplifier within the following temperature range, as long as itis stored with the power cable disconnected. -20 10 85°C Figure 2.4 Sigma Il Serios Servo Amplifier with Sigma Il Indexer Application Module Mounted‘Sigma Il Indexer User's Manual Installation Site 2.2 Installation Site ‘Table 2.1; The following precautions apply to the installation site. Situation Tastallation Precaution In iallation ina control panel [Design the contol panel size, unit layout, and cooling method so the tempera- ture around the servo amplifier does not exeeed 55°C. Installation near a heating unit Minimize beat radiated from tbe heating unit as well as any (empeature rise ‘caused by natural convection so the temperature around the serve amplifier does not exceed 55°C. Installation near a souree of vibration Install 2 vibration isolator beneath the servo amplifier to avoid subjecting ito vibration, Installation ta site exposed to coro sive gas ‘Corrosive gas dass nov have an immediate effect on the servo amplifier, bu will eventually cause eleetronie components and contactor - related devices to malfunction. Take appropriate ation to avoid corosive gas. Other situations ‘Do not install the servo amplifier in hot and humid locations or locations sub Leet to excessive dust or iton powder in the ait 23‘Sigma Il Indexer User's Manual Orientation 2.3 Orientation Install the servo amplifier perpendicular to the panel wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convec- tion or cooling fan. Secure the servo amplifier using the mounting holes. The number of holes varies (from two to four) with the frame size of the servo amplifier. aan RO RRA |__.ill SS unit tt Ventilation Wal 24‘Sigma Il Indexer User's Manual Installation 2.4 Installation Follow the procedure below to install multiple servo amplifiers side by side in a control panel NN |i rin, somm) minimum 118i 1.97in. (50mm) minimum minim ‘ninimury 2.4.1 Servo Amplifier Orientation Install the servo amplifier perpendicular to the wall so the front panel containing connectors faces outward. 2.4.2 Cooling As shown in the figure above, allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection. 2.4.3 Side-by-side Installation When installing servo amplifiers side by side as shown in the figure above, allow at least 0,39in, (10mm) between and at least 1.97in, (0mm) above and below each servo amplifier. Install cooling fans above the servo amplifiers to avoid excessive temperature rise and to maintain even temperature inside the control panel. Environmental Conditions in the Control Panel + Ambient Temperature:0 to 55°C * Humidity:90% r-h., or less + Vibration: 0.5 G (4.9 mvs?) * Condensation and Freezing:None + Ambient Temperature for Long-term Reliability:45°C maximum‘Sigma Il Indexer User's Manual Installation This page intentionally left blank. 26‘Sigma Il Indexer User's Manual 3 Connectors 3.1 V/O Signals (CN1, CN4) . 06... e eee eee wees B2 3.1.1 Connection Example of /O Signal Connector (CN1, CN4)3-23 3.1.2. VO Signals Connector (CN1,CN4) 3-4 3.1.3 1/O Signal Names and Functions 3-6 3.1.4 Interface Circuits... .... 2.0.2.6... 0 6.0008 37 3.2. Serial Communication Connectors (CN6, CN7) 31 3.2.1. Single Axis System Example (CN6, CN7) 31 3.2.2 Multi-Axis System Example (CNG only) 31 3.2.3. Communication Specifications (CN6, CN7) 341 3.2.4 Communication Connectors (CN6, CN7). 31 3.2.5. Connector Signal Names (CN6.CN7) 31 3.2.6 Connection Examples.......2.22222222005 31 3.3. Sigma II Indexer Power Loss ee S17 31‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) 3.1 VO Signals (CN1, CN4) The section describes /O signals for the SGDH Servo Amplifier and Sigma II Indexer application module. 3.1.1 Connection Example of /0 Signal Connector (CN1, CN4) H CIT? (eargesueng) 2 ciao (Fewer noted non] somal o oz 00H Sen Arpfer Neat (Pese nn pees shan Tecan Ut \Eeasosmen on cnet shone) ‘Enabed wen "(eps UTA DP Se EC OT” Figure 3.1 SGDH VO (GN1) - we ae 32 1 ee ease wen On] Proce asm sir ge SC ISADY Owen) | Optra Cae seme Sn ag Oa pan (Eoin) Sf eae 103) aoc aia te ‘Relient ano ‘ptene rena Seeutas sect Herne sae aoe in [7 pie merg an eh Scrat‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) ‘Sigma Indoor JUSP-NS800 S60H Sone Angilor or t lem sie iso went reanes coor a Figure 3.2 Sigma Il Indexer JUSP-NS60O VO (CN4) (Ghstom mostin) Seed ae So Besa es Sakic <> settcrnmans Note: Mode 0 enables input functions /START-STOP, /PGMRES, /SELO, ‘SEL, /SEL2, /SEL3, /SELA. Mode 1 enables input funetions /HOME, /JOGP, JOGN, /J0GO, /JOGI, /JOG2, /JOG3, 33‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) 3.1.2 VO Signals Connector (CN1, CN4) ‘The following diagrams show the layout of CN1 and CNA terminals. ‘Table 3.1: CN1 Terminal Layout (Servo Amplifier) sien Servo wa i ‘ = Grownd 26 | WARN: | ing output sig sexy | Bein 2 se Ground 7 BK Jock output pai Q - * Be Jock output 4 - - 29 | ssRDY+ =" sevorenly 5 : 20 | iseov. ce cn up 5 | sen nw | Sevoaim * se Ground w ae output ; ; B] sum. | sven PG Divided output zz a a] mo | op hse Pe Dive ° . a} mxo | “oupue Sum Parade arate 10| so is as| po ‘Output Ground rae PG Divided uf. : so} rao | “ouput tite 2 - - 37} ator | Alarm code: up B - (open- 38 ALO2 ‘Aosele collector output ul - < | ato | Spe 1s - 40 | (SON _ wl - - at] sas | tee sits Forward ” . 22) ror | aie won Tene ‘calor wl) - 2 se] sor | ‘ponbiet Po indo ipa “Zoo ee] ro | “ome | ore “4 PG Divided cPhase -_ arias 20) mo | “ouput as issue | Meu ipa Crate | patay oy Region 21| vara) | oay¢ ee] | mer | 22 sare | smeye a1| sae | powers iy ip ‘ine a) - : a| mo | Sem SP up ul - - a] so | ‘Sant Sno ou 25 | wane wo) - a ingot Note 1. Do not use unused terminals for relays. 2. Connoct the shield ofthe LO signal cable to the connector shel ‘The shield is connected to the FG (frame ground) at the servo amplifier-end connector. 34‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) ‘Table 3.2: CN4 Terminal Layout (Sigma II Indexer) Exenal 1 | 2evicont | ipetpwse et | bec sony | ao | aNPost | Imposition . Tio | out 3 | imopean | Modeslect a1 | outa: | Pregtmmabie st Oat ne - 22 | pour. | Penmsbe — Start-Stor ‘Programmable ° : 3 ‘STOP; meee 23 | fouri+ | Pent Bor ome pst ete uw ‘ 24 | irouri. | Progammatte Progam : tse 0g rroures | Poeamnabe 7 forward 25 | pouta Output 2 % ! pours, | Pegammuble om | s 26 | mova. | Preemes Progam >| sex | Pom ‘rourse | Posammbic noon | Seta a7 fron | pats 0 a 2s | pours. | Progammable Progam ae ‘seit; | sole og Progrmabis uw 060 select 0 as Ovtpat + a ws on mpummate 8 30 | ieouts. | Prema Program ssa; | set 8 nOG1 select 1 * 7 woot | . 2 . Program sseus; | seer og 0G? ‘select 2 3 7 wn | 6 “ . Program sseia, | select log . 1063 ‘select 3 . wot | . x . ‘Table 3.3: CNI Specifications (Servo Amplifier) |Specifications for Applicable Mating Connector ‘Servo Amplifier Receptacle | Connector Case Manufacturer [ESO SORZT wr quvalet 50-pin i feauvgent S0-Pr lrotso_aooove |10350-s2K0-008 {Sumitomo 3M Co, Note: Yaskawa PIN JZSP-CKI9 includes 3M connector and case.‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) ‘Table 3.4: CN4 Specifications (Sigma I Indexer) [Specifications for| ‘Applicable Mating Connector Servo Amplifier Receptacle | Connector Case Manufacturer [pees eae eo RREREEM forcosomve jone-saaane ‘smenoautce [Reside Note Yaskava PN DPO20007 insudss JM connector and ese 3.1.3 /O Signal Names and Functions The following section describes servo ampl er VO signal names and functions. Table 3 5: CNI Input Signals (Servo Amplifier) Pin No. Function a ‘Servo ON: Tus ON the senvomovor whew The gale Bioeth Taverer Ts eeased ul ‘Mode 0: Program select put 5. Mode 1: No effec. 2 Forward run prohibit] Overiravel prohibited: Stops Servo motor whea movable ag Reverse run prohibit | part travels beyond the allowable range of motion Zero poi return Gecsleration Unit switch pre # Deceleration LS used when the motor returns to the zero point during homing 5 ‘Mode 0: Program seleet init 6 see [4S Mode 1: No effect, TRGRT [A ‘Regisiraton lich signal: used Tor exiemal positioning, ‘Control power supply input for sequence signals: User must provide the T2-V power ‘ supply. 2aVIN 47 Minimum operating voltage: I1V ‘Maximum operating voltage: 25V BAG) [2 ‘Connecting pin forthe absolute encoder Backup Balery BAT [22 Conner to either CNS oF CNT-2I,23. ‘Table 3.6: CN1 Output Signals (Servo Amplifier) ‘Signal Name [Pia No. Funetion AIM TH. as Tuno OFF when alr aes FRAT 125 ang ON whe aero waning doo 30 |accoarlanin crattponerspy sumed ON cy ‘Alarm code output: Outputs bit alarm codes 38 39 (1) | Open-colleetor: 30 V and 20 mA rating maximum Connected to Frame ground W the shield wire of the fs Shell | 10 signal cable i connected to the connector shell Note |, Pin numbers in parenthesis () indicate signal grounds. 36‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) ‘Table 3.7: CN4 Input Signals (Sigma I Indeyer) Signal Name [Pin No. [Function Control power supply Tapa Tr sequance signals: User mst provide Tho F24V power supply. vavicom |i “Minimum operating voltage: 11V “Maximum operating voltage: 25 ‘Switches between Mode ® and Mods T Mode 0/1 3 ‘Mea 0: Index table mode when ON. Mode 1: Jog ad homing mode when OFF STARFSTOR, |, ‘Mode 0: Stars selected index table program when ON, Stops program operation when OFF HOME ‘Mode 1: Stats homing routine when ON. Stops homing routing when OFF, spoMReS. 300 ‘Mode 0: Rests index table program when OFF ON. POMRESHIOGP /7 ‘Mode I: Forward jog enabled when ON. Stops forward jos when OFF ‘Mode 0: Program select input 0 ELOWOGN {9 Mode 1: Reverse jog enabled when ON. Stops reverse jog when OFF, is 5 ‘Mode 0: Program select input 1 Seuivoco |i Mode 1: Jog speed select input 00 ‘Mode 0: Program select input 2 tayyoGy [18 Mode 1: Jog sped sceet input a ‘Mode 0: Program select input 3 Seiawog |S Mode 1: Jog speed seleted input 2 “1 > ‘Mode 0; Program select input 4 iselaviogs 17 Mode 1: Jog speed select input 3 ‘Table 3.8: CN4 Output Signals (Sigma II Indexer) [Signal Name [Pim No | Functions ANPOSITTON [19 Tn-position: Turns ON when the position err is within the inpositon window setting Pa82i [ANPOSITION- [20 and when the commanded position profile has ended (also known as DEN, distribution end) (POUT OF 21 POUT 2 pours pour powes Programmable Outputs 7POUTa 26 * m POUT: I iPOUTS- 28 pours @ (Pours 30 37‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) 3.1.4 Interface Circ Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open-collector tran- sistor circuit. Select a low-current relay otherwise a faulty contact will result, sor ior Son arte so nad sons ant ae ao 2 togt Hi] «Lag b sg som tnton tne ote enna arate [a BR . eal Tg Li U Output Circuit Interfaces Any of the following three types of servo amplifier output circuits can be used. Con- nect an input circuit at the host controller following one of these types. + Connecting to an Open-Collector Output Circuit (Alarm Code Outputs) Alarm code signals are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay, or line receiver circuit, ved eee AXCAUTION The maximum allowable voltage and current capacities or open-collector Sreuits are + Vp, Volage: 30Viye max + Ing, Current: 20mAy¢ max. 38‘Sigma Il Indexer User's Manual VO Signals (CN1, CN4) + Conneeting to a Photocoupler Output Cireuit Photocoupler output circuits are used for SGDH servo amplifier alarm, servo ready, holding brake, warning, and all Sigma II Indexer outputs Connect a photocoupler output circuit through a relay or line receiver circuit sere linger ne Seen nn an 7 ACAUTION The maximum allowable capacities Tor photocouplar ouput circuits are «Voltage: 30V pe max. + tye, Curent SOmA ye ma 39‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) 3.2. Serial Communication Connectors (CN6, CN7) This section describes the wiring for the serial communication connectors (CN6, CN7) 3.2.1. Single Axis System Example (CN6, CN7) The figure below illustrates connection for single-axis communication between a PC and ‘Sigma II Indexer (CN6, CN7) setupandwaitenance —_, [TIO RS252422 Digtal Operator Wareboak PC na Command Communeston C7 RSENS Digital Operator (dndexer Softare) 3.2.2. Multi-Axis System Example (CN6 only) The figure below illustrates connection for multi-axis communication between a PC and up to 16 Sigma II Indexers (CNG only) | i Fi 310‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) 3.2.3 Communication Specifications (CN6, CN7) The following table shows the communications specifications for CN6 and CN7. ‘Table 3.9: Communication Specifications Tien Port [Specification CNG | RSDSIRSEDURSAS Trace N DURST ENT RSISIRSND. Transmission Ra ENG | RS232: 3m maximum Tansmission Range ENT | RS422/RS485: 0m maximum Baud Rate CNE__|96, 192, 384 Koad ENT [96 Rhaud ‘Synchronization Type [CNS _ | Asynchronous (star-siop synchronization) Star: bit Transmission Format (CNS | Data: 7 bit, ASCH cade sani ENT | Paty: 1 bit, Even Stop: bit 7 Ne X OwX OMF Control ERS | None CNG Shift Control ay None 5 CNG ‘Communication uy | Hall-duptex 3.2.4 Communication Connectors (CN6, CN7) ‘Table 3.10: CN6 Terminal Layout 1 | rx «| 1x0 2 | ax 9 | axp 3 | ex 10 | RxD 4 | mx u 5 2 «| xo b 7 | REC 14 | exp‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) ‘Table 3.11: CN7 Terminal Layout 1 | 1xp s | 1xp 2 | ax 9 | xD 3 | RxD 10 | exp + | exp 11 | Reserved Reserved 12 | Reserved 6 | xp 13 | Reserved 5 | RT Cterminal us| oxo Resistance) ‘Table 3.12: CN6, CN7 Specifications [Specifications for Sigma ll [Applicable Mating Connectors Indexer Receptacle [Connector Cae Manufacturer TRE SIAGIL Te Pin Sumitomo ish Avek Pe 10114-3000VE 10314-52A0-008 ree ‘Noto: Vaskawa P/N YSC-1 includes 3M ease and connector.‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) 3.2.5 Connector Signal Names (CN6,CN7) ‘Table 3.13: Pin No. [Signal name] Signal Creat Name Signal Dieoiion T TxD Transmit data (not invered) Pes 2 “XD Transmit data (inverted) Pas B RXD Receive data (not inverted) PS o TRXD Receive data inverted) Pos 5 Revered [Reserved pin - 6 RXD Short pins 6 and 7 apply an internal 220 0 terminating existance between RXD and / 7 RT XD. 8 TxD Transmit data (not inveried) Pas o 7IXD Transmit data (inverted) PHS 10 RXD Receive data (not inverted) Ps ir Resened [Reserved pin z 1 Revered | Reserved pin 7 5 Reserved [Reserved pin : a [GND [Signal ground OV : P: Personal computer S: Servopack #: Reserved terminal (leave open).‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) 3.2.6 Connect Po (RS232 port) inxD n Examples LJUSP-NS600 Indexer 6ON, 7CN xD 2ITXD Cable lengtn am max, 4mRXD ov RTs cts co 140ND Fo OTR DSR Figure 3.3 RS232C Single-Axis Communication (CN6, CN7) Po (A422 pon) rxof_ 2 Case FS .JUSP-NSBOO Indexer SCN, 70N iAXD 1.TXD Cable length 50m max ROTOR Ov 2imxo x0 aAXD mx 4 RxD euRXD aR 140ND Fa Figure 3.4 RS422 Single-Axis Communication (CN6, CN7) caso FG‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) Po 28 pot JUSP-NS60O Ines CNB 7" . ne : 1 720 cablelonatn om ma Twat parwrna | + (RxD + 27xD Bon ove vy oreo x 7 SRXD x0 fot 4x0 ot 107K ot Ser pin 67 on ast xs t ' RT ov - 14GND rs =o cose Fa FY FF fF brotas cnepn: 1 23 ts Figure 3.5 RS422 Multi-Axis Communication (CN6) stb Use sro rr 6 eC re 3RXD Tani § mo amo Finca vor ov emo shor ps en ests ov 14GND rs cara eA PT Pfr a Figure 3.6 RS485 Multi-Axis Communication (CNS)‘Sigma Il Indexer User's Manual Scrial Communication Connectors (CN6, CN7) RS422/485 Interface Cable 1 Make sure that the drive system, control system, power system, and other transmission systems are separate from each other (ie., do not run the power wire with the control wire), The RS422/485 cable length is $0 m maximum. Use the minimum length necessary. The Sigma II Indexer module RS422/485 interface is a non-isolated system. Errors may occur from noise in the connected terminal. If noise occurs use a shield-type cable and/or ferrite core to reduce the noise. In the case of RS422, insert a terminating resistor (100Q) as needed. Make the termi- nation on the PC side receiving line. Short pins 6 and 7 only on the last axis. In the case of RS485, attach a terminating resistor (100Q) to the PC side transmission line. Short pins 6 and 7 only on the last axis. If noise persists in the case of RS422 or RS485, it may be necessary to add pull-up’ pull-down resistors as shown in Fig. 3.5 and 3.6,‘Sigma Il Indexer User's Manual ‘Sigma Il Indexer Power Loss 3.3 Sigma II Indexer Power Loss See the Sigma II Series Servo System User's Manual (3.3.4 Servo Amplifier Power Losses) for information on servo amplifier power losses at rated output. ‘Table 3.14: Sigma II Indexer Specifications Tem Speciation ‘Minimum opening voliage |S 08¥'m ‘Maximum operating voltage | 5.25V max. ‘Maximum operating current |S00mA mux, Maximum power los 26 W max Note: Power to the Sigma II Indexer Application Module (IUSP-NS600) is supplied by the SGDH servo amplifier,‘Sigma Il Indexer User's Manual ‘Sigma Il Indexer Power Loss This page intentionally left blankSigma Il Indexer User's Manual 4 Trial Operation This chapter describes a two-step trial operation, Be sure to com- plete step 1 before proceeding to step 2 4.1 Two-Step Trial Operation 42 4.1.2 Step 1: Trial Operation for Servomotor without Load . 4-3 4.1.3 Step 2: Trial Operation with the Servomotor Connected to the Machine .............005 48 al‘Two-Step Trial Operation Sigma Il Indexer User's Manual Two-Step Trial Operation ing is completed prior to starting trial operation. 41 Make sure that all w Perform the trial operation in the order given below (step 1 and 2) for your safety. See 4.1.1 and 4.1.2 for mote details on the trial operation, Step 1: Trial Operation for Servomotor without Load Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment. ‘Check wiring | be not connect tothe equipment ‘Step 2: Trial Operation with the Equipment and Servomotor Connected Adjust the servomotor according to equipment characteristics Connect the servomotor to the equipment, and perform the trial operation, Adjust speed by sutotuning < > ae SoMaH scoH Servomotor wseoo | sen Indowee | amliior Lo Connect fa the equipment‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation 4.1.1. Step 1: Trial Operation for Servomotor without Load A CAUTION + Do not operate the servomotor while Its connected to the equipment, To prevent accidents, intially perform step 1 where the tial operation is conducted under 10-load conditions (vith all couplings and belts disconnected). In step 1, make sure that the servomotor is wired properly as shown below. Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation. Check main power supply circuit wiring. % Check servomotor wiring. % Check CN1 and CN4 VO signal wiring (if applicable). 8% Check CN6 serial command wiring (if applicable). Make sure the host device and other adjustments are completed as much as possible instep | (prior to connecting the servomotor to equipment). ‘Check wiring. 'Do not connect tothe equipment 43‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation 1. Secure the servomotor. Secure te mounting pate ofthe sorvomotor fo the equipment Do not connect anything tothe sh / Se- {(no-1oad conditions). Secure the servomotor mounting plate to the equipment in order to prevent the servo- motor from moving during operation 2. Check the wiring, Dscomet the CN, (ONS and CNS ornéctrs Disconnect the CN1, CN4, and CN6 connectors and check servomotor wiring in the power supply circuit. The CN1 1/0, CN4 1/0 and CN6 serial command signals are not used, so leave the connectors disconnected. 3. Tum ON power. Normal eo Tum ON servo amplifier power. If the servo amplifier has tumed ON normally, the LED display on the front panel of the servo amplifier will appear as shown above. It may take approximately 3 minutes before any display appears on the front panel. Power is not supplied to the servomotor because the servo is OFF. Ifan alarm display appears on the LED indicator as shown above, the power supply circuit, servomotor wiring, or encoder wiring is incorrect. The STS status LED will‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation also appear in red immediately at power-up if'an alarm occurs. In this ease, tum OFF power and take appropriate action, See 8 Troubleshooting. Note [fan absolute encoder is used, it must be set up. Refer to 5.6.4 Absolute Encoder Setup. 4. Operate with the Panel Operator, Pane cronterf Operate the servomotor using the Panel Operator. Check to see if the servomotor runs normally. Ifusing a servomotor with a holding brake, refer to 5.3.3 Using the Holding Brake. Jog Mode Operation a) Press the MODE/SET key to select Fn002 in the auxiliary function mode. nite Fialcicl2 b) Press the DATA/SHIFT key for a minimum of one second to select the Panel Operator operation mode. Operation is now possible using the panel operator. qo af ©) Press the MODE/SET key to set to the servo ON (with motor power turned ON). CME 4) Press the Up Arrow 5 or Down Arrow © key to operate the motor. The motor Motor Forward Motor Reverse Rotaton Rotaton €) Press the MODE/SET key to set to the servo OFF state (with motor power tured OFF). Alternatively, press the DATA/SHIFT key for a minimum of one second to set to the servo OFF state.‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation 1) Press the DATA/SHIFT key for a minimum of one second, and the display will revert to Fn002 in the auxiliary function mode. (REG) This ends operation under panel operator control. ‘The motor speed for operation under digital operator control can be changed with parameter: Setting Parameter Signal ‘om rao ‘Joa Speed Default Setting: 500 Note: The rotation direction of the servomotor depends on the setting of parameter P1000.0 “Rotation Direction.” The above example shows a ease where Pa000.0 is set to “0” as @ default setting. 5. Connect the signal lines. OP ALM Evo, om ‘andlor CNB connectors Use the following procedure to connect the CN1, CN4, and/or CN6 connectors. a) Turn OFF power b) Connect the CN1, CN4 and/or CN6 connector. ©) Tum ON power again. 6. Check the CN1 input signals (if applicable). Check input signal wiring in Monitor Mode using the panel operator. Select monitor Un005 SGDH Input Signal Monitor. See Sigma If User § Manual 7.1.7 Operation in Monitor Mode for more details on the procedure, 46‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation Tum ON and OFF each signal line to see if the LED monitor bit display on the panel changes as shown below. Input signal LED cepay Note: The servamotor will not operate properly ifthe following signal lines are not wired correctly. Always ‘wire them correctly. Short the signal lines if they will be unused. The input signal selections (parame- tets Pn803 to Pn8OF) can be used to eliminate the need for external short circuiting. Signal | Connector Pin Denniction Symbol No. i “The servomator can rotate in the forward Por ON direction when this signal line is low (OV). The servomotor ean rotate in the reverse bau CNt43 | direction when this signal line is low (OV). The servomatar is tumed ON when this signal iON C40 | tine is tow (OV). Leave the servomotor OFF. aaVIN cniay | Control power supply terminal for sequence signals. 7. Check CN4 input signals (if applicable) Check input signal wiring in Monitor mode using a handheld digital operator via CNT7. Select monitor Un$01 NS600 Input Signal Monitor. See Sigma II User's Man- ual 7.1.7 Operation in Monitor Mode for more details Input signal LED depay POMRES LOG ‘SELONOGN CY /STARESTOP HOME ‘mwooeat Top ight: ON = high tv pt OFF) SEL1W0G0 iseL2woGr ISEL3WOG LeeLee ‘Note: CN1 and CN4 input signals can also be monitored by serial commands, INI and IN2, respectively, via CNG. See 6 Serial Commands for serial communication specifications, command format, and serial command descriptions. at‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation 8. Check CNG Serial Command Port (if applicable) Establish serial communication using either the Indexer software or terminal emula- tor. Refer to 6 Serial Commands for serial communication specifications, command format, and serial command descriptions for more details when using a terminal emulator or similar device 9. Tum ON the servo, Serve ample: Servorator eons t-O w “Turns ON the sew. Tur ON the servo ON signal Display withthe servo ON. Che) Set /S-ON (CN1-40) to OV. If normal, the servomotor will turn ON and the LED indicator on the front panel will display as shown above. If an alarm display appears, take appropriate action as described in 8 Troubleshooting. Note: Serial command, SVON can also be used to turn on the servo, 4.1.2. Step 2: Trial Operation with the Servomotor Connected to the Machine AWWARNING Follow the procedure below for step 2 operation precisely as given, Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury. Before proceeding to step 2, repeat step I (servomotor trial operation without a load) until all concerns including parameters and wiring have fully satisfied expectations. After step 1 has been completed, proceed to step 2 for trial operation with the servo- motor connected to the equipment. The servo amplifier is now adjusted in the fol- lowing ways to meet the specific equipments characteristics. 48‘Sigma Il Indexer User's Manual ‘Two-Step Trial Operation Using autotuning to mateh the servo amplifier to the equipment’s characteristies. Matching the direction of rotation and speed to the equipment’s specifications. Checking the final control form. — hse — He | soon | seem CConnact ta the machine Follow the procedures below to perform the trial operation. 1 2 ‘Make sure power is OFF. Connect the servomotor to the equipment See Sigma II User's Manual 2.1 Servomoiors for more details on connecting the servomotor. Use autotuning to match the servo amplifier to equipment characteristics. See Sigma Il User's Manual 6.3 Autotuning. Operate the servomotor by digital 1/0 or serial mode operation. See 5 Parameter Settings and Functions and 6 Serial Commands for more information, Set and record user settings. Set parameters as required and record all settings for use later in maintenance. ‘Note: The servomotor will not be broken in completely during the trial operation. Therefore, let the system run for a sufficient amount of time after the trial operation has been completed to ensure that itis, properly broken in. 49Sigma Il Indexer User's Manual ‘Two-Step Trial Operation This page intentionally left blank:Sigma Il Indexer User's Manual 5 Parameter Settings and Functions 5.1 Patameter Limits with Sigma Il Indexer............. 5-4 Settings According to Device Characteristics ........ 3-6 Switching Servomotor Rotation Direction 56 Setting the Overtravel Limit Funetion we ST Limiting Torques........ oe Sl Sequence VO Signals ..............2. Using the Servo ON Input Signal Using Servo Alarm and Alarm Code Outputs Using the Holding Brake... .... 2... eceeeee Using the Servo Ready Output Signal Using the Warning Output Signal Using the INPOSITION Output Signal Using the Programmable Output Signals (POUTO ~/POUTS)... 0.0 ccceeeeeereee we S24 5.4 Using the Encoder Signal Output 5-26 Setting up the Reference Units... Electronic Gear Setting Examples Calculating Speed Calculating Acceler 3.6 Absolute Encoders ....0.6. 60 ece veces 5.6.1 Interface Cireuit 5.6.2 Configuring an Absolute Encoder 5.6.3 Handling Batteries . 5.6.4 Absolute Encoder Setup .............2.4 5.6.5 Absolute Encoder Reception Sequence 5.7 Program Table Mode (Mode 0). 1 Program Table Mode Setting 2 Program Operation Inputs Setting ............... 3 Program Step Selection. 4 Program (Index) Table Set-up. 5.7.5 Event Condition Examples 5.7.6 Progtam Operation ..............ce ceceSigma Il Indexer User's Manual 5.7.7 Evaluation of Program Operation Input Conditions 5.7.8 Minimum Input Signal Timing for Program Operation. ...... 5.8 Registration. 8.1 Registration Specifications 5.8.2 Registration Input Setting 8.3 Registration Operation. 5.9 Zone Table Set-up... 5.9.1 Zone Signal Conditions . 3.10 Program Table Examples .........000000eceeeees 5-63 1 Homing / Jog Speed Table Mode (Mode 1) 5.11.1 Homing /Jog Mode Setting ................ 5.11.2 Homing / Jog Speed Table inputs Setting . 3.11.3 Homing Routine Parameters ...0......220.. 5.12 Homing Routine Operation. 5.13 Jog Speed Table Operation 5.13.1 JOG Speed Table Example 5.13.2 Jog Speed Table Selection .......2.2.2.2.. 5.13.3. Jog Speed Table and Homing Operation Input Conditions ...........6.6 cece oe. 573 3.13.4 Minimum Input Signal Timing for Homing and Jog Operation 5-74Sigma Il Indexer User's Manual Before Reading this Chapter This chapter describes the use of each CN1 and CN4 1/0 signal for the SGDH Servo ampli- fier with the Sigma II Indexer. It also describes the procedure for setting the related parame- ters for the intended purposes. ‘The following sections can be used as references for this chapter. + CN1 and CN4 VO signal list: Refer to 3.1.3 1/0 Signal Names and Functions. + CNI and CN4 1/0 signal terminal layout: Refer to 3.1.2 1/0 Signals Conmector (CNT, CN4) Terminal Layout + Parameter list: Refer to Appendix A List of Parameters The CN1 and CN4 connector is used to exchange signals with external circuits, Parameter Configurations Parameters are comprised of the types shown in the following table. Refer to Appendix A List of Parameters. Table 5.1: Parameter Configurations rae Puan No. [Decinioa uncon SlnTon 000 to P03] Sle sis and appleaon nso wah the pe oF nGOn Panmetes Pasi ore sp mode ed when an las cus, Bee Gain ae OY og io i23 | Set mmerialvles sch as speed an postion op xs. Poon Paras [P00 T0708 | Se pon prs a se poshon ence maven ween ae Speed Params [P08 Set peed pare sch athe pee eed ward ier ne coast Toque Panes [Rui 9 P| Set rave pate suchas te frvariever xq ns PaO to Pas0o Sequence Parameters |Pns03 0 Pasis | set ourput conditions for sequence signals ad flexible VO signal configuration, Pus33 10 Pass [Motion Parsmcters [Pa IA to PaS26 | Set motion paramciers sich asthe ero poiat roti Grection, Orbers [Pn600 to Pa601 | Specify te capacity for an extemal regenerative resistor. Sesal Communication /pugog io Pu802 | Set parameters for seial command commonicetio settings, Parameters ‘Auxiliary Function Exe- |Fu000 10 Fa01+ ath Fae nohg | Execute ailiny finctions such as JOG Mode operation Monitor Modes {2000 Wet | Enable speed tovgue, 'O and position monitoring Un800 to UnsSigma Il Indexer User's Manual Parameter Limits with Sigma II Indexer 5.1 Parameter Limits with Sigma II Indexer This section explains the limits for parameters and standard settings with the Sigma II Indexer mounted. Parameter Limits ‘When the Sigma TI Indexer application module is mounted on a SGDH servo amplifier, the following parameters are automatically set. The following parameters will be treated as “reserved for system use,” so do not change them. The SGDH servo amplifier will be set for position control. It is not necessary to set parameters for speed and torque control, so do not ‘change the settings. ‘Table 5.2: List of Parameters for System Use with the JUSP-NS600 Parmeter [Dia [Paranter Name SetValue [Contours Desenpton 1] Central ethos T Postion Control Pn000 [Anis acaress (ADRS) _ | Copies ADRS setng on rotary Sitch of TOSP-NSGOD "EREF Allocation (Fone 0 | timit Tongue Feed-Foe- | 0 Not used P2002 wad) 3 [Fall Closed Loop Usage 0 Notavalable Paoos [1 [Rear 7 Norma fPn0os [0] BE Contal ° Nor used, SGDH controls pao [2 | Clear Operation ° Clears poston err whan servo I off Position Reference Fiter : oo [Fostionk 1 Average Movement Filter m0? Position Control Op 1 [cv REF as speed Forward _|° Novae 0 [imputSiznal Mapping | Taput Signal Mapping ua [LL [SN Mapping = [NSG0O monitors SIO as SON T___ [TRCON Mapping 5 [NSGOD monitors SIT as SELS 3 [POT Mapping = INSGOO monitor SE as OT 0 | NOT Mapping = INSGOO monitor ST as NOT con PLL | ALAERST Mapping [8 'NSGOO monitors SI @s/DEC 2 [PCE Mapping = 1NS600 monitors StS as/SELS 3 [ECL Mapping = NSGOO monitors S165 RGRT 0 [SPD-D Mapping E Not used 1 [SPD-A Mapping = Nov used pasoc ping 2 | SPD-B Mapping = Novused 3 [PeSEL Mapping 5 Notasee 0 | ECLAMP Mapping [8 Not used 1 [NBIBIT Main = Not used Pasop pone 2 [/6-SEL Mapping e Not used 3 [Reserved Mapping = Not used o_[com ° Not used 1 CMP ° Not used Pasoe 2 [eax e Not used [SRY z Fined 500Sigma Il Indexer User's Manual Parameter Limits with Sigma II Indexer Table 5.2: List of Parameters for System Use with the JUSP-NS600 [Parameter [Digh _[Panmeter Name ‘Sal Valhe | Contents Description 2 ar 2 Nat used T Nir 0 Not used Paso 2 BE 2 Fixed at S02 a ARN T Fixed at SOT 0 NEAR 0 Not used T Reserved a Naot wsed Pasio 2 [Nernses 0 Nar used 3 [Norusea 0 Nar used 0 [Sor Reverse - Equivalent to setag a Pasi asi T 502 Reverse - Equivalent to setting in Pus 2 503 Revesse - Equivalent to seting ia Pusls 3__ [Bot Used 0 Nat used ‘These parameters are set automatically the first time the power to the servo amplifier is tumed ON after the ‘Sigma Il Indexer has been mounted. Startup will take approximately 2 seconds when these parameters are being set.Sigma Il Indexer User's Manual Settings According to Device Characteristics 5.2 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and performance of the equipment used. 5.2.1 Switching Servomotor Rotation Direction The servo amplifier has a Reverse Rotation Mode that reverses the direction of ser- vomotor rotation without rewiring. Forward rotation in the standard setting is defined as counterclockwise as viewed from the load With the Reverse Rotation Mode, the direction of servomotor rotation ean be reversed without changing other parameters. Only the direction (+, 2) of shaft motion is reversed Standard Setting Reverse Rotation Mode Exod spit om G8 cone opi om a nie Ewan Forward Reforonco & Ao prs Pao Phase ann a Phaie 780 Base 8) Encode out fom Eater op tem Bo Einecnpiter ee eae verse Referonco oe) FID. eno nason Reverse Ref io f — 5 ane ne 8) eB Misie 8) Setting Reverse Rotation Mode ‘Use the parameter Pn000.0. Parameter Signal Setting P0000, Direction Selection Default Setting: 0 Use the following settings to select the direction of servomotor rotation. Setting Deseri iption| 0 Forward rotation is dafinad as counterclockwise (CCW) rotation as viewed from the load, (Standard setting) 1 Forward rotation is defined as clockwise (CW) rotation as viewed from the load, (Reverse Rotation Mode)‘Sigma Il Indexer User's Manual Settings According to Device Characteristics 5.2.2 Setting the Overtravel Limit Function The overtravel limit funetion forces movable equipment parts to stop if they exceed the allowable range of motion. Using the Hardware Overtravel Function To use the hardware overtravel function, connect the overtravel limit switeh input signal terminals shown below to the correct pins of the servo amplifier CN1 connec tor. Fonwvasd Rua Probibiied (Forward Overtavel) Reverse Run Prohibited (Reverse Overuavel) Input 0 P-OT CNL-82 Input © N-OT CNIS Connect limit switches as shown below to prevent damage to the devices during lin- ear motion. Revere rotation end _Forardtaton ans HI ‘sexvamtor unt Limit wien Suen Servo Amoliier Figure 5.1 Hardware Overtravels Drive status with an overtravel input signal (P-OT, N-OT) ON or OFF is shown in the following table. These are the default settings. Signal | State Deseciption por ‘ONS Input signal closed | Forward rotation allowed, (normal operation status), ‘OFF-Input signal open Forward run prohibited (reverse ration allowed, wor ‘ON= Input signal closed __| Reverse solatoa allowed, (aoumal operation status). ‘OFF=Input signal open ‘Reverse run prohibited (forward rotation allowed),Sigma Il Indexer User's Manual Settings According to Device Characteristics Set the following parameters to specify whether or not the input signals are used for overtravels. The factory setting is that the input signals are used for overtravels. Parameter | Signal | PinNo._| Setting Dein posoc | por | canaz_ | !~ Input Signal Closed - OT Stans, Forward Run Prohibited (= Input Signal Open: 7 Status, Forward Run Prolibied Always OT Status, Forward Run Prohibited Forward Run Always Allowed pasop | wor | cxras | 17 Input Signal Closed ~ OT stata, Reverse Run Prohibited (= Input Signal Open = OT Status, Reverse Rua Prohibited Always OT Status, Reverse Run Prohibited d= Reverse Run Always Allowed senvorncK oytse 51 | te sroncreutting span nina fou canna Gad ean BO SRST esa cua er, tv Figure 5.2 Hardware Overtravel Short-Circulting Using the Software Position Limits Set the following parameters to specify the software position limits. Parmeter | Name Tai Satins = Linear - ovary (Shortest Path) Paar Movs Meta Rotary (Forward Rotation) a 3 = Rotary (Reverse Rotation) PosllonReference | Reference pasip | PositonRefetence | Ref 99999999 -+-99959909 99999999 ~ | Position Reference | Reference : posic | Posilon Reference | Ree 99999999 ~-+ 99999999 99099999 Moving Method Settings 1 An error will occur if commanded position is beyond forward or reverse position ref- erence limits. Motor will not move. If motor reaches the sofiware limits while jogging, motor will decelerate to a stop at the deceleration rate set in P1820. Disable the soft- ‘ware limits by setting both the forward and reverse position reference limits to 0. The software limits are ignored until homing is complete when a homing routine is specified for an incremental encoder. Refer to 5.11.3 Homing Routine Parameters for more information regarding homing. 2. Pn81A=1=Rotary (Shortest Path): Used for rotary motion. Absolute move commands rotate in the direction of the shortest path of travel. 58Sigma Il Indexer User's Manual Settings According to Device Characteristics Set The forward and reverse position reference limits are used to set the roll-over position When rotating in the forward direction, the position reference rolls over to the reverse position limit after reaching the forward position limit. When rotating in the reverse direction, the position reference rolls over to the forward position limit after reaching the reverse position limit. Pn8ID is the home position, Alarm, E16A, will occur if Pa81D is outside the posi- tion reference limits (Pn81D>|Pn81B, Pn81C|) when pn81A=1, 2, or 3 Pn8]A=2=Rotary (Forward): Used for rotary motion, Absolute move commands rotate in the forward direction only. The forward and reverse position reference limits are used to set the roll-over position (same as Pn81A=1). Pn81A=3=Rotary (Reverse): Used for rotary motion. Absolute move commands rotate in the reverse direction only. The forward and reverse position reference limits are used to set the roll-over position (same as Pn81A=1). Servomotor Stop Mode for Hardware Overtravels (P-OT and N-OT) the following parameters to specify the Servomotor Stop Mode when P-OT and N-OT input signals are used. Specify the Servomotor Stop Mode when either of the following signals are input during servomiotor operation. Forward run prohibited input (P-OT,CN1-42) Reverse run prohibited input (N-OT,CN1-43)Sigma Il Indexer User's Manual Settings According to Device Characteristics [Overtraver_ Stop Mode 2 oid 08, fo ttimerlsese 1 1 Same] Servis in base block aaa i afier stopping [comme] oa Sa nevis: TEE STE] Seer tongs ees a Saar] reyes Pasi | Ovenmnel Sop Node Defiit Song 0 Fanmeee| Sie Seiing [Depo >| Sp the servomotor th sme way ar ning tesa OFF (sco ingtoPa00.0) Servo isin bascbock ater sopping : ‘Deceleaes the sersomaior immediate fa stop ad pts the Se pisia | overtael sop Mode ior inser loek Deceleaes the servonniar 10 aiop ae ee docdection ad 2 Jet tbe bervonnto avo lou Decelerton sting Pa820 deletion parameter Paneer a Seng (1000 FE alma) Def Sp ose aim San aan can PoricNte) [oo 2} recetrae a son RSPR) Servo OFF Stop Mode Selection The SGDH servo amplifier tums OFF under the following conditions: * Servo ON input signal (/S-ON, CN1-40) is tuned OFF. + Servo alarm occurs. + Power is turned OFF. Specify the Stop Mode if any of these occur during operation, Parameter | Signal Setting ‘Servo OFF or 2001.0 Sit top nlode Default Setting: 0Sigma Il Indexer User's Manual Settings According to Device Characteristics sane Stop ode Alor stopping ry The dynamic brake sops he sewomator doctialy by shorting tne motor winangs L} fesansana] Sn dvertng tne enary Tos resssor Fase | Se Sg Dea Daa sth yams Bake TO Hope | vac ad matin dani ake ae ster sop Uses th yanie Bake To Hap pore [Smo | |, | Rounaadeueisvanmictate sane | 0 rm Stop after stopping to go into coast status, ost te sero pT = ino taed OFF ad ape ‘pes toe ‘Note: Ifthe Servomotor is stopped or rotating at extremely Jow speed when the items above are set at 0 (éynamic brake status after stopping with the dynamic brake), then braking power is not generated and the servomotor will stop the same as in coast status, 5.2.3 Limiting Torques The SGDH servo amplifier limits the maximum output torque to protect the equip- ment or workplace. Internal Torque Limits Maximum torque is limited to the values set in the following parameters for forward and reverse rotation. Parameter Signal Setting (%) Default Paao2 Forward Torque Limit | Ranga: Ot 800 200 Pao Reverse Torque Limit | Range: 010 800, 200 The torque limits are specified as a percentage of the rated torque Note: 1) If torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the servomotor is the limit. 2) External Torque Limits (/P-CL, /N-CL) are not available on the SGDH with the Sigma Il Indexer.‘Sigma Ul Indexer User's Manual Sequence YO Signals 5.3 Sequence I/O Signals Sequence I/O signals are used to control servo amplifier and indexer operation. Con- nect these signal terminals as required. Input Signal Connections (CN1) Connect the sequence input signals as shown below. Servo Ampiiior WO power et Supply 4240 Photocoupler Hostcontrler Figure 5.3 Input Signal Connections (CN1)Sigma Il ndexer User's Manual Sequence YO Signals Input Signal Connections (CN4) Connect the sequence input signals as shown below. JUSP-NS600 Indexer VO power supply Figure 5.4 Input Signal Connections (CN4) ‘Note: Provide a separate extemal UO power supply: neither the servo amplifier or Sigma TI Indexer have an intemal 24V power supply. Table 5.3: Input Signal Specifications (CN1, CN4) Trem | Specification CNT: SON, SEIS POF NOT, DEC, SELS, RORT Inputs | CN4: MODEO 1, /START-STOP/HOME, POMRES: JOGP, /SELO:JOGN, SEL1:/10G0, ’SEL2:J0G1, /SEL3/I0G2, /SELAvJOG3 Tapa Fomnat | Sinking or Sourcing ‘Holation | Optical Voliage [11 to 25 VDC ewe 5 ‘Curreat Rating (ON) (OFF Current | 0.1 mA maxiamam (OFF Vollage = 1.0 V) ‘SmA maxinmm‘Sigma Ul Indexer User's Manual Sequence YO Signals Output Signal Connections (CN1) Connect the sequence output signals as shown in the following figure. Servo ampitior TO pour supply Phoiocoupa output Jove por output node Maximum operat Voltage: 80a Maximum output eur rent” Some, ee i. oe we Open-collector output levels per output node, Maximum operating votiage: 80Vog, Mastnum output eur= ten. 2 Figure 5.5 Output Signal Connections (CN1) Output Signal Connections (CN4) Connect the sequence output signals as shown in the following figure. JUSP.NS600 Indexer Tope oy Photocoupler output levels per output node: Maximum operaing | ——~ vallago" 80 Maximum output ure SOmAgg Figure 5.6 Output Signal Connections (CN4) Note: Provide a separate external /O power supply; ucither the servo amplifier or the Sigma IL Indexer have an internal 24V power supply.‘Sigma Ul Indexer User's Manual Sequence VO Signals 5.3.1 Using the Servo ON Input Signal The basie use and wiring procedure for the Servo ON (/S-ON) input signal (sequence input signal) is described below. Use this signal to forcibly turn OFF the servomiotor from the host controller. Toeovernee Serve ampliier 20 Host controler on (© Input ISON CNI-A0 Servo ON This signal is used to tum the servomotor ON and OFF. 40 gs stams Result ‘Tunis ON the servomotor operates according on Input Closed to signal input. This isthe default stat, ‘Sezveniotor cauaot opera OFF Inpot Open Do not tum OFF the servomotor while its operat excep in an emergency ACAUTION IN US-ON) signal to start or stop the motor. Doing so will shorten the life of the servo amplifier. Always use a stop input or command to start or stop the servomotor. Do not use the Servo O The following parameter is used to set the state of the /S-ON signal. Parameter Signal] PinNo, | Seting Defrit ~ Input Signal Open ° Servo ON Always Servo ON Alvvays Servo OFF PusoB odSigma If Indexer User's Manual Sequence VO Signals 5.3.2. Using Servo Alarm and Alarm Code Outputs The basie procedure for connecting alarm output signals is described below. Servo amplifier a a [ Protocouplse curt evels | Photocaupler cus] aun per outpt nde Re yt Pstoigamopenee te | ——-| AGE Pere | + Masinnam output cures SOmtpe i, wot (Oper-collectoroupot les= as i ol pe on se | oluge 30g TL vol nos i + Manon oat cu eae tmp «ql Yer dev ost convorer A suitable external /O power supply must be provided by the user separately because there is no internal 24V power supply in the servo amplifier. The use of the photocoupler output signals is described below. ‘Ouiput © ALM=CNISI__| Save Alarm Output Quiput @ ALM: CNIS | Signal Ground for Serve Alarm Ouipot These alarms are output when a servo amplifier alarm is detected, servo ampiter Seiten [> ALM output Tums power OFF Forman extemal circuit so this alarm output (ALM) turns the servo amplifier OFF. Save] Sams Real ‘ON _| Circuit between CNI-S1 and 33 5 closed, and CNI-S1 sat low lovel,_| Nonmal ate ‘OFF | Civcuit between CNI-SI and 32 is open. and CNEL sat igh level | Alan state Alarm codes ALO], ALO? and ALO3 are output to indicate each alarm type The uses of open-collector output signals ALO1, ALO? and ALOS is described below. ‘Ouiput © ALOICNI-37 | Alarm Code Output ‘Ouiput_ 0 ALOZCNI-38 | Alanm Code Output ‘Ouiput @ ALOSCNI-39 | Alarm Code Oupur ‘Ouiput 0 SGN ‘Signal Grownd for Alam Code OutputSigma If Indexer User's Manual Sequence VO Signals Note: These signals output alarm codes to indicate the type of alarm detected by the servo amplifier. Use these signals to display alarm codes at the host controller. See 8.2.1 8.3.1 Alarm Status Display Table for more on the relationship between alarm display and alarm code output, Form an external circuit so the servo amplifier turns OFF when an alarm oceurs, Alarms are reset automatically when the control power supply is turned OFF. Alarms can also be reset using a digital operator via CN7, by serial command ARES via CN6, or by the built-in panel display (SGDH alarms only). 1, Encoder alarms cannot always be reset by digital operator or by serial command. See 8.2.1 & 8.4.1 Alarm Status Display Table for list of resettable alarms. In that case, turn the control power supply OFF to reset the alarm. ‘When an alarm occurs, always eliminate the cause before resetting the alarm, 5.3.3. Using the Holding Brake The holding brake is used when a servodrive coutrols a vertical axis, In other words, a servomotor with brake prevents the movable part from shifting due to the force of gravity when system power goes OFF. Servomotor Holding brake siting due i gravy when | Prev tne mvs pat fom Sue ee ee Figure 5.7 Holding Brake Note: ‘The brake built ito the servomotor SGM@H with brakes is a de-energizaton brake, which is used only to hold and cannot be used for braking, Use the holding brake only to hold a stopped moter. Brake torque is at least 120% of the rated motor torque. sy‘Sigma Ul Indexer User's Manual Sequence VO Signals Wiring Example Use the servo amplifier output signal /BK and the brake power supply to form a brake ON/OFF circuit. The following diagram shows a standard wiring example. S224 | LC Ble or - ie ef Figue 88 Wing Example This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake. Sie Sams Result efit state) ON: ‘Gurput Closed or ow level | Releases the brake. OFF ‘Ouiput Open or high level | Applies the brake The following parameter is used to set the state of /BK. output. Parameter | Sianal [Pia No, Satin Default 7 Gaz ze | O= Output Closed = Releases the bake me BE Louien2s Output Open = Releases the brake ° Related Parameters Parameter Desesipion Pass Time Delay ftom Brake Reference untl Servo OFF Pas07 ‘Speed Level for Brake Reference Output during Motor Operation P2508 ‘Tuning for Brake Reference Quiput during Motor OperationSigma If Indexer User's Manual Sequence VO Signals Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied, set the fol- lowing parameter to adjust brake ON timing Parameter | Signal Setting (om) Data paseo Bake Reisice Seno OFF Daly | serine ange: 0150 | 0 This parameter is used to set the output time from the brake control signal /BK until the servo OFF operation (servomotor output stop) when a servomotor with a brake is used SOR PEE | swwon hor woo Sew ONIOFF ] SO | Swot OFF aperaton T4 (Servomotoe he NORE status) — With the standard setting, the servo is turned OFF when the /BK signal (brake opera- tion) is active. The equipment may move slightly due to gravity depending on equip- ‘ment configuration and brake characteristics. If this happens, use this parameter to delay servo OFF timing, This setting sets the brake ON timing when the servomotor is stopped. Use PnS07 and 508 for brake ON timing during operation. Note: The servemotor will tum OFF immediately if an alarm occurs. The equipment may move due to grav- ity in the time it takes for the brake to operate Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops. Parameter Signal Seving Default asov | Balke Reference Oupur speed] soning mange: Oto 10000%pm | 100 PaS0s ‘Timing for Brake Reference Output | serine Range: Oto 100x 10ms 50 during Motor Operation‘Sigma Ul Indexer User's Manual Sequence YO Signals Figure 5.3.4 Set the brake timing used when the servo is turned OFF by input signal /S-ON (CN1- 40) or when an alarm occurs during motor operation, (SON input PEG |e core Motor speed toro om . ‘ Prso7 aK output 5.9 Holding Brake Setting Brake ON timing when the servomotor stops must be adjusted properly because ser- vomotor brakes are designed as holding brakes. Adjust the parameter settings while observing equipment operation. /BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions: + Motor speed drops below the setting at Pa507 after servo OFF. + The time set at PnSO8 has elapsed since servo OFF. The actual speed used will be the maximum speed even if Pn507 is set higher than the maximum speed, Using the Servo Ready Output Signal The basic use and wiring procedures for the Servo Ready (/S-RDY) output signal (photocoupler output signal) are described below. Servo Ready means there are no servo alarms and the main and control circuit power supply is tumed ON. rent: Somme ;‘Sigma Ul Indexer User's Manual Sequence VO Signals This signal indicates that the servo amplifier has completed all preparations and is ready to receive the Servo ON signal. SRDY | status Result (default state) State ON ‘Gurpar Closed oF low level Serwomotor Is ready. OFF ‘Quip Open or high level Servomotor Is not ready, The following parameter is used to set the state of the /S-RDY output. Panmete | Sumal | PuNo Satine Default ‘Ouiput Closed = Servo ready ° 1L= Output Open Servo ready pasis | /SRDY 29.30 5.3.5 Using the Warning Output Signal ‘The basic use and wiring procedure for the warning (/WARN) output signal (photo- coupler output signal) are given below The signal consists of the following output signals IWARN signals: overload, regenerative overload, low battery, and indexer error Sorve ampli nt eee — ‘Output © WARN CNI-25,26 | Waning Output Signal This output signal indicates an overload, regenerative overload warning, low battery, or indexer error. DARN | siarus Result (default state) State vpn Close or ow level TEor waning, (overioad, regenerative over ox Output Close or ow veh load, Jow battery, and indexer eo) Om ‘Ouipat Open or high level ‘Nomual operation. No waa The following parameter is used to set the state of WARN output. Parameter [Signal PinNo, Seng Default ‘= Ouipit Closed = Eee Waning pasis | warn | cx1-25.26 °Sigma If Indexer User's Manual Sequence VO Signals The following parameter is used to output warning details (overload, regenerative overload, and low battery only) with an alarm code. Paameter | Signal Setting Pa0o1s ALO2 aud ALOS, “Warming Code Outpt Selection | Defwnlt Setting: 0 PaOOLS ee Reault ° ‘Ourpurs alam codes alone for alarm codes ALOL ‘Ouipuis both alaum and waining codes for alam codes ALOL, ALO? and ALO3 and outputs an alan code when au alam ocews, The following warning codes are output in 3 bits. ‘Warning tndi- | Warning Code Output ‘Waring Description cation ‘ALOL ‘ALOD ‘ALOs aol owt | thghtevey | tughievey | Ome Ag Gaak ioe) | dowleh | tranleey | Retenerive oertons ae owtreh | owtew | ighevey _| Ev BsteSigma Il ndexer User's Manual Sequence YO Signals 5.3.6 Using the /INPOSITION Output Signal The basic use and wiring procedure for the positioning completed (/INPOSITION) output signal (photocoupler output signal) is described below. The signal is output to indicate that servomotor operation is completed. ey Sigma ILindoxor Photocoupleroutput levels er output node: Maximum operating votage’ 20Voc. Maximum output current: BOmApe (Output o ANPOSITION CNi-19.20 | Positioning Completed Output Signal This signal indicates that servomotor movement has been completed. The /INPOSI- TION output signal turns ON when the position error is within the inposition win- dow width, Pn$21, and when the position distribution ends (DEN). The Indexer continuously outputs position commands while positioning, similar to a pulse train. This is known as a “distribution”. Therefore, the /INPOSITION output signal does not tum on while the distribution continues Reteropoe “yy = ANPOSITION jon TNPOSITION ae satus ‘Result (defwule state) ox ‘Circuit between CNS-19 and2018 | Positioning Is completed. (Position cor is closed below the setting) ‘Cucuit between CN410 and 20is | Positioning is wot completed. (Position OF open. ‘error is above the setting.) The following parameter is used to set the number of error pulses. cam i Setting fault nan | See (cefereace units) Default Pasa TNPOSTHION Width ‘Setting Range: 110 99999 T Set the number of error pulses in reference units. The /INPOSITION width setting has no effect on final positioning accuracy.‘Sigma Ul Indexer User's Manual Sequence YO Signals 5.3.7 Using the Programmable Output Signals (/POUTO ~ POUT) The basic use and wiring procedures for the programmable output signals (/POUTO ~ /POUTA) are described below. The outputs can be used in either program table mode or serial mode operation. Refer to 5.7.4 Program Table Set-Up and 6.5 Serial Command Functions for more information, ana pe ye retin, Photocoupler outputlevels rom | porcupine =r "Rta pert per wattage: S0Vp0 i pours. Output © POUTO= CNE2L ‘Ouiput o POUTO-CN4 Programmable Output 0 Output o POUTI= CN! 23 Programmable Output 1 Output o POUTI- CN: 24 Output © POUT CNLIS Programmable Output 2 ‘Output © POUT CN426 Output © POUTS~CN427 Programmable Output 3 Ouiput o POUTS-CN428 Output 0 POUT CN429 Programmable Output 4 Ouiput o OUTS CN430 POUTO- POUTY State | Staie Result (default state) oN ‘Quipar Closed or Low Level ‘Ouipur Active OFF (Ouiput Closed or High Level ‘Ourput Now ActiveSigma If Indexer User's Manual Sequence VO Signals The following parameters are used to set the state of the /POUTO ~ /POUTS outputs. Parameter Piao, Satine Default Pasty Ca, Pasi CRED, Pasi N85, 25 ° Pus CNET Pasis | OUTS | cNS29, 30‘Sigma IL Indexer User's Manual Using the Encoder Signal Output 5.4 Using the Encoder Signal Output Encoder output signals divided inside the servo amplifier can be output externally. These signals can be used to monitor the encoder feedback for speed and position data. Sen ampiin Poption Couer (Servoncton nea Encoser Po The output circuit is for line-driver output. Connect each signal line according to the following circuit diagram. ‘Servo amor Psion Counter Line recover PRS p-tpezt tt ty] leap of me se | 4 rcates ists par wes VO Signals UO signals are described below. Guipat © PAOCNIN | Enmoder Ouip Pass A ‘Ouiput 0 BAO CNM | Euvoder OupurPuase A ‘Ouipst @ PROGNI-SS | Encoder Onipur Phase B Encoder Output Phase B ‘OuipuiTo PCOENI-I9 _ | Encoder Ouiput Phase C ‘OuipuiTo (PCO CNL-20 _ | Encoder Output Phase (©Sigma Il Indexer User's Manual Using the Encoder Signal Output Divided encoder signals are output The dividing ratio setting is not related to the gear ratio setting (Pn202 and 208) for setting reference units Note: Dividing means converting an input pulse train from the encoder mounted on the servomotor accord- ing to the preset pulse density and outputting the converted pulse. The units are pulses per revolution (wp) Output Phase Form reat He? soe ae owes LE LPL meses a i — aT LP PLL Phase C Prasoc | — a (Ouipuide SOCNEL Signal ground SG: Connect to OV on the position counter. Pulse Divider Setting Set the pulse dividing ratio in the following parameter Parameter Signal rn praot__| PG DWider Bette Sening dea Set the number of pulses for PG output signals (PAO, ‘PAO, PBO, /PBO). Output terminals: pao (cn-29) ‘PO (Nt 33} coy pe ee (cht a) Freavencr]| pngsoa 9) son Penase 8, sei Pulses from the servomotor encoder (PG) are divided by the preset number before being output The number of output pulses per revolution is set at this parameter.‘Sigma Il Indexer User's Manual Using the Encoder Signal Output The setting range varies with the encoder used. eng reset va: 18 SB poRARAAAAAARTTTN ROJRAAAAARANAARANRG TS ‘revoton Sewvomotor Model | pocaujuqq | Number af Enooder and Encoder aluton | puces Per Revoluion | Setting Range Specifications (pirev) x 7% 8 Tews Bi 16 Bt ® sea 161016304 Note: 1. Tum OFF power once and tum ON agaia after changing the parameter. 2. A 13-bit encoder will sun at 2048p/rev even ifthe setting at Pu201 is set higher than 2049.Sigma Il ndexer User's Manual Setting up the Reference Units 5.5 Setting up the Reference Units The Sigma II Indexer stores all positioning data in units of [Reference Units] Reference units allow the user to program in terms of load (or workpiece) travel dis- tance instead of servomotor travel distance. ‘When Reference Units When Reference Units are Not Used are Used To move a workpiece 0.38in, (10mm): To move a workpiece 0.39in. (10mm): 1 revolution = 6mm. Therefore, units must be defined in the servo 10 6 = 1.6667 revolutions. Equipment conditions and reference (2048 v 4) pulses = 1 revolution. So, amplifier beforehand. (1.6667 v 2048 v 4) = 13653 pulses Reference unit is ‘Im. Therefore, 13563 pulses are input as the reference. tomm im 110000 reference units Setting the Reference Units Set the reference units by calculating the electronic gear ratio (B/A) using the fol- lowing procedure, and set the values in parameters Pn202 and 203. 1. Check equipment specifications related to the reference units: + Speed Reduction Ratio, Ny:N, Nj = rotation of the load shaft j= rotation of the motor + Ball screw pitch + Pulley diameter 2. Check the number of encoder pulses for the SGM@H servomotor. Seramotor MOEA ee ‘Niniber of Encoder Pulses Pes Revo Encoder Specifieations Intion (prev) (“pre-quadranure”) A 13-bit 2088 B Incremental encoder 16-bit, 16384 € 17-bit 32768 H 16-bit 16384 . Absolute encoder a = Note: The number of bits representing the resolution of the applicable encoder is not the same as the num- ber of encoder signal pulses (A and B phase) output from the servo amplifierSigma Il ndexer User's Manual Setting up the Reference Units 3. Determine the reference unit used. A reference unit is the minimum position data unit (positioning resolution) used to move a load. Tomove a tabi in 0.00%mm units Reference unt 000mm Determine he reference unt according to fgupment specifications and postioning accuracy + Reference unit can be 0.1in., or 0.01in., or 0.01mm, or 0.001mm, etc. + When the reference unit is 1jum Ifa reference of 50000 units is input, the load moves SOmm (1.97in.) (50000 v 0.002mm = 50mm). 4. Determine the load travel distance per load shaft revolution in reference units. Travel distance per load shaft revolution ‘Travel distance per load shaft revolution [reference units] = in, mim. degrees. ete ference Unit + When the ball screw pitch is 0.20in, (Smm) and the reference unit is 0.00004in. (0.001mm), 0.20 in 5000 (reference units) 0.00004 in. Ball Screw Dise Table Belt and Pulley Loas shan = S seatsnge ae “ Loadshat —™ ED Paley 1 — ‘ revotion = » een 1 revoton = pO 5. Electronic gear ratio is given as: "4 If the gear ratio of the motor and the load shaft is given as: 3; where Nj is the rotation of the motor and N, is the rotation of the load shaft,‘Sigma Il Indexer User's Manual Setting up the Reference Units abs Electronic gear tatio ¥ ‘Number of encoder pulses U4 Ny ‘Travel distance per load shaft revolution Geference wait) ° Note: Make sure the electronic gear ratio satisfies the following condition: Be 52100 The servo amplifier will not work properly if the electronic gear ratio exceeds this range. In that case, modify either the load configuration or the reference unit. 5 ¥ 0.01 6 Electreconie gear ratio # 6. Set the parameters. Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 65535, then set A and B in the respective parameters: ( A} -—~ | Pn202 | Electronic Gear Ratio (Numerator) Al A Pn203__| Electronic Gear Ratio (Denominator) Parameter Signel Setting Default Pr202 Electronic Gear Ratio (Numerator) _| Range: 1 10 65535 4 Pn203 Electronic Gear Ratio (Denominator) | Range: 1 to 65635 =. Pi Electronic gear ratio= # Pn203 + B= [(Number of encoder pulses) x 4] x [motor speed] + A= [Travel distance per load shaft revolution (reference units)] v [load shaft revolution speed] 5.5.1 Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms.‘Sigma Il Indexer User's Manual Setting up the Reference Units Ball Screws eteranco unit: 0.0000 n Travel distance per load shaft revolution = 0.24in, Load grat 6:00001ia. ssigeenera Baler pn c24n Be 2048-0401 _ Pn202 Electronic gear ratio coat Panos Preset | Pra02 | 8192 Values [pn203 | 24000, Circular Tables Feteence nt "2 ‘Travel distance per load shaft revolution = 60" _ — 3600 ref units Electronic gear ratio Rods dvs _ Raat tron io= R= ee 36001 ~ Pn203 Preast [Paat2 _| 24576 Values ['Pn203 | 3600 Belts and Pulleys Reteronce unt: 0.00100. Travel distance per load shaft revolution =—314¥4.i.__— 49 566.37 ref. units tad shan 0.0010in. _ ge ela p. 163840403 Pn202 ar Electronic gear ratio = $2: = S384v403_ Pn20. 1256637 ~ Pn203 ‘6-1 absotute encoder = 196608 _ _20.480 1256.37 Preset. [Pnzo2z__| 20480 Values ['Pn203 | 1,908 5.5.2 Setting Speed [x1000 Reference Units / min.] The Sigma II Indexer stores all speed data in units of [X1000 Reference Units/min.] + Determine load (workpiece) speed in terms of 1,000 reference units per minute. Example: Reference Unit = 0.01 mm Desired speed is 15 m/min.: 15,000 mm/min. y 5 f a 1,500,000 reference units / min. Speed = 500 [x 1000 reference units / min.]‘Sigma Il Indexer User's Manual Setting up the Reference Units The following parameter is used to set the default positioning and registration speed if no speed is specified during program execution while in serial mode. Parameter Sema ‘Seting [1000 eT valistminy | _Detaule PuSiE | Positioning’ Registration Speed 1-59999999, 1000 5.5.3 Setting the Acceleration / Deceleration Rate [x 1000 Reference Units/ minims] The Sigma II Indexer stores the acceleration and deceleration data in units of [X1000 Refer- ence Units/min/ms). + Determine load (workpiece) acceleration or deceleration in terms of 1,000 reference units per minute per millisecond. Example Reference unit = 0.01 mm Desired acceleration is 0.1 second from 0 to 15 m/min: 15,000 mm/min = 1, 500,000 reference units/min. 0.01 mm 1,500,000 ref. units/min 0.1 see - =—=—=eexe. ——— = 15,000 reference units/min/ms O.1 sec 100 msec Acceleration = 15 [1000 reference units/min/ms] The following parameters are used to set the acceleration and deceleration rate. Sia ‘Seung Dealt “Receleration| T-9SO00909 R100 Fel To00 Deccleration T-99999909 [x 1000 ref Too Position Reference Pa2os Movement (0-6400 [0.01 msec] ° ma Averaging (oot mee] TimeSigma Il ndexer User's Manual Setting up the Reference Units eed Reference (before smoothin: Speed Spe c 9) Retarsncay Speed Reference (after smoothing) uX hot bot Time 2et000 ef unt) Deceleration = —S- = 1x1000 ref. unit/min] oo nsec Note: Smoothing Filter (Average Movement Filter) set by Pn208 = Movement Averaging Tim {0.01msec], Acceleration = = 010 6400Sigma Il Indexer User's Manual Absolute Encoders 5.6 Absolute Encoders Ifa motor with an absolute encoder is used, the absolute position is detected in the Sigma IL Indexer. Consequently, automatic operation can be performed without a homing operation immediately after the power is turned ON. Motor SGM@®H-9OO1O-- With 16-bit absolute encoder SGMOH-O® t = a ie = Absolute encoder With 17-bit absolute encoder 5.6.1 Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor. Seno ampier ‘Shielded wre (hel) 4: nates tapos Figure 5.10 Absolute Encoder Interface Circuit 5.6.2 Configuring an Absolute Encoder Select the absolute encoder’s application with the following parameter. Parameter Signal Setting Default Puooaa ‘Absolute Encoder Application ‘Seng Rage: Ord o Either “0” or “1” in the following table nyust be set in order to enable the absolute encoder. Pa0022 Seting Result o Tees the absolute encoder as an absolute encoder