Sigma Win MD

AC Servo Drives Engineering Tool
SigmaWin+
ONLINE MANUAL
-V-MD Component
MANUAL NO. SIEP S800001 04A

Copyright 2013 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly 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.
Safety-Related Symbols
The following symbols are used in this manual according to the safety-related content.
Be sure to observe text annotated with these safety symbols as their content is important.
Indicates precautions that, if not heeded, could possibly result in loss of

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

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

depending on the situation.
Manual Outline
This manual explains the following areas for SigmaWin+ -V-MD Component users.
Outline of SigmaWin+ -V-MD Component Functions and Operation
SigmaWin+ -V-MD Component Installation/Removal
Outline of SigmaWin+ -V-MD component functions and operation when connecting
through a Machine Controller MP2000 Series (hereinafter referred to as Controller).
How a SigmaWin+ -V-MD component connected through a Controller differs from a
conventionally connected SigmaWin+ -V-MD component.
Related Manuals
Refer to the following manuals as required for your application.
Manual Number Manual Name
SIEP S800001 02 -V-MD Series Users Manual
Model: A02
Rotational Motor/MECHATROLINK-III Communications
Reference
SIEP S800001 03 -V-MD Series Users Manual
MECHATROLINK-III Standard Servo Profile Commands
TOBP C710829 10 AC SERVOPACK -V-MD Series
SAFETY PRECAUTIONS
Model: A02
TOBP C230200 00 AC SERVOMOTOR
SAFETY PRECAUTIONS
iii
How to Use this Manual
Meaning of Basic Terms
This manual applies the following meanings to the terms below unless otherwise specified.
Servomotor: SGMMV servomotors
SERVOPACK: -V-MD series SERVOPACKs
Servo Drive: A servomotor integrated with a SERVOPACK
Servo System: A complete servo control system in which a servo drive is
integrated with an upper level controller and peripheral
devices.
Notes on the PC Communication Function

MECHATROLINK-III-compatible SERVOPACK
The SERVOPACK for MECHATROLINK-III can carry out communications
with SigmaWin+ (Ethernet) and the host controller (MECHATROLINK-III).
If the SERVOPACK is used to communicate with two or three of these devices at
the same time, note the following precautions.
When parameters are written in from two or three devices, the latest parameter
settings that was written is valid.
When an operation is conducted in utility function mode (Fn) from Sig-
maWin+ or the host controller, the operation with other communications can-
not be carried out.
Regarding Software
Usage Notes
Use this software on one specified PC. Request a separate license to use this software on
another computer.
Copying of this software for purposes other than use as backup copies is strictly prohib-
ited.
Carefully store the CD-ROM (original medium) upon which this software is written.
Reverse compiling or assembly of this software is strictly prohibited.
Use of this software in whole or in part by a third party through transfer, exchange, resale,
and so forth, is strictly prohibited without the prior agreement of Yaskawa Electric Corpo-
ration.
Copyright and all other rights for this software are reserved by Yaskawa Electric Corpora-
tion.
iv
Operating Systems and Registered Trademarks
Windows XP, Windows Vista, and Windows 7 are trademarks or registered trademarks of
Microsoft Corporation in the USA and other countries.
MECHATROLINK is a trademark of the MECHATROLINK Members Association.
Adobe Reader is a trademark or a registered trademark of Adobe Systems Incorporated.
Pentium is a trademark or a registered trademark of Intel Corporation.
Ethernet is a trademark of Xerox Corporation.
InstallShield is a registered trademark of InstallShield Software Corporation.
Other product and company names used in this manual are the trademarks or registered
trademarks of their respective company. "TM" and the mark do not appear with product
or company names in this manual.
Safety Notes
The following are important cautionary items that must be observed in the wiring and use
of this product.
Notes on Wiring
CAUTION
Insertion and removal of communication cables should be done with the
power off in both the SERVOPACK and PC.
Insertion and removal of cables with the power on may result in damage to both or
either of the units.
Never change cables while SigmaWin+ -V-MD component is running.
Always close SigmaWin+ -V-MD component before changing connections.
The operation of both or either the PC or SERVOPACK cannot be assured if this is
not observed.
v
Usage Notes
WARNING
Be careful that the alarm in Table 1 may occur when the communications
between the host controller and the SERVOPACK in Table 1 is performed
while the SigmaWin+ or the Digital Operator is being used.
When the alarm occurs, the process under execution may be canceled and the system
may stop.
Execute Write (Flash) while a mechanical system is stopped and not running.
If you execute the Write (Flash) function while the system is running, the process
under execution may be canceled and the system may stop.
Table 1 Possible Alarms with SGDV SERVOPACKs & MECHATROLINK-III Communications Reference
Digital
SigmaWin+:
Operator
Ethernet Connection
SVON COIN TGON REF CHARGE
VCMP
SERVOPACK
Tool
Model YASKAWA
ALARM SCROLL MODE/SET

RESET
JOG
DATA
SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR JUSP-OP05A
SGDV-MDA02E8M3 A.95A A.95A

(For MECHATROLINK-III
Communications) The SERVOPACK can be used with The SERVOPACK can be used with
no problem when the following no problem when the following
functions are being executed. functions are being executed.
Monitor Editing Parameters (except for
Alarm Display (except for alarm parameter initialization)
reset and alarm history clear) Monitor
Alarm Display (except for alarm
reset and alarm history clear)
Tracing
Note: When a MECHATROLINK command is sent from the host controller, an alarm may occur during
execution of the following command:
PRM_RD/PRM_WR/PPRM_WR/CONFIG/SENS_ON/ALM_RD/ALM_CLR (history)/ADJ/SENS_ON
of SVCTRL/ID_RD
vi
CAUTION
Always be sure to close SigmaWin+ -V-MD component before turning the
SERVOPACK power off or on.
The operation of both or either the PC or SERVOPACK cannot be assured if this is
not observed.
Notes on Using WindowsXP
CAUTION
If using NTFS, contact a user with administrator privileges to log on to Sig-
maWin+.
If SigmaWin+ runs in Limited User mode with NTFS, the necessary settings cannot
be read into the application program so an error may occur at start up or the program
may not successfully run.
If using FAT32, SigmaWin+ can be run in Limited User mode.
When using SigmaWin+, do not change the active window to another window
for another application program even if using the Multi-user function.
If the active window is changed while SigmaWin+ is running, the window that shows
the status of the job may not be viewed and possibly result in an accident or harm to
personnel or the motor.
vii
Contents
Safety-Related Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Manual Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
How to Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Notes on the PC Communication Function . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Regarding Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Safety Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
1 System Outline
1.1 Outline and Advantages of SigmaWin+-V-MD
Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Compatible Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.5 Installing SigmaWin+ Program . . . . . . . . . . . . . . . . . . . . . 1-7
1.6 Removing SigmaWin+ Program. . . . . . . . . . . . . . . . . . . 1-13
1.7 Installing and Removing Other SigmaWin+
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
2 Starting SigmaWin+
2.1 Starting SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 From the Start Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.2 From a Shortcut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Selecting a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.1 Preparatory Settings: Computer IP Address . . . . . . . . . . . . . . 2-2
2.2.2 Offline Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.3 Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2.4 Ethernet Connection through a Controller . . . . . . . . . . . . . . . . 2-9
2.2.5 Connection through a Controller on a PCI Bus . . . . . . . . . . . 2-13
3 SigmaWin+ -V-MD Component Main Window
viii
4 Operation
4.1 Changing Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1 Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.2 Editing Parameters Online . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.2.3 Setup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.2.4 Parameter Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-59
4.3 Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64
4.4 Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67
4.4.1 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67
4.4.2 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68
4.4.3 Wiring Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
4.4.4 Online Vibration Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-73
4.5 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-76
4.5.1 Setting the SERVOPACK Axis Name . . . . . . . . . . . . . . . . . . 4-76
4.5.2 Setting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . 4-77
4.5.3 Adjusting Motor Current Detection Offset . . . . . . . . . . . . . . . 4-82
4.5.4 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-84
4.5.5 Write Prohibited Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-88
4.5.6 Setting the Response Level . . . . . . . . . . . . . . . . . . . . . . . . . . 4-89
4.5.7 Initializing Vibration Detection Level . . . . . . . . . . . . . . . . . . . 4-90
4.5.8 EasyFFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-92
4.5.9 Resetting the SERVOPACK by Software . . . . . . . . . . . . . . . 4-95
4.5.10 Writing the Motor Parameters in the Scale . . . . . . . . . . . . 4-100
4.5.11 Detecting the Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-107
4.5.12 Setting the Zero Point Position . . . . . . . . . . . . . . . . . . . . . 4-109
4.6 Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-112
4.7 Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-154
4.7.1 Moment of Inertia (Mass) Identification . . . . . . . . . . . . . . . . 4-160
4.7.2 Autotuning with Reference Input . . . . . . . . . . . . . . . . . . . . . 4-170
4.7.3 Autotuning without Reference Input. . . . . . . . . . . . . . . . . . . 4-174
4.7.4 Custom Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-178
4.7.5 Anti-resonance Control Adjustment Function . . . . . . . . . . . 4-188
4.7.6 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . 4-191
4.8 Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-194
4.8.1 JOG Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-194
4.8.2 Program JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-198
4.9 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-202
4.9.1 Mechanical Analysis Function . . . . . . . . . . . . . . . . . . . . . . . 4-202
ix
Appendix A Install File List
Revision History
x
1.1 Outline and Advantages of SigmaWin+-V-MD Component
1 System Outline
This section includes an outline of the SigmaWin+ -V-MD component system, and
explains its advantages and preparation prior to use.
1.1 Outline and Advantages of SigmaWin+-V-MD

Component
SigmaWin+ -V-MD component is a software tool for setup and optimum SERVOPACK
tuning of Yaskawa -V-MD SERVOPACKs.
This product provides uniform features and functions enabling everyone from beginners to
persons experienced in servo tuning to easily perform connections, test runs, and tuning that
are matched to the customers machine right out of the box.
Main Functions
Parameter editing and converting
Display and release of generated alarms (displays appropriate to the cause and resolution
method)
Display of SERVOPACK data, such as I/O signals and the internal status, and product
data
Various setup functions such as those for the absolute encoder, and offset adjustment
Graph displays for torque reference, speed feedback, and so on
Analysis of the customer's machine such as mechanical analysis (FFT analysis), and iner-
tia identification
1-1
1.2 Configurations
1.2 Configurations
You can use any of the following four methods to connect the SigmaWin+ -V-MD
Component to SERVOPACKs.
Offline connection
Ethernet connection
Ethernet connection through a Controller
Connection through a Controller on a PCI bus
These configurations are classified as shown in the following table.
1st 2nd 3rd

Configuration Name
Classification Classification Classification
Offline connection Offline connection
Online Ethernet connection Ethernet connection
connection
Connection Ethernet Ethernet connection through a
through a connection Controller
Controller
PCI bus Connection through a Controller
connection on a PCI bus
Illustrations of the configurations that use the SigmaWin+ -V-MD Component are
provided below.
Offline Connection
The SigmaWin+ -V-MD Component is used without connecting SERVOPACKs.
This configuration is used to edit parameters, check trace graphs, check mechanical
analysis displays, etc.
PC
SigmaWin+
1-2
1.2 Configurations
Ethernet Connection
The SigmaWin+ -V-MD Component is connected to the SERVOPACKs through Ethernet
communications cables.
PC
SigmaWin+
Ethernet
SGDV
PC
SigmaWin+ Hub
Ethernet
Ethernet
SGDV SGDV SGDV SGDV SGDV
Ethernet Connection through a Controller

You can connect the SigmaWin+ -V-MD Component to a Controller through Ethernet or
Ethernet LP, and then connect the Controller to the SERVOPACKs through
MECHATROLINK.
Controller
PC (MP2310, MP2300S, or MP3200)
SigmaWin+
MECHATROLINK-III
Ethernet
MECHATROLINK-III communications cable
1-3
1.3 Compatible Devices
Connection through a Controller on a PCI Bus

You can mount an MP2100-series Board Controller to a computer on which the
SigmaWin+ -V-MD Component is installed, and then connect the Controller to the
SERVOPACKs through MECHATROLINK.
PC
Controller
SigmaWin+ (MP2100/MP2100M)
MECHATROLINK-III
MECHATROLINK-III communications cable
1.3 Compatible Devices

The SigmaWin+ -V-MD Component supports the following -V-MD-series
SERVOPACK.
SGDV-MDA02E8M3
NOTE Some SigmaWin+ -V-MD functions may be unusable depending on the SERVOPACK type.
Unusable functions will appear dimmed on the selection menu.
1-4
1.4 System Requirements

Specifications of Personal Computer
The minimum system requirements to use the SigmaWin+ -V-MD Component are given
in the following table.
Personal Computer (PC) PC/AT DOS/V-compatible device

Note: Operation cannot be assured on the NEC PC9821 series.
Processor Pentium 200MHz
Main Memory 64MB (96MB recommended)
Free Hard Disk Space At Normal Setup
350MB (400MB recommended at installation)
At Custom Setup
-V-MD Component: 70MB min.
component: 40MB
-II component: 90MB
SGDS component: 70MB
SGDX component: 70MB
-V component: 70MB
INDEXER component: 70MB
MECHATROLINK-II component: 70MB
(100MB recommended at each installation)
Monitor XVGA (1024768 or greater using a small font)
Number of Colors 256 colors (65536 colors recommended)
Operating System (OS) Windows XP *1
Windows Vista
Windows 7 (32 bit/64 bit)
Communication Cables for For USB connection
SERVOPACK to PC The following cable is available from Yaskawa. Contact Yaskawa if
Connection necessary.
JZSP-CVS06-02-E
For RS-232C connection
The following cables are available from Yaskawa. Contact Yaskawa
if necessary. For cable wiring, see Appendix A Install File List.
Digital operator conversion cable: Model JZSP-CXI00-03
PC connection cable: Model JZSP-CMS02 (D-SUB 9-pin connector
compatible)
Others CD-ROM drive (for installation only)
One or more Ethernet ports *2
*1. If using HotfixQ328310, SigmaWin+ may or may not be installed. If it cannot be installed, use
HotfixQ329623 instead.
*2. This port is required to perform Ethernet communications.
1-5
Using Ethernet Communications

The cables that are required to use Ethernet communications for the SigmaWin+ -V-MD
Component are as follows.
Communications Cables for Ethernet communications cable (Must be provided by the user.)
SERVOPACK to PC
Connection
When Using a Controller

The device versions that are required to use the SigmaWin+ -V-MD Component through a
Controller are given in the following table.
SigmaWin+-V-MD Version 1.00 or later

Component
Controller
MECHATROLINK
Controller Version
module
MP2100M SVC-01 Version 1.12 or later
MP2101M SVC-01 Version 1.12 or later
MP2101T SVC (built-in CPU) Version 2.87 or later
MP2101TM SVC (built-in CPU) Version 2.87 or later
SVC-01 Version 1.12 or later
MP2200 SVC-01 Version 1.12 or later
CPU-03
CPU-04
MP2300S SVC-01 Version 1.12 or later
Enable the message communication function of the
MECHATROLINK master when you use SigmaWin+ -V-MD
component through a Controller.
Other required settings are as follows.
Set the number of retry to slaves to one or more.
The set number of retry to slaves must be greater than the number
of retry processing times.
(number of retry to slaves) - (number of retry processing times) > 1
SERVOPACK -V-MD series SGDV-MD SERVOPACK
1-6
1.5 Installing SigmaWin+ Program

To install SigmaWin+, run the setup file for SigmaWin+. And the installation process will
begin. In this process, SigmaWin+ and the related files will be installed, or stored on the
hard disk.
Operating conflicts may arise with the other programs during installation. Be sure to close
all other programs before installing SigmaWin+.
Install the program using the following procedure.
1. Insert the CD-ROM into the CD-ROM drive (the D-drive for example).
2. If "Autoplay" is enabled, the installation program will automatically start when the CD-
ROM is inserted.
If "Autoplay" is not enabled, either of the following methods may be used.
On the Start menu, select Run. Type "D:\SETUP", and then click OK.
Open the Explorer, load the CD-ROM contents, and double click "D:\SETUP.EXE".
A message will appear, welcoming you to the SigmaWin+ program.
1-7
3. Click Next to continue. The License Agreement window will appear.
4. Read the agreement and select I accept the terms of the license agreement to agree.
Then click Next to continue. The Choose Destination Location window will appear.
1-8
5. Follow the onscreen instructions to choose a destination folder to copy the SigmaWin+
file to, and click Next to continue.
6. Select the setup type.
<To install all components of SigmaWin+>

Choose "Complete" and click Next. The Select Program Folder window will
appear.
1-9
<To install selected components of SigmaWin+>

(1) Choose "Custom" and click Next. The Select Features window will appear.
(2) Select the components to be installed, and click Next. The Select Program Folder
window will appear.
1-10
7. Select the program group to create the SigmaWin+ icon. "YE_Applications" is the
default setting. After selecting the program group or folder, click Next to continue.
The Ready to Install Program window will appear.
8. Click Install.
The PC files will be copied to PC from the CD-ROM. The percentage of the copying
that has been completed will be shown.
Note: If new versions of the PC support files are needed to install SigmaWin+, a window will appear asking
whether to overwrite the current version or to cancel the installation. SigmaWin+ may not run correctly if
the new versions of the support files are not installed.
1-11
If SigmaWin+ has been successfully installed, the InstallShield Wizard Complete

window will appear.
9. Click Finish to complete the setup.
1-12
1.6 Removing SigmaWin+ Program

Remove the SigmaWin+ program using the following procedure.
1. Click the Start button, point to Settings and click Control Panel.
2. Click the Add/Remove Programs icon. The Add/Remove Programs Properties box
appears.
3. Click YASKAWA SigmaWin+ English Edition as the program to be removed, and

then click Change/Remove.
A confirmation message will appear asking if you are sure you want to remove the
program.
1-13
4. Click Yes to start removing the program. When the program has been successfully
removed, the following window will appear telling you that maintenance is complete.
5. Click Finish to complete the removal process.
1-14
1.7 Installing and Removing Other SigmaWin+ Programs
1.7 Installing and Removing Other SigmaWin+

Programs
To change the SigmaWin+ program which is now installed, use the following procedure.
1. Insert the CD-ROM into the CD-ROM drive (the D-drive for example).
The setup maintenance program will automatically start.
2. Choose "Modify" and click Next.
The components with check boxes are currently installed.
1-15
1.7 Installing and Removing Other SigmaWin+ Programs
3. To remove a component, clear the check box.

Select the components to be installed and click Next.
4. Click Finish to complete the changing process.
1-16
2.1 Starting SigmaWin+
2 Starting SigmaWin+
Start SigmaWin+ using the following method.
2.1 Starting SigmaWin+

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

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

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

2.2.1 Preparatory Settings: Computer IP Address
To use an Ethernet connection or to use an Ethernet connection through a Controller, you
must set the IP address of the computer in advance.
1. Click the Start button, and then select Settings - Control Panel from the Start menu.
Click the Internet Options icon in Control Panel.
The following dialog box will appear.
2. Select the Connections tab, and then click the LAN Settings.
3. Confirm that the Automatically detect settings check box is not selected, and then
click OK to close the dialog box.
2-2
4. Click the Start button, and then select Settings - Control Panel from the Start menu.
Click the Network Connections icon in the Control Panel.
The following window will appear.

5. Select Local Area Connection, and then click Change settings of this connection in
the Network Tasks field.
2-3
6. Select the Internet Protocol (TCP/IP) check box in the General tab page, and then
click the Properties.
7. Select Use the following IP address, and then enter the IP address you wish to enter
and "255 255 255 0" as the Subnet mask.
Click OK to close the dialog box.
2.2.2 Offline Connection

1. Start the SigmaWin+.
The following dialog box appears.
2-4
2. Select Offline.
3. Select the SERVOPACK to set and then click the Starting Button.
The SigmaWin+ main window will appear.
2-5
2.2.3 Ethernet Connection

1. Set the IP address of the computer.
Refer to 2.2.1 Preparatory Settings: Computer IP Address for the procedure.
3. Select Online and then click the Search Button. The Search Condition Setting dialog
box appears.
2-6
4. Confirm that the Ethernet Tab Page is displayed. Set the target SERVOPACK Series,
the communications port, and the IP address, and then click the Search Button.
A search will be made through the communications interface for SERVOPACKs that
you can connect to. The results will be displayed in the Connect Dialog Box.
Connect Dialog Box
Note: If a SERVOPACK is not displayed in the Connect Dialog Box even though it is connected, refer to If the
SERVOPACK is not Displayed (If Communications Are Not Possible).
5. Select the SERVOPACK to connect to, and then click the Connect Button.
Or, double-click the SERVOPACK to connect to.
The SigmaWin+ main window will appear.
Click the Cancel Button to close the Connect Dialog Box.
2-7
If the SERVOPACK is not Displayed (If Communications Are Not Possible)

If the SERVOPACK is not displayed though a SERVOPACK is connected, problems may
occur in communications.
Check the following items if the SERVOPACK is not displayed.
Check Item Measure
Is the power on?
Are the connections loose? Fasten all communication cable connectors securely.
Was the correct communications interface Make sure that the communications interface (port)
(port) selected? connected to the communication cable is the same as the
port selected during connection.
Is a battery being used to power the PC? Problems in communications may occur if the PC is
running on batteries. Use AC power.
Is the wiring correct? Check the communication cable wiring.
See Chapter 3 or the SERVOPACK users manual for
more information on the wiring.
Is the communication cable the Shorten the cable length as much as possible.
recommended length? Recommended Lengths of Communication Cables
Ethernet communications cable: 100 m max.
2-8
2.2.4 Ethernet Connection through a Controller

1. Set the IP address of the computer.
Refer to 2.2.1 Preparatory Settings: Computer IP Address for the procedure.
2. Make sure that you are using an Ethernet connection through a Controller.
Refer to the illustration of the connection configuration in 1.2 Configurations.
2-9
4. Select Online, and click the Search Button.

2-10
5. Confirm that the Controller Tab Page is displayed. Select the communication port for
the Controller connection, and click Search.
INFO When Ethernet (LP) is selected as the Communication Port, the IP address of the connect-
able controller can be confirmed as follows.
1. Click Search of Controller tab.

The controller name, IP address/port, and module name will be displayed in the Search
Controller list.
2. First confirm that the IP address selected as the Communication port is the same IP
address shown in the Search Controller list, and then click Search.
Note: The Search Controller list will be displayed only when Ethernet (LP) is selected as the
Communication Port.
2-11
Connectable SERVOPACKs will be found through the MECHATROLINK

communication cable and the result will be displayed in the Connect Window.
Note: Only controller modules that can be connected using MECHATROLINK communication cables are
supported. "MP connection cannot be used for xxx." will be displayed when connected to an
unsupported module (SVA module, PO module, and SVR module). The "xxx" represents a module
name.
6. Select the SERVOPACK to be connected and then click Connect, or just double-click
the SERVOPACK to be connected.
2-12
2.2.5 Connection through a Controller on a PCI Bus

1. Make sure that you are using a connection through a Controller on a PCI Bus.
Refer to the illustration of the connection configuration in 1.2 Configurations.
3. Select Online, and click Search.

The following window will appear.
2-13
4. Confirm that the Controller Tab Page is displayed. Select the SERVOPACK to be
searched, and select PCI for the communication port for the Controller connection, and
then click Search.
Connectable SERVOPACKs will be found through the MECHATROLINK
communication cable and the result will be displayed in the Connect window.
Note: Only controller modules that can be connected using MECHATROLINK communication cables are
supported. "MP connection cannot be used for xxx." will be displayed when connected to an
unsupported module (SVA module, PO module, and SVR module). The "xxx" represents a module
name.
5. Select the SERVOPACK to be connected and then click Connect, or just double-click
the SERVOPACK to be connected.
2-14
If the SERVOPACK is not Displayed (If Communications Are Not Possible)

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

The number of retry to slaves is Set the number of retry to slaves to one or more.
set to 0.
Is there no SERVOPACK Increase the number of stations.
although SERVOPACK is When the number of stations cannot be increased, do the followings
allocated to the axis? measures.
Delete axis allocation.
But, the parameter that has already been allocated will be deleted.
Install SERVOPACK.
Is the MECHATROLINK-III Check the MECHATROLINK-III wiring.
wiring correct? Correct the MECHATROLINK-III wiring.
Connect the terminator correctly.
Did MECHATROLINK-III Take measures against noise.
data reception error occur due (Check the MECHATROLINK-III communication cable and FG
to noise interference? wiring, and take measures such as attaching a ferrite core to the
MECHATROLINK-III communication cable.)
2-15
3 SigmaWin+ -V-MD Component
Main Window
The SigmaWin+ -V-MD component main window has a menu bar and a toolbar as shown
in the following figure.
SigmaWin+ -V-MD Component Main Window
All application functions can be accessed from the menu bar or the toolbar.
3-1
Menu Bar and Menus
SigmaWin+ -V-MD Component Menu Bar
File menu
Connect: Switches between Online and Offline modes or between the connected
SERVOPACKs.
Disconnect: Switches to Offline mode.
Print Setting: Select your preferences for printing the information seen on the screen.
See Print Setting for details on the setting method.
Exit: Quits SigmaWin+.
Help menu
SigmaWin+ Help: Displays a help window for SigmaWin + -V-MD component.
Introduction Tour: Introduces main functions of SigmaWin+ -V-MD component.
Technical Support: Lists local contacts.
About SigmaWin+: Displays version information of SigmaWin+ -V-MD
component.
There are also function menus. For details, see Chapter 4.
3-2
Print Setting
In the SigmaWin+ -V-MD component main window, click File, and then click Print
Setting. The Printing Item Setting box appears.
Cover
Select Attaching the Cover, and then click Cover Editing.
3-3
The Cover box appears, displaying the Submitter tab in front. Use the formatting options on
the tabs to control the content of the cover, such as the greeting sentences and where to
submit the information. After the setting is finished, click OK.
Data for each function

Depending on which functions you select, the items that you can print will differ. Select the
functions from the list.
To enter your printing preferences or specifications, click the tab whose options you want
to enter or change, and enter the desired settings.
3-4
Color Selection
Documents can be printed in color or black and white. Select your preference.
After the setting is finished, click OK.
3-5
Toolbar
Click an icon on the toolbar to directly select its corresponding function.
SigmaWin+ -V-MD Component Toolbar
Toolbar Button Function Name

Parameter Editing
Parameter Online Editing
Setup Wizard
Parameter Converter
Alarm Display
Product Information
System Monitor
Status Monitor
Motion Monitor
Input Signal Monitor
Output Signal Monitor
Wiring Check
Online Vibration Monitor
Serial Command Monitor
SERVOPACK Axis Name Setting
Absolute Encoder Reset
Multi-Turn Limit Setting
3-6
Speed/Torque Reference Offset Adjustment
Analog Monitor Output Adjustment
Motor Current Detection Offset Adjustment
Origin Search
Write Prohibited Setting
Response Level Setting
Initialize Vibration Detection Level
Easy FFT
Reset Configuration Error of Option Module

(This button is not supported for the -V-MD.)
Safety Option Module Setup Alarm Clear

Software Reset
Motor Parameter Scale Write
Polarity Detection
Zero Point Position Setting
Trace
Real Time Trace

Tuning
JOG Operation
Program JOG Operation
3-7
Program Table Editing
Zone Table Editing
Jog Speed Table Editing

Mechanical Analysis
3-8
4.1 Changing Axes
4 Operation
4.1 Changing Axes
There are three different ways to edit axes. These are described in the following table.
Type Description
Changing axes When you start editing, you must select the axis to edit.
Multi-axis You can edit all of the axes on the same window.
Unit If you edit any axis, the same changes are applied to all axes.
Use the following procedure to change the axis to edit.

1. Start the desired function.
If the axis can be changed for the function, an Axis Selection dialog box will appear
with a list of the axes that can be edited.
Single Axis Selection Mode Multi-axis Selection Mode
INFO The list will give the motors if the SigmaWin+ -V-MD and SERVOPACKs are
connected. If a SERVOPACK and motor are connected afterward, the motor will not
appear on the list. Connect the SigmaWin+ -V-MD to the SERVOPACKs again.
You must be online to use the Multi-axis Selection Mode.
4-1
4.1 Changing Axes
2. Select the axis or axes to edit.
Single Axis Selection Mode Multi-axis Selection Mode
INFO In Single Axis Selection Mode, the selected axis will be highlighted.
In Multi-axis Selection Mode, the check boxes for the selected axes will be selected.
4-2
4.1 Changing Axes
3. Click the OK button.

The function editing dialog box for the selected axis appears.
Single Axis Selection Mode
Multi-axis Selection Mode
4-3
4.2 Editing Parameters

The following two methods exist for editing parameters.
Using the Parameter Editing window
Using the Online Parameter Editing window
4.2.1 Editing Parameters

Parameters can be displayed or edited in the Parameter Editing window.
The windows differ in the Online and Offline modes.
Parameter Editing when Online

In the SigmaWin+ -V-MD component main window, click Parameters and then click
Edit Parameters. The Parameter Editing window for the online mode appears.
Check boxes
Saves parameter data to a file.
Prints the Parameter Editing window.
If the input values are different for different axes, they will be displayed in red text.
Selects all parameters on the displayed tab.
Parameter Editing Window (Online Mode)
INFO If another function is running that prevents editing the parameters, the cells will be displayed
with a gray background.
4-4
Display Mode
The number of parameters displayed is determined by the user level and the control mode.
User Level: 1: Level 1 (To the setup/test run.)
2: Level 2 (To the adjustment.)
Control Mode: 4 modes
Display Setting
Click Display Setting, and the Display setting box appears. Select the information to be
displayed and the size of the Parameter Editing window.
Display Setting Box
Display Items
Select the information to be displayed.
Dialog Size
Select the size of the Parameter Editing window.
Click OK to save the changes in the display settings and to return to the Parameter Editing
window. Click Cancel to return to the Parameter Editing window without changing the
display settings.
4-5
Comment
Comments can be typed or edited in the Comment box. Click Comment, and the Comment
box appears.
4-6
Import
Parameter settings can be transferred or imported from a stored file with the Import
function. If the imported parameters differ in number from the on-screen parameters
(including parameters not currently displayed), the following processing takes place.
If the number of imported parameters is greater
Parameters in
Parameter Imported
Editing window Parameters
Overwrite
Pn000 : 0000 Pn000 : 0000
Overwrite
Pn001 : 0000 Pn001 : 0000
Pn002 : 0001
Ignored
Pn003 : 1100
If the number of imported parameters is fewer

Parameters in
Parameter Imported
Editing window Parameters
Overwrite
Pn000 : 0000 Pn000 : 0000
Overwrite Pn001 : 0000
Pn001 : 0000
Remains Pn002 : 0000
same. Pn003 : 0002
1. Click Import, and the Open box appears.
When the Customization infor-

mation is used. check box is se-
lected, the parameters set on the
Customize tab in the Parameter
Editing window are also imported.
(See Customize for details.) The
check box cannot be selected
when the file has no parameter on
the Customize tab.
4-7
2. Select the file to import and click the Open button.

If only one axis is being used, the data will be imported.
If more than one axis is being used, the following dialog box appears.
Proceed to step 3.
3. Select the axis for which the set values are to be imported and click the OK button.
The data will be imported.
4-8
Customize
Only the selected parameters can be displayed on the Customize tab.
1. Click Customize, and the Customize setting box appears. All the parameters are
displayed in the Parameter candidate list.
Note: If different axes have different names for the same parameter number, the parameter name for the lowest
axis address is displayed.
2. Select parameters to be displayed on the Customize tab from the Parameter candidate
list.
4-9
3. Click Add, and the selected parameters will move from the Parameter candidate list to
the Customize parameter list as follows.
Information not displayed in the Parameter candidate list
Opens a customized file. Information to be displayed
Saves customize data to a file. on the Customize tab
Moves the selected item down one level.

Sets a tab name for the
Customize tab.
Moves the selected item up one level.
Select parameters in the Customize parameter list and click Delete. The selected
parameters will move back from the Customize parameter list to the Parameter
candidate list.
4-10
(Open) Button
In the Customize setting box, click the button, and the Open dialog box appears
with the customized files displayed.
Open Dialog Box
Click Open to read the designated customized file. Click Cancel to return to the
Customize setting box.
(Save) Button
In the Customize setting box, click the button, and then select the storage location
for the parameters displayed in the Customize parameter list of the Customize setting
box.
Save As Dialog Box
Click Save to store the file name designating the parameters displayed in the Customize
parameter list as the customized file name. Click Cancel to return to the Customize
setting box without saving the file.
4-11
If the file name already exists or if an already existing file is loaded and then re-saved,
a warning message appears, telling you that the file name already exists, and ask if you
want to replace the existing file.
Click Yes to overwrite the already existing file. Click No to return to the Customize
setting box.
4. When the selection of parameters to be displayed on the Customize tab is completed,
click OK. Then the Parameter Editing window appears and the selected parameters will
be displayed on the Customize tab.
4-12
Edit
The Edit dialog box appears for the selected (highlighted) parameters.
The title bar displays the extended address of the axis.
Change the set values on this tab page.
The Parameter Editing Dialog Box depends on the parameters that are selected.
4-13
Initialize
The SERVOPACK parameters (Pnxxx) can be returned to the factory settings with the
Initialize function. Return to the initial settings using the following procedure.
Note: The Safety Module parameters (Pcxx) will not be returned to their factory settings by clicking Initialize.
1. Click Initialize. If more than one axis is being used, the following dialog box appears.
If only one axis is being used, the dialog box that is shown in step 2 appears. Proceed to
step 3.
2. Select the axis to initialize and then click the OK button. The following dialog box
appears.
Click Cancel to return to the Parameter Editing window without changing the
SERVOPACK settings.
4-14
3. Click OK, and the dialog box to initialize the SERVOPACK settings appears.
When Using Only One Axis When Using More Than One Axis
4. If more than one axis is being used, confirm that the axis to be initialized is displayed.
To select a different axis or to not initialize the axis, click the Cancel button.
The Parameter Editing dialog box will appear again.
5. Click OK to start initialization, and the percentage of the progress completed is shown.
When the settings are successfully initialized, you will be prompted to verify that all
parameter settings are correct for the target machine.
6. Click OK.
4-15
Compare
The edited parameter settings can be compared with the values in the SERVOPACK for all
parameters, including those not displayed, with the Compare function. Check the settings
using the following procedure.
1. Click Compare and a message appears, confirming if you want to compare all
parameter settings.
Click Cancel to return to the Parameter Editing window without comparing the
settings.
2. Click OK to start the comparison, and the percentage of the progress completed is
shown.
When the comparison has been successfully completed, the Comparison Results box
appears.
Displays the axis

address.
3. Click Save to save the results of the comparison.
4-16
Read
Selected parameter settings from the SERVOPACK can be read and then changed by
overwriting them with the Read function. Select the check boxes of the parameters to be
read.
Click the All constant number tab and select the Select All (All constant number:
include not displayed) check box to select all the parameters to be read, including those
not currently displayed.
Read the parameters using the following procedure.
1. Click Read and a message appears, confirming if you want to read the parameter
settings.
Click Cancel to return to the Parameter Editing window without reading the settings.
2. Click OK to start reading and overwriting the settings.
4-17
Write
Selected parameter settings can be saved with the Write function. Select the check boxes of
the parameters to be saved.
Note: Click the All constant number tab and select the Select All (All constant number: include not
displayed) check box to select all the parameters to be saved, including those not currently displayed.
1. Click Write.
The Verification dialog box appears.
2. Click OK.
3. Restart the SERVOPACK to validate the new settings.
All steps are completed.
4-18
(Save) Button
This button saves the settings of the parameters that are currently displayed in the
Parameter Editing dialog box to the specified location. Use the following procedure.
1. Click the button.

The Save as dialog box appears.
2. Select the save location and enter a file name. Enter a comment if required.
The default file name is the current date and time (yyyymmddhhmmss).
Up to 255 characters can be typed as a comment.
3. Click the Save button.
The current parameter settings are saved under the specified file name.
If customization information is set on the Customize Tab Page, the customization
information will also be saved.
If you click the Cancel button, the data will not be saved and the Parameter Editing
dialog box appears again.
INFO If the file name already exists or if an already existing file is loaded and then re-saved, a warn-
ing message appears, telling you that the file name already exists, and ask if you want to
replace the existing file.
Click Yes to overwrite the already existing file.

Click No to return to the Parameter Editing window.
4-19
(Print) Button
The data on the Parameter Editing window can be printed. Use the following procedure.

The Printing Item Setting dialog box appears.
2. Set the printing specifications.
Cover: To include a cover, select the Attaching the Cover check box and click the
Cover Editing button. For details, refer to Chapter 3 SigmaWin+ -V-MD
Component Main Window.
Data for each function: Click the Header & Footer Tab and the Printing Items Tab
and set the printing specifications according to the settings on the tab pages.
Color Selection: Select whether to print in black and white or in color.
Header & Footer Tab Printing Items Tab

Printing Item Setting Box
4-20
3. Click OK.
The Print Preview Window appears.
To return to the Printing Item Setting box and change some settings, click Editing of
the Printing Items.
4. To print the document as is without any changes, click Print.
4-21
Parameter Editing when Offline

In the SigmaWin+ -V-MD component main window, click Parameters and then click
Edit Parameters.
Load From File: Reads in existing parameters.

Select New SERVOPACK: Creates new settings for parameters.
Select the desired command and click OK.
<When Load from File is Selected>
The operation is the same as when the button is clicked. See (Open)
Button.
<When Select New SERVOPACK is Selected>
The operation is the same as when the button is clicked. See (New) Button.
4-22
Selects a new SERVOPACK.

Opens files.
Saves parameter data to a file.
Check boxes Prints the Parameter Editing window.
If the input values are different for different axes, they will be displayed in red text.
Selects all parameters on the displayed tab.
Parameter Editing Window (Offline Mode)
4-23
(New) Button
A new SERVOPACK can be selected in the Parameter Editing - SERVOPACK Selection
box using the New command. To change to a different SERVOPACK, use the following
procedure.
1. Click the button, and the Editing Parameters - Model Selection box appears.
2. Select the motor type, SERVOPACK model, current [max. applicable motor capacity],
and special specification numbers from the lists, and enter the version number of the
SERVOPACK.
3. Click OK. The set data will be imported, and the Parameter Editing window will
appear.
4-24
(Open) Button
The parameter file can be loaded in the Open box using the Open command.
To load the file, use the following procedure.
1. Click the button, and the Open box will appear.
2. Select the parameter file to be imported, and click Open.

3. When Customization information is used. check box is selected, the parameters set
on the Customize tab in the Parameter Editing window are also imported.
See Customize for details. The check box cannot be selected when the file has no
parameter on the Customize tab.
The other operations are the same as those for parameter editing when online.
See Parameter Editing when Online in 4.2.1 Editing Parameters.
4-25
4.2.2 Editing Parameters Online

Parameters can be viewed or edited in the Online Parameter Editing window.
NOTE Values edited in the Online Parameter Editing box are also immediately changed in the
SERVOPACK.
If the power to the SERVOPACK is turned off or the communication between the SERVO-
PACK and the SigmaWin+ is interrupted while editing parameters online, the edited val-
ues will not be saved in the SERVOPACK.
Safety Module parameters (Pcxx) cannot be set or edited in the Online Parameter Editing
box.
Edit parameters online using the following procedure.

1. In the SigmaWin+ -V-MD component main window, click Parameters and then click
Edit Online Parameters. The Online Parameter Editing box appears. The previously
saved parameter settings will be displayed.
Online Parameter Editing Box
4-26
2. To change the values of the settings, click the setting arrows to raise or lower the value.
If an upper or lower limit is displayed, make sure that the setting is within the limit.
Modified values are also immediately changed in the SERVOPACK.
Click Setup to view different parameters.
3. Click Set to view a parameter other than the "Moment of Inertia Ratio."
4. Select the parameter to be edited, and click OK.
4-27
5. If there are still parameters to be edited, click Set for the parameter to be edited and set
these in the same manner as the first parameter.
Deletes the parameter

displayed at left.
To view other parameters, click Del to delete the currently displayed parameter and
then click Set.
6. Click OK when parameter setting is complete.
7. To change the values of the settings, click the setting arrows to raise or lower the value.
If an upper or lower limit is displayed, make sure that the setting is within the limit.
Modified values are also immediately changed in the SERVOPACK.
4-28
4.2.3 Setup Wizard

Setup Wizard is a function which carries out the setting of parameters using a dialog
method. By following instructions on the screen to select the control mode and the I/O
settings, those settings which are necessary for an operation are automatically completed.
Setup Wizard has the following features.

Parameters can be set easily and quickly, even if you are using the SERVOPACK for the
first time.
It is possible to calculate the electronic gears automatically using the mechanical charac-
teristics and the desired reference units (for position control).
It is possible to select the I/O assignments while visually confirming them.
The following flowchart shows how Setup Wizard guides you through each step of
parameter setting.
Axis selection
(Only for an offline connection for which more
than one axis is used)
SERVOPACK selection
(Only for an offline connection)
Encoder selection
(Only for an offline connection)
Various settings
(Power supply settings, control mode selection, reference input,
motor/encoder, motor stopping method, and I/O signals)
Save/Write
End
4-29
While Setup Wizard is open, the current settings and recommended procedures are
displayed in the flowchart on the left side of the window.
Example
4-30
Start Setup Wizard with the following procedure.
INFO The wizard pages displayed on screen will vary in accordance with the selected SERVOPACK
specifications. The wizard pages shown here are only one example.
In the SigmaWin+ -V-MD component main window, click Parameters and then click Set
Up Wizard. The Setup Wizard window will appear.
INFO If you are online and more than one axis is being used, the following Axis Selection dialog box
appears. First select the axes to adjust according to the Axis Selection dialog box. Refer to 4.1
Changing Axes for the procedure.
Flowchart Wizard Page
Setup Wizard Window - First Wizard Page
SERVOPACK selection/Encoder selection (servomotor selection):

Select these items first. When offline, first select the SERVOPACK, and
then select the encoder. (When online, information on the connected
SERVOPACK and encoder will be automatically set.)
Setting items other than the above:
There is no required setting order. If not set, the set value (default value
when offline) of the SERVOPACK will be automatically set.
4-31
SERVOPACK Selection (Only when offline)
1. Click Servopack Selection in the flowchart. The Servopack Selection wizard page will
appear on the right.
2. Select the motor type, SERVOPACK model, current [max. applicable motor capacity],
and special specification numbers from the lists, and enter the version number of
SERVOPACK.
3. Click Apply. The display will return to the first wizard page and the set data will be
written in the flowchart.
4-32
Encoder Selection (Only when offline)
Motor Type: Rotary Motor

Click Encoder Selection in the flowchart. The Encoder Selection wizard page will appear
on the right.
Serial Encoder Specifications/Serial Encoder Setting

When online: Displayed only when no motor is connected. Not displayed when a motor
is connected.
When offline: Always displayed.
Select the serial encoder specifications from the list. When using a special or new serial
encoder that is not included in the list, select Unknown/No match and then enter the
resolution and select the encoder type in the Serial Encoder Setting field.
4-33
Motor Type: Linear Motor

Click Encoder Selection in the flowchart. The Encoder Selection wizard page will appear
on the right.
Serial converter unit

When online: Not displayed when a linear motor is connected. Displayed only when no
linear motor is connected.
When offline: Always displayed.
1. Select the serial converter unit from the list. When using a special or new serial
converter unit that is not included in the list, select Unknown/No match, enter the
number of scale pitch divisions, and select the encoder type in the boxes on the right.
2. Enter the linear scale pitch.
4-34
Power Supply Settings
Click the Power Supply Settings button. The following wizard page appears.
Enter or select the allowable capacity of the external regenerative resistor, the regenerative
resistance capacity, and the regenerative resistance, and then click the Apply button.
The previously opened dialog box appears again and the settings are given in the flowchart.
4-35
Reference Input Setting
1. Click Reference Input Setting in the flowchart.

The Reference Input Setting - Position Control wizard page appears.
When Motor Type is Rotary When Motor Type is Linear
4-36
2. Select the electronic gear function setting method, and then click the Next Button.
<When the Set the electronic gear details. option is selected>
One of the following wizard pages will appear.
When Motor Type is Rotary When Motor Type is Linear
For rotary motors, select the electronic gear mechanical structure, and then click Next.
The setting procedure when the ball screw is selected is explained here.
For other mechanical structures, see Supplemental Information: Electronic Gear
Mechanical Structure.
INFO Difference in settings for rotary motor and linear motor

For a linear motor, the electronic gear mechanical structure selection is not required.
4-37
1. Enter the ball screw pitch and gear ratio, and then click Next.
2. Set the reference unit or number of reference units per load axis rotation. Check the
displayed electronic gear ratio, and then enter the positioning completed width.
Click Apply.
4-38
<When the Enter the electronic gear ratio directly. option is selected>
The following wizard page will appear.
Enter the electronic gear ratio and positioning completed width, and then click Apply.
<When the Set the electronic gear ratio at host controller. option is selected>
The following wizard page will appear.
Enter the electronic gear ratio and positioning completed width, and then click Apply.
4-39
The Reference Input Settings - Reference Units view appears.
3. Set the speed reference unit, acceleration/deceleration reference unit, and torque
reference unit, and then click the Apply button. The previously opened dialog box
appears again and the settings are given in the flowchart.
INFO When the Setup for All Selected Control Modes Is Not Complete
A Next button will appear instead of an Apply button. Click the Next button to display the
Reference Input Setting view for the control modes for which the setup is not complete.
Enter the reference input settings.
4-40
Motor Encoder Setting
Motor type: Rotary Motor

1. Click Motor Encoder Setting in the flowchart. The Motor Encoder Setting - Dividing
output setting wizard page will appear.
4-41
2. Select the absolute encoder usage from the list when using an absolute encoder. Then,
click Next. The Motor Encoder Setting - Rotation (movement) direction setting wizard
page will appear.
3. Select the motor rotation (movement) direction, and then click Apply. The display will
return to the first wizard page and the set data will be written in the flowchart.
4-42
Motor type: Linear Motor

1. Click Motor encoder setting in the flowchart. The Motor Encoder Setting - Linear
motor basic settings wizard page will appear.
4-43
2. Select whether or not the linear motor has a hall sensor from the list, and select the
relationship between the linear scale count up direction and the motor forward
direction. Click Next, and the Motor Encoder Setting - Dividing output setting wizard
page will appear.
4-44
3. Select the absolute encoder usage from the list when using an absolute encoder. Then,
click Next. The Motor Encoder Setting - Rotation (movement) direction setting wizard
page will appear.
4. Select the motor movement direction, and then click Apply. The display will return to
the first wizard page and the set data will be written in the flowchart.
4-45
Motor Stop Method Selection
1. Click Motor Stop Method Selection in the flowchart. The Motor Stop Method
Selection wizard page will appear.
2. Select the motor stop method for each of the three conditions indicated, and select or
clear the check box to set whether or not to use a holding brake. Then, click Apply.
The display will return to the first wizard page and the set data will be written in the
flowchart.
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I/O Signal Setting
1. Click I/O Signal Setting in the flowchart. The I/O Signal Setting - Setting confirmation
wizard page will appear.
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2. Click Input signal setting to set input signals or Output signal setting to set output
signals. The following wizard pages will appear for each case.
<Input Signal Setting Wizard Page>
Standard allocation
Input signals will be allocated by default.
The allocation is fixed to the default setting and cannot be changed.
Customize allocation
Input signals can be allocated as desired.
Click a cell and the name of the signal to be allocated will be displayed in the cell.
To switch between normal allocation and reverse allocation, click the cell again.
When the required input signals are allocated, click OK.
If all required input signals are not allocated, a confirmation message will appear. (The
message shown below is an example.)
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If some input signal allocations are duplicated, the following confirmation message will
appear.
<Output Signal Setting Wizard Page>
Click a cell to allocate an output signal.

3. When all required signals are allocated, click OK. The display will return to the wizard
page shown in step 1.
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Save/Write
Save the settings using the following procedure.

The wizard page for saving/writing parameters into the SERVOPACK when online is
different from the wizard page when offline.
<When online>
1. Click Save/Write in the flowchart. The Saving/Writing Parameters wizard page will
appear.
2. Select the method of writing parameters into the SERVOPACK.
Write with a backup file

After saving the current settings of the connected SERVOPACK in a backup file,
writes the parameters that have been set using the Setup Wizard in the SERVOPACK.
Write without backup file

Without saving the current settings of the connected SERVOPACK, writes the
parameters that have been set using the Setup Wizard in the SERVOPACK.
Select either the Write with a backup file or the Write without backup file option,
and then click Write. When the Write with a backup file option is selected, the
following windows will appear.
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When the Write without backup file option is selected, the message shown in step 3
appears.
3. Select the file name and the storage location, and then click Save. The following
message appears asking for confirmation.
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4. Click Yes.
5. Click OK. The display will return to the wizard page shown in step 1.
6. Click the button to save the setting data.
7. Click Finish to quit the Setup Wizard. The following message appears asking for
confirmation.
8. Click Yes.
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<When offline>
1. Click Save/Write in the flowchart. The Saving/Writing Parameters wizard page will
appear.
2. Click the button to save the setting data.

3. Click Finish to quit the Setup Wizard. The following message appears asking for
confirmation.
4. Click Yes.
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Supplemental Information: Electronic Gear Mechanical Structure

The Reference Input Setting - Position Control wizard page will vary depending on the
electronic gear mechanical structure.
<When Round table is selected>
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<When Belt and Pulley is selected>
4-55
<When Rack and Pinion is selected>
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<When Roll feed is selected>
4-57
<When Other is selected>
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4.2.4 Parameter Converter

The parameter converter function converts the parameter data of a , -II, or -III series
SERVOPACK (hereinafter referred to as the previous series SERVOPACK) to -V-MD
series SERVOPACK compatible parameter data. The previous series SERVOPACK
parameters of the specified file will be automatically converted to -V-MD series
SERVOPACK compatible parameters and saved in a file.
Convert parameters using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Parameters and then click
Parameter Converter.
INFO If more than one axis is being used, the Axis Selection dialog box appears.
First select the axes to adjust according to the Axis Selection dialog box. For the procedure,
refer to 4.1 Changing Axes.
Parameter Converter Window
2. Click Browse. The Open box will appear.
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3. Select the conversion source, a parameter file of the previous series SERVOPACK, and
then click Open.
The selected file is imported and the imported file name, SERVOPACK model, and
comments are displayed under Conversion source. Also, the SERVOPACK model
under Conversion destination is automatically set.
A window with the file name, SERVOPACK model,

and comments on imported data displayed
INFO If a file that cannot be converted is selected

A message will appear telling you that the selected file cannot be converted.
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4. Click Save. The Save As box will appear.
5. Select the storage location for the converted parameter file, and then click Save.
The file name, the SERVOPACK model of the conversion destination, and the
comments on the conversion source file will be displayed under Conversion
destination in the Parameter Converter window.
Reselect the SERVOPACK model from the Servopack Model list as required. (A
SERVOPACK model whose capacity is equal or closest to the SERVOPACK model of
conversion source will be automatically set under Conversion destination.)
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6. Click Convert.
The selected parameter file data of the previous series SERVOPACK will be converted
to -V-MD series SERVOPACK compatible parameter data and saved in a newly
created parameter file.
When conversion is complete, the conversion results will be displayed in the Parameter
Converter window.
Adjust the settings as required.
INFO When the Save the log file (csv) at the same time. check box is selected in the Parameter Con-
verter window, a CSV formatted log file with the same name as the converted parameter file
will be separately created in the same location as the converted parameter file.
Always check the conversion results before writing them into the SERVOPACK.
Some parameter data is displayed in blue, red, or shaded in yellow to distinguish it:
Blue: Different from the default setting of the -V-MD series SERVOPACK
Red: Out of range in the -V-MD series SERVOPACK (The value will automatically
be set to the default value of the -V-MD series SERVOPACK.)
Shaded in yellow: Performance depends on the series.
NOTE Adjust the settings of the parameters displayed in red and shaded in yellow in the conversion
results as required.
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7. Click Finish to quit the parameter converter function.
NOTE See 4.2 Editing Parameters for information on how to adjust the conversion results.
After checking and adjusting the conversion results, import the parameter settings using
the parameter online editing function. See Parameter Editing when Online of 4.2.1 Edit-
ing Parameters for details.
INFO How to Read the Log File

When the Save the log file (csv) at the same time. check box is selected, the following CSV
formatted log file will be created after conversion.
Conversion source data Conversion destination data
To be
No. Digit/bit Value No. Name Value Unit
checked
Pn digit ==> Pn{{{ {{{{{{{{{ {{{ {{ *{

Previous Previous series -V-MD series -V-MD series

series SERVOPACK SERVOPACK SERVOPACK
SERVOPACK parameter set parameter name parameter setting
parameter value unit
number -V-MDseries -V-MDseries
SERVOPACK SERVOPACK
Previous series parameter number parameter set value
SERVOPACK
and meanings
parameter digit
"*{" in the "To be checked" column indicates one of the following parameters.
*1. Parameter value different from the -V-MD series SERVOPACK default setting
*2. Parameter value out of the -V-MD series SERVOPACK setting range
(The value will automatically be set to the default value of the -V-MD series SERVO-
PACK.)
*3. Parameter whose performance depends on the series of SERVOPACK.
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4.3 Alarm Display
4.3 Alarm Display

Alarms can be viewed in the Alarm Display. The alarm diagnostic function is also provided
to suggest possible causes of the alarm according to diagnostic alarm latch data saved just
before the alarm occurrence. It will also display suggested corrective actions.
In the SigmaWin+ -V-MD component main window, click Alarm and then click Display
Alarm.
Alarm Display
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4.3 Alarm Display
Alarm
The axis number and the current alarm will be displayed.

To clear an alarm, click Reset all axes after removing the cause of the alarm. The alarm
will continue until the cause is removed, and then the information on the screen will be
subsequently updated.
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4.3 Alarm Display
Alarm Traceback Tab
The SERVOPACK stores a history of the 10 most recent alarms. These are shown in order
of occurrence with their alarm numbers and names.
When a new alarm occurs, it is stored as number 1, and the numbers of the other alarms are
raised starting from the top of the list. For example, what was alarm number 1 now
becomes number 2. The last alarm is eliminated. These numbers are changed immediately
when an alarm occurs.
Click Clear to delete or clear the alarm history.
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4.4 Monitor
4.4 Monitor
4.4.1 Product Information
Information about the SERVOPACK and the motor can be viewed in the Product
Information window.
In the SigmaWin+ -V-MD component main window, click Monitor and then click
Product Information. Information about the SERVOPACK, the motor, and the option
modules will be displayed.
Production Information Window
Serial No.
Displays the details of the respective product information.
Click OK to return to the SigmaWin+ -V-MD component main window.
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4.4 Monitor
4.4.2 Monitoring
You can see the SERVOPACK status, operation, and I/O signal status on the Monitor
Panes.
1. In the SigmaWin+ -V-MD component main window, click Monitor Monitor.
The items which can be monitored are listed.

2. Select the items to be monitored. The current status of a selected item is displayed in
the "Value" column.
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4.4 Monitor
Monitor Item Setting

To select the information to be monitored, use the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Monitor, and then click
Monitor Setting. The Monitor Item Setting box appears.
The Monitor selection list displays items being monitored.

2. To hide an item, select it in the Monitor selection list and then click Delete. To display
an item, select it in the Monitor selection list and then click Add.
Information to be
displayed in the
Monitor window
Information not
displayed in the
Monitor window.
Moves the selected

item up one level.
Moves the selected

item down one
level.
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4.4 Monitor
3. Click OK. Monitoring of the selected items starts.
To move an item or change its settings, right-click an item and select a command.
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4.4 Monitor
4.4.3 Wiring Check

The wiring check function is used to check the status of I/O signals between the
SERVOPACK and the host controller or peripheral devices. Changing an output signal
status in Forced Output mode allows you to check the operation of the host controller and
peripheral devices.
To check wiring, use the following procedure.
In the SigmaWin+ -V-MD component main window, click Monitor and then Wiring
Check.
Wiring Check in Monitor Mode
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4.4 Monitor
Wiring Check in Forced Output Mode
Depending on each I/O signal status, the corresponding signal status on the screen will
vary.
Monitor Mode
I/O signal status can be monitored in Monitor mode.
Input signal: Change the signal status on the host controller and check the input signal
status and wiring to the SERVOPACK.
Output signal: Check the output signal status and wiring to the SERVOPACK.
Forced Output Mode

Output signal status can be forcibly set in Forced Output mode. I/O signal status is
continuously monitored also in Forced Output mode. Click Hi or Lo to set the signal status.
Forced Output mode is disabled while the servo is on.
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4.4 Monitor
4.4.4 Online Vibration Monitor

If vibration occurs while the power is supplied to the servomotor, the online vibration
monitor can be used to detect the vibration elements and analyze the frequency by setting
the parameters to select a notch filter.
To monitor the vibrations online, use the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Monitor, and then click
Online Vibration Monitor. A warning message appears, telling you that the motor
may move unpredictably if the parameters are changed.
2. Click OK, and the Online Vibration Monitor box appears.
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4.4 Monitor
3. Click Execute to activate the vibration sensor. The peak frequencies of the vibrations
are displayed.
4. Click Auto Setting. In the "Previous" column, the current settings are displayed.
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4.4 Monitor
5. Click Write result. The adjusted values for detected frequencies are displayed in the
"Current" column, and the values are stored in the SERVOPACK.
To clear the table without saving the values, click Reset.
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4.5 Setup
4.5 Setup
4.5.1 Setting the SERVOPACK Axis Name
The SERVOPACK axis name setting function can be used to set a SERVOPACK axis
name for each SERVOPACK. The set axis name will be displayed in the search results of
Connect box. (See Connect box of 2.2 Selecting a SERVOPACK.) It is easier to identify
each SERVOPACK by using its axis name rather than by using its model or axis address.
1. In the SigmaWin+ -V-MD component main menu, select Setup - Servopack Axis
Name Setting. The following dialog box appears.
Enter the axis name in the Servopack axis name input field and then click Set. The display
in the Current name box will change to the set axis name.
2. Select the check boxes for the axis for which to change the names, enter the desired
axis names in the Servopack axis name column, and then click the Write button.
The axis names that you entered in the reference Servopack axis name column will be
written as the axis names.
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4.5 Setup
4.5.2 Setting the Absolute Encoder

Initializing the Absolute Encoder
WARNING
The absolute encoder setup function resets the multi-turn counter and the encoder
alarms for a connected serial absolute encoder.
If the absolute encoders multi-turn counter is reset to zero, the previously defined
mechanical system will change to a different coordinate system.
Operating the machine in this state is extremely dangerous. Failure to observe this
warning may result in personal injury and/or damage to the machine. Be sure to reset
the zero point for the mechanical system after the encoder has been successfully set up.
Set up the absolute encoder in the following cases:

At initial machine startup
When an "Encoder Backup Alarm" has occurred
When the SERVOPACK power has been turned off, and the encoder cable removed.
The absolute encoder can only be set up while the servo is off. Turn the power back on after
the encoder has been successfully set up.
Set up the absolute encoder using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup, point to Set
Absolute Encoder and click Reset Absolute Encoder. A warning message appears
confirming if you want to continue the processing.
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4.5 Setup
Click Cancel to return to the main window without resetting the absolute encoder.
2. Click Continue, and the Absolute encoder Setup box appears.
The Alarm Name box displays the code and name of the alarm that is occurring now.
3. Click Execute setting, and a verification message appears confirming if you want to
continue although the coordinate system will change.
Click Cancel to return to the previous window without resetting the absolute encoder.
4. Click Continue to set up the encoder.
<If Setup is Unsuccessful>

If setting up is attempted with the servo ON, a reset conditions error occurs, and
the processing is aborted.
Click OK to return to the main window.
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4.5 Setup
<If Setup Completes Normally>

If the encoder is set up successfully, a warning message will appear reminding you
that the coordinate system has changed and must also be reset.
5. Click OK to return to the main window. Restart the servo, and perform an origin search
for the upper-level controller.
Setting the Multi-Turn Limit

If using an absolute detection system for machines, such as round tables, that turn in
response to the number of times that the load shaft turns, reset the multi-turn data from the
encoder to zero after a set number of rotations (referred to as "m"). The load shaft of the
machine turns "n" times, and the motor turns "m" times.
Set the multi-turn limit to the SERVOPACK and the servomotor using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup, print to Set Absolute
Encoder and click Multi-Turn Limit Setting. A verification message appears confirming
if you want to continue although the position data will change.
Click Cancel to return to the main window without setting the multi-turn limit.
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4.5 Setup
2. Click Continue, and the Multi-Turn Limit Setting box appears.
3. Change the setting to the desired number of revolutions.
4. To save the settings, click Writing into the Servopack, and a warning message appears.
5. Click OK and the settings are changed to the new ones.

6. After turning off the power, restart the SERVOPACK. Because only the settings for the
SERVOPACK were made, the settings for the motor are still incomplete and the alarm
A.CC0 Multi-turn Value Unmatched occurs.
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4.5 Setup
7. Return to the SigmaWin+ -V-MD component main window. To make the settings for the
motor, click Setup and then click Multi-Turn Limit Setting again. A verification message
appears confirming if you want to continue although the position data will change.
8. Click Continue, and the Multi-Turn Limit Setting box appears. To change the settings,
click Re-Change.
9. To save the settings, click Writing into the Motor, and a warning message appears.
10. Click OK.
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4.5 Setup
4.5.3 Adjusting Motor Current Detection Offset
CAUTION
The offset of the motor current detection need not usually be adjusted because it is
adjusted at delivery by Yaskawa. If the offset of the detection is carelessly or incor-
rectly set, the performance will be degraded. Use this function only when the torque
ripple is obviously much larger than that of other SERVOPACKs.
Usually, the offset of the motor current detection does not have to be adjusted because it is
adjusted at delivery by Yaskawa. Adjust the offset only when higher precision is needed,
such as if the torque ripple error is thought to be excessive based on the current offset or if
there is a need for further reduction in torque ripple.
1. In the SigmaWin+ -V-MD component main window, select Setup - Adjust Offset -
Adjust the Motor Current Detection Offset. A warning message appears confirming
if you want to continue although the SERVOPACKs performance will be affected if
the function is used carelessly or incorrectly.
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4.5 Setup
2. Click Continue, and then click the Automatic Adjustment tab.
3. Click Adjust.
The automatically adjusted values are displayed in the New box.
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4.5 Setup
4.5.4 Origin Search
WARNING
Using the origin search function while the motor is running is dangerous.
Be sure to check this manual before using this function.
Pay particular attention to the following.
Check the safety of the area adjoining the drive unit.
The motor runs at 60min-1 for about one minute, while the RUN button is pressed.
Make sure that there is no danger in running the motor before actually using it.
The Forward Run Prohibit (P-OT) and Reverse Run Prohibit (N-OT) signals
are disabled during the origin search.
During operation, make sure to verify the actual operation and position of the motor
or machine.
This function moves the motor to the origin and clamps at the position. Use this function
when the motor shaft needs to be aligned with the machine.
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4.5 Setup
Perform an origin search using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup, and then click
Search Origin. A warning message appears reminding you of the dangers that are
possible when using this function.
Click Cancel to return to the main window without performing origin search.
<When the Write Prohibited setting is ON>

If the write prohibited setting is on, the following message will appear.
Click OK, and set the write prohibited setting to off.

See 4.5.5 Write Prohibited Setting for setting method.
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4.5 Setup
2. Click OK, and the Origin Search box appears.

If the servo is on, an error message will appear. Make sure that the servo is off.
Origin Search Box
Status
This displays the run status.
Origin Search not Executed: The motor has not turned.
Origin Search Executing: Searching for the origin by turning forward or in reverse.
Origin Search Stopped: The Forward or Reverse button has been released during the
origin search, so the motor stopped.
Origin Search Completed: Origin found, and the motor stopped (clamped) at the point.
Close the Origin Search box to re-execute another origin search after a one search has
been completed.
Operation
On the left, shows if the servo is on or off and the corresponding LED display.
On the right, the button changes according to the servos status. When the servo is off,
the Servo ON button appears; when the servo is on, the Servo OFF button appears.
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4.5 Setup
3. Click Servo ON.
4. Press Forward or Reverse. The search is performed while one of these buttons is
pressed. The axis stops when the search is complete.
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4.5 Setup
4.5.5 Write Prohibited Setting

The write-prohibited setting function is used to prevent the inadvertent rewriting of
parameters from the digital operator. Rewriting parameters from the SigmaWin+ is allowed
even if the write prohibited setting is on.
Set to ON or OFF the write prohibited setting using the following procedure.
Write Prohibited Setting. One of the following boxes will appear.
<If the Write Prohibited Setting is ON>
Click the button to change the value to "0000" and click Setting. The write
prohibited setting is off.
<If the Write Prohibited Setting is OFF>
Click the button to change the value to "0001" and click Setting. The write
prohibited setting is on.
2. A message appears, telling you that the write prohibited setting has been changed and
will be effective the next time the SERVOPACK is restarted.
Click OK and restart the SERVOPACK.
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4.5 Setup
4.5.6 Setting the Response Level

The response level setting function is used to adjust the responsiveness when using
tuning-less function, which is a tuning function that requires no parameter settings.
Set the response level using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup and then Response
Level Setting.
2. Click the setting arrows to adjust the response level so that the machine does not
vibrate.
The factory setting is 4, the maximum level.
3. Click Completed to save the setting in the SERVOPACK.
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4.5 Setup
4.5.7 Initializing Vibration Detection Level

This function detects vibration when a servomotor is connected to a machine and
automatically adjusts the level at which vibrations are detected to output more exactly the
vibration alarm (A.520) and warning (A.911).
To initialize the vibration detection level, use the following procedure.
Initialize Vibration Detection Level. The Initialize Vibration Detection Level box
appears.
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4.5 Setup
2. Select a percentage as the degree of vibration detection sensitivity and the vibration
detection switch, and then click Detection Start.
3. Click Execute. The level at which the vibrations are detected is automatically adjusted,
and the setting is displayed in the box on the right and saved in the SERVOPACK.
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4.5 Setup
4.5.8 EasyFFT
WARNING
Using the EasyFFT function while the motor is running is dangerous.

Be sure to check this manual before using this function.
Pay particular attention to the following items.
The motor turns less than a quarter of a turn several times in the specified direction
while using the EasyFFT function.
Make sure that there is no danger in running the motor before actually using it.
External instructions
Do not enter instructions from an external source, because this function creates
instructions in the SERVOPACK and sends them to the motor.
The EasyFFT function can be used for fine frequency tuning by assigning a frequency,
which is based upon the machines characteristics, to the notch filter and setting the
corresponding parameter to this frequency.
To perform an EasyFFT operation, use the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup and then click
EasyFFT. A warning message appears, reminding you of the possible dangers.
Click Cancel to return to the main window without performing an EasyFFT

operation.
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4.5 Setup
2. Click OK, and the EasyFFT box appears.
3. Click Servo ON.
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4.5 Setup
4. Select the instruction amplitude and the rotation direction, and click Start. The motor
begins to rotate, and the measurement of the frequency starts. After the measurements
have been taken, the results are displayed in the lower section of the box.
5. Click Measurement complete.
6. Click Result Writing to assign the results as parameter settings.
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4.5 Setup
4.5.9 Resetting the SERVOPACK by Software
CAUTION
The software reset function resets the SERVOPACK by using software and re-calcu-
lates all settings including parameters.
Before executing this function, be sure to carefully read this manual.
Special care must be taken for the following.
The SERVOPACK will stop responding for approximately 5 seconds after
the execution begins.
Before executing this function, always check the SERVOPACK and motor
status to ensure safety.
The software reset function turns on or off the power supply to the SERVOPACK by using
software.
To execute the software reset function, use the following procedure.
When using Ethernet

Software Reset.
A warning message will appear, confirming if you want to continue.
After calculating the moment of inertia as described in 4.7 Tuning, the window shown
in step 2 will appear.
Click Cancel to return to the main window without executing the software
reset function.
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4.5 Setup
2. Click Execute. The Software Reset window will appear.
3. Click Execute. When execution of the software reset function is complete, a warning
message will appear, asking you to reconnect the SigmaWin+ to the SERVOPACK.
4. Click OK to close the Software Reset window. All settings including parameters have
been re-calculated. Disconnect the SigmaWin+ from the SERVOPACK, and then
reconnect.
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4.5 Setup
When using a Controller

Software Reset.
A warning message will appear, confirming if you want to continue. After calculating
the moment of inertia as described in 4.7 Tuning the Software Reset window shown in
step 2 will appear.
Note: Click Cancel to return to the main window without executing the software reset function.
2. Click Execute. The following message will appear.
NOTE When software reset is executed, communication between the Controller and the
SERVOPACK is disabled, and an error is issued. MECHATROLINK communication
must be reset to clear the communication error. Check Reset MECHATROLINK
communication to reset the MECHATROLINK communication
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4.5 Setup
3. When execution of the software reset function is complete, the following message will
appear.
4. Click OK to close the Software Reset message. All settings including parameters have
been re-calculated. Disconnect SigmaWin+ from the SERVOPACK, and then
reconnect.
<MECHATROLINK Communication Reset>

MECHATROLINK Communication Reset function resets the communication with
MECHATROLINK.
Only the communication of MECHATROLINK can be reset.
Communication between the Controller and the SERVOPACK can be restored by clearing
the communication error that occurred between them.
1. In the SigmaWin+-V-MD component main window, click Setup and then click
MECHATROLINK Communication Reset.
The following message will appear.
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4.5 Setup
2. Click Reset.
The following message will appear.
3. Click Yes.
The parameters that are automatically reflected will be reflected in Controller's setting
parameters (register: OWxxxx).
At the same time, the MECHATROLINK communication reset will be executed and
the MECHATROLINK Communication Reset message will close.
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4.5 Setup
4.5.10 Writing the Motor Parameters in the Scale
WARNING
The Motor Parameter Scale Write function rewrites data in the scale.
If the data which does not suit the connected motor is rewritten, the motor may not
run normally, resulting in motor overrun, etc.
Be sure that the data written in the scale suits the connected motor.
Write the parameters of the motor parameter file in the scale:
Install a motor, scale, and SERVOPACK.

Download the motor parameter file of the installed motor from
Yaskawa Web site "e-mechatronics.com."

Start the motor parameter scale write function of the
SigmaWin+.

Write the parameters of the motor parameter file in the scale.
Write the motor parameters in the scale using the following procedure. Download the motor
parameter file of the installed motor from Yaskawa Web site "e-mechatronics.com" in
advance.
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4.5 Setup
Motor Parameter Scale Write. A warning message appears, reminding you of the
possible danger.
Click Cancel to return to the main window without writing motor parameters in the
scale.
2. Click OK. The following box appears, and the SERVOPACK starts reading the
parameter information from the scale.
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4.5 Setup
When the reading was completed successfully, the following box appears.
3. Click Ref., and the following box appears.
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4.5 Setup
4. Select the motor parameter file downloaded from Yaskawa Web site "e-
mechatronics.com," and then click Open. The motor parameter file information is
displayed in the Motor parameter scale write - File select box.
NOTE Make sure that the motor parameter file information of the installed motor is displayed.
Displays the dimensional drawing.
Click to zoom in.
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4.5 Setup
5. Click Next. The following box appears.
Click Cancel to return to the main window without writing motor parameters in the
scale. Click Back to return to the Motor parameter scale write - File select box.
6. Click Write. The following message appears.
Click No to cancel writing.
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4.5 Setup
7. Click Yes. The following box appears, and the motor parameter scale writing starts.
<If the Motor Parameters Were Not Written Normally>

The following box appears.
Select the next step to be executed, and then click OK. If "The function is
ended without executing writing" is selected, the following box appears.
Click OK to return to the main window.
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4.5 Setup
<If the Motor Parameters Were Written Normally>

The following box appears.
8. Click Complete, and the following box appears.
9. Click OK. Turn OFF the power and then ON again to validate the written data.
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4.5 Setup
4.5.11 Detecting the Polarity
WARNING
During execution of this function, power will be supplied to the linear motor. Take
care to avoid electric shock.
The linear motor may move. Do not approach the motor movable parts.
When using a linear servomotor without hall sensor, the polarity must be detected after
turning ON the power supply.
The polarity detection function is used to detect the polarity and store the phase data in the
SERVOPACK and the linear scale.
Detect the polarity using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Setup and then Polarity
Detection. A warning message appears, reminding you of the possible dangers.
Click Cancel to return to the main window without executing the polarity detection
function.
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4.5 Setup
2. Click Continue, and the Polarity Detection box appears.
3. Click Start, and the polarity detection will be executed.
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4.5 Setup
4.5.12 Setting the Zero Point Position
WARNING
The zero point position setting sets the current position to the connected absolute linear
scale as the zero point position.
Before executing this function, be sure to read this manual.
Note the following points:
Always make the settings for the mechanical system again after the zero point
position setting.
Executing the zero point position setting will clear the absolute position of the connected
absolute linear scale to 0 and the previously defined mechanical system will change to a
different coordinate system.
Operating the machine in this state is extremely dangerous. Failure to observe this warn-
ing may result in personal injury and/or damage to the machine.
Be sure to reset the zero point for the mechanical system after the zero point position set-
ting.
Satisfy the following conditions before executing the zero point position setting
function.
The following conditions must be satisfied to execute the zero point position setting.
Servo is in OFF status.
The polarity detection has been completed.
Check the SERVOPACK status.
Always turn the SERVOPACK power OFF then ON again after the zero point posi-
tion setting.
The set zero point position will be valid after turning the power OFF then ON again.
Always turn OFF the SERVOPACK power then ON again after the zero point position set-
ting.
The zero point position of the absolute scale can be set when using an absolute scale and
the absolute scale supported SERVOPACK.
Before executing the zero point position setting, move the motor to the position to be set as
the zero point.
Set the zero point position using the following procedure.
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4.5 Setup
1. In the SigmaWin+ -V-MD component main window, click Setup and then Zero
Point Position Setting. A warning message appears, reminding you of the possible
dangers.
Click Cancel to return to the main window without carrying out zero point position
setting.
2. Click Continue, and the Zero Point Position Setting box appears.
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4.5 Setup
3. Click Execute.
Click Cancel to return to the previous window without carrying out the zero point
position setting.
4. Click Continue to execute the zero point position setting. A message appears,
reminding you to turn OFF the SERVOPACK power and then ON again to validate the
setting.
5. Click OK.
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4.6 Tracing
4.6 Tracing
Structure
The following flowchart shows how the trace function works.
Trace main window Setup Open Trace Set
Save As Trace Settings
Data
Start Trigger Wait
Transmission
Zoom
Cursor
History
Overlapping
Open
Save As
Measurement
Conditions
Print
INFO The Measurement Axis Tab Page is not shown in some of the screen captures. It will be dis-
played on the actual GUI.
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4.6 Tracing
Data Trace
Trace Main Window
In the SigmaWin+ -V-MD component main window, click Trace and then click Trace.
The Trace main window appears.
Trace Main Window
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4.6 Tracing
Trace Setting
In the Trace main window, click SETUP, and the Trace Setting box appears. Select the
objects and conditions for the trace.
The settings from the previous trace, if any, are displayed.
The objects to be traced and trigger Select this check box to obtain more
are automatically set according to precise data.
the item selected here.
The item selected

here is displayed
as an option.
Trace Setting Box
<Sampling Setting>
The setting for the allowable interval time for getting trace data can be made here. Data will
be obtained every 250 s if the sampling time is set to 250 s. The total trace time is the
sampling time multiplied by the number of data items. Use the spin button to set the time.
If directly typing a value and the value is outside the acceptable range, a warning message
will appear telling you that the sampling time is incorrect. The warning will vary according
to the error.
1. If the typed value is larger than the maximum setting time:
Click OK to automatically adjust the sampling time to the maximum setting. Click
Cancel to return to the Trace Setting box without setting the sampling time.
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4.6 Tracing
2. If the typed value is smaller than the minimum setting time:
Click OK to automatically adjust the sampling time to the maximum setting. Click
Cancel to return to the Trace Setting box without setting the sampling time.
3. If the typed value cannot be allocated in the time interval:
Click OK to automatically adjust the sampling time. Click Cancel to return to the
Trace Setting box without setting the sampling time.
<Trace Object Setting>
Measurement Axes
Click the Set button by the Measurement Axis box. The Axis Selection dialog box will be
displayed. You can trace up to 16 data items. The number of axes that you can select
according to the number of traces that are set for analog tracing or I/O tracing is as follows:
Number of traces set to 1: 16 axes
INFO The Axis Selection dialog box will not allow you to select more than the maximum num-
ber of axes.
The setting of the number of traces will be the largest number for either analog tracing or I/
O tracing. For example, if one analog trace is set and two I/O traces are set, the setting of
the number of traces would be 2. That means that you could select up to 8 axes for analog
tracing and 8 axes for I/O tracing.
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4.6 Tracing
Data 1/Data 2/Data3

Select content such as "Torque Reference," "Feedback Speed," etc., identical to the analog
monitor as trace objects from the data boxes. The line color for Data1/Data2/Data3 can be
set here. The settings are as follows.
Name Unit Name Unit

Not set Not set
Torque reference % Force reference %
Feedback speed min-1 Feedback speed mm/s
Reference speed min-1 Reference speed mm/s
Position reference speed min-1 Position reference speed mm/s
Position error Reference Position error Reference

unit unit
Position amplifier error pulse Position amplifier error pulse
Position error between Reference Position error between Reference
motor and load unit motor and load unit
Speed feed forward min-1 Speed feed forward mm/s
Torque feed forward % Force feed forward %

Effective gain Effective gain
External encoder speed min-1
Rotary Motor Linear Motor
I/O 1 / I/O 2 / I/O 3

Select output signals such as "/COIN" or "ALM" and input signals such as "/C-SEL", "P-
OT", or "N-OT" as trace objects. The line color for I/O 1 / I/O 2 / I/O 3 can be set here.
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4.6 Tracing
<Trigger Setting>
A trigger is a device for designating the timing of data access. For example, it is possible to
set conditions such as "After /COIN signal goes ON" or "After the speed feedback exceeds
100 min-1," and thereby make detailed reference of the servo operation at the time these
conditions occur.
Trigger (Trigger Conditions)

Set two trigger conditions: Trigger A and Trigger B.
By combining Trigger A and Trigger B, a total of three conditions can be set as follows.
Trigger Condition Description

Trigger A Trigger A is satisfied
Trigger A AND Trigger B Both Trigger A and Trigger B are satisfied
Trigger A OR Trigger B Either Trigger A or Trigger B is satisfied
Pre-trigger (0% to 99%)

Designate to what degree data is displayed in the graph before a trigger is applied.
A trigger condition is designated by the following three items.
Trigger Target
Designate the object to which the trigger is applied. The selected objects can either be from
the designated in Data 1, 2, and 3, and I/O 1, 2, and 3, or "No Trigger".
If "No Trigger" is selected, the trigger will be applied at the time the START button is
clicked. Also the settings for "Trigger Level", "Trigger" (trigger type), and "Pre-Trigger"
will be unavailable.
Trigger Target Box
Trigger Level
Designate the standard for determining when the trigger starts. The units for the setting are
the same as those of the trigger object selected.
The trigger level cannot be set if the trigger object is "I/O 1 / I/O 2 / I/O 3" or "No Trigger."
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4.6 Tracing
Trigger (Trigger Type)

Designate the trigger judgement method when the trigger is applied. Select Rising Edge,
Falling Edge, Change Edge, Above the Trigger (above the trigger level) or Below the
Trigger (below the trigger level).
Trigger Type Box

Rising Edge: The trigger is detected when the trigger object data rises from
below the trigger level to above the trigger level.
When the change is from LO to HI in I/O
Falling Edge: The trigger is detected when the trigger object data falls from
above the trigger level to below the trigger level.
When the change is from HI to LO in I/O
Change Edge: The trigger is detected if the trigger object crosses the "Trigger
Level " in any way.
When the signal level changes in I/O
Above the Trigger: The trigger is detected when the trigger object data is above the
trigger level.
Cannot be selected for I/O.
Below the Trigger: The trigger is detected when the trigger object data is below the
trigger level.
Cannot be selected for I/O.
Above the Below the

Rising Edge Falling Edge Change Edge
Trigger Level Trigger Level
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4.6 Tracing
(Open) Button
In the Trace Setting box, click the button, and the trace setting files appear.
Open Dialog Box
Click Open to read the designated trace setting file. Click Cancel to return to the Trace
Setting box without reading the file.
(Save) Button
In the Trace Setting box, click the button, and then select the storage location for the
setting file shown in the Trace Setting box.
Save As Dialog Box
Click Save to store the file name designating the current trace settings. Click Cancel to
return to the Trace Setting box without saving the file.
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4.6 Tracing
If the file name already exists or if an already existing file is loaded and then re-saved, a
warning message appears, telling you that the file name already exists, and asks if you want
to replace the existing file.
Click Yes to overwrite the already existing file. Click No to return to the Save dialog box
without saving the file.
OK
In the Trace Setting box, click OK to return to the Trace main window. The trace object
and trigger are updated according to the settings.
Cancel
n the Trace Setting box, click Cancel to return to the Trace main window without changing
the settings.
INFO If the saved file is opened using a SigmaWin+ version number that does not support Data 3 and
I/O 3 for trace, the contents of only Data 1, Data 2, I/O 1 and I/O 2 are read-in.
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4.6 Tracing
Starting the Trace
Trace Mode
Select whether to executing tracing only one time or repeatedly from the Trace mode box.
Single: Executes the trace process once. Waiting for the trigger -
Trigger conditions are met - Graphic display, and then ends the
trace.
Continuous: Repeats the trace process until Stop is clicked.
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4.6 Tracing
Click Start in the Trace main window, and the SigmaWin+ will wait for the trigger.
The window below appears while waiting for the trigger.
While waiting for the

trigger, this message
is displayed.
Window Displayed While Waiting for the Trigger
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4.6 Tracing
The message remains until the set trigger conditions are met. Click Stop to stop waiting for
the trigger.
While reading trace

data from the
SERVOPACK, this
massage is
displayed.
Window Displayed While Reading Trace Data from the SERVOPACK
Once the trigger condition is satisfied, the SERVOPACK starts transferring data to the
SigmaWin+. When the data transfer is completed, the Trace main window appears.
Notes 1. The trigger sometimes cannot be detected in less than 2ms due to the relationship of the detection
period.
2. If the sampling time is lengthened, SigmaWin may continue to wait for the trigger even after the
trigger has been applied. SigmaWin waits because data for the sampling time is saved in the
SERVOPACK after the trigger has been applied.
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4.6 Tracing
Trace Main Window

This Trace main window displays a graph based on the trace settings.
Trace Main Window
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4.6 Tracing
Toolbar
Trace Main Window Toolbar
Toolbar Button Click this button to:

Load the trace data file.
Open
Save a copy of the on-screen trace graph to a specified file.
Save As
Print the Trace main window.
Print
View the conditions to measure the trace.
Measurement Conditions
View the information for the location where a cursor is shown.
Cursor
Enlarge the view of a selected area.
Can trace with the enlarged view.
Zoom In
Restore the area shown in the window to its usual size.
Return
Copy the displayed screen to the clipboard.
Clipboard Copy
Save on-screen trace graph in CSV format.
Save As CSV
See Toolbar Details for details on the toolbar buttons.
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4.6 Tracing
Trace Graph Display Field

Buttons, arrows, boxes, and sliders to control the graph display are provided on the trace
graph display field.
Slider for Origin of Data 1,
Data2, and Data 3
Vertical Axis Arrows for Origin of I/O 1, Horizontal Axis Range

Combo Box I/O 2, and I/O 3 Setting Combo Box
Trace Graph Display Field
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4.6 Tracing
Vertical Axis Scale

Select a vertical axis scale for Data 1, Data 2, and Data 3 from the vertical axis combo box.
It is not possible to input a scale by typing the value.
If the AUTO button is clicked, a scale will be automatically selected so that all of the data
can be shown in the graph.
Vertical Axis Combo Box
Horizontal Axis Range

Select a horizontal axis range for the time axis from the box. The time is measured in "ms."
The range must be selected from the list.
If FULL is selected, all of the data will be automatically adjusted so that the entire
horizontal axis can be displayed. When the window is too small to show all of the
horizontal axis, a horizontal scroll bar is displayed to allow you to view all of the axis.
Horizontal Axis Range Box
INFO I/O Trace Graph

Grid Line
The center of the grid

becomes the HI position.
Origin Mark
Grid Line
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4.6 Tracing
History
The data that had been traced and the trace data that had been called from the files are listed
in order from the oldest in the History box. "Unsaved" is displayed for the trace data that
have not been saved. Up to 10 data can be saved and displayed. When more than 10 data
have been traced or called, the older data are cleared. The history save and display function
is enabled only when the trace function is being executed. Therefore, the historical data is
cleared when exiting the trace function.
Click History to display the History box.
If you click History while the overlapping function is effective, the overlapping function is
cancelled and the "Overlapping data" in the Overlapping box disappears.
See Overlapping for details on overlapping function.
The information of the file selected and highlighted here are
displayed in the Trace main window.
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4.6 Tracing
Historical Data
The information of the file selected and highlighted here are displayed in the Trace main
window.
Overlapping
Click Overlapping so that the overlapping function is effective, and the Overlapping box
appears. See Overlapping for details.
Clear
Clears all the historical data displayed in the History box and the data displayed in the
Trace main window.
"Unsaved" is displayed in the "Historical data" of the History box for the trace data that
have not been saved. When trying to select other data without saving, a message appears
confirming if you want to save the trace data.
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4.6 Tracing
Overlapping
The graph of the trace data that have been called from the file and the data that have been
traced are displayed overlapped. The trace objects of each file can be compared on the
graphic display.
Click Overlapping in the History box to display the Overlapping box.
Select the check boxes of the files to When a file name is clicked and highlighted,
be overlapped. The selected file the trace graph of the selected file name
names are displayed in blue. blinks several times.
The overlapped
base file name is
displayed.
Select the overlapping target.

Only the same trace objects as the overlapping target of the overlapped base
file are displayed overlapped. The other objects are not displayed while the
overlapping function is effective.
Set a line color for each overlapping
target. (The line colors that have The line colors of the trace graph are as follows:
been set in the Trace main window Data Line Color of Trace Graph
becomes invalid.)
Data selected and highlighted in the Light color
"Historical Data" of the Overlapping box.
Other data Dark color
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4.6 Tracing
Historical Data
Select a check box of the file to overlap the graph. More than one data can be
selected.
History
Click History to cancel the overlapping function. The Overlapping box
disappears, and the History box appears.
Clear
Click Clear to clear all the historical data displayed in the "Historical Data"
and the data displayed in the Trace main window.
Overlapping Data
The overlapped base file in the "File name" of the "Historical data" is
displayed in the "File name" of the "Overlapping data." The trace objects of
the overlapped base file are displayed in the "Overlapping Target" and the
relevant "Display" check boxes are selected. Select or clear the check boxes
to select the objects to be displayed overlapped on the graph.
If the trace is executed by clicking SETUP in the Trace main window, the same objects
as those of the base file are set automatically and cannot be changed.
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4.6 Tracing
<Basic File Setting Procedure>

When opening the Overlapping box from the History box
1. Select a file from the "Historical data" in the History box.
2. Click Overlapping, and the selected file name is displayed in "File name" of the
"Overlapping data" of the Overlapping box as the base file. A check mark is
displayed for the base file name both in the "Historical data" and the "Overlapping
data."
1. Select a file.
2. Click Overlapping.
The selected file is displayed as the base file.
When opening the Overlapping box by clicking Overlapping in the Trace main win-
dow
The file displayed in the Trace main window is set as the base file automatically.
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4.6 Tracing
Operation Example of Overlapping Function

An operation example of overlapping function is given below.
1. Select a file to be the base file from the "Historical data" in the History box, and then
click Overlapping.
The Overlapping box appears and the selected base file name is displayed in the "File
name" of the "Overlapping data." The information of the base file are displayed in the
Trace main window. The trace objects of the base file are displayed in the "Overlapping
Target" of the "Overlapping data."
When online, if the overlapping targets different from the trace objects set in the Trace
Setting box are selected, the following message appears.
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4.6 Tracing
2. Select the check boxes of the files to overlap over the base file from the "Historical
data." More than one check box can be selected. A check box for a file without the
same overlapping targets as those of the base file cannot be selected.
The overlapped trace graphs are displayed in the Trace main window.
The objects to be displayed overlapped on the graph can be selected by selecting or

clearing the "Display" check boxes for the "Overlapping Target" of the "Overlapping
data."
When having newly loaded a file to overlap by clicking the (Open) button, the file
name is automatically displayed with the check box selected in the "File name" of the
"Historical data" and the trace graph is overlapped over the graph of the base file.
If a file without the same overlapping targets as those of the base file tries to be loaded,
the following message appears.
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4.6 Tracing
The following table shows four display examples of overlapped graphs.
Historical data
File/Overlapping Target No. File name No. File name

Selection Examples 1 before_tuning. 1 before_tuning
2 after_tuning 2 after_tuning
Data 2: Torque Reference

Data 2: Position Reference Data 1: Torque Reference
Speed
Overlapping
Display
Target
Position Reference
Speed
Torque Reference
Data 1: Torque Reference

Over- Data 1: Position Reference
Data 1: Position Reference Speed
lapping Speed
data
Data 2: Position Reference
Speed
Overlapping
Display
Target
Position Reference
Speed
Torque Reference
Data 1: Position Reference Data 1: Position Reference

Speed Speed
Optional Display
When the Display options check box is selected in the Trace Setting box, an optional data is
displace. When not selected, no optional data is displayed.
The following data can be optionally displayed.
Settling Time
The settling time calculated from waveform is displayed.
If the settling time could not be calculated, "" is displayed.
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4.6 Tracing
Trigger Setting
This displays the trigger settings in the Trace Setting box.
The trigger level is blank if an I/O trace is the trigger condition.
Data Tab
The trace objects and line colors of Data 1, Data 2, and Data 3 designated in the Trace
Setting box are displayed. The line color can be changed in this tab page.
Select whether the trace graph of Data 1, Data 2, or Data 3 is to be displayed or not.
Data Tab
I/O Tab
The trace objects and line colors of I/O 1, I/O 2, and I/O 3 designated in the Trace Setting
box are displayed. The line color can be changed in this tab page.
Select whether the trace graph of I/O 1, I/O 2, or I/O 3 is to be displayed or not.
I/O Tab
Measurement Axis Tab Page

This tab page displays the axis numbers of the axes that were traced.
Select the check boxes to display the trace graphs for those axes. Clear the check boxes to
hide the trace graphs for those axes.
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4.6 Tracing
Toolbar Details
(Open) Button
The trace data file can be loaded in the Open dialog box. To load the file, click the
button. The Open dialog box appears.
When the Button is Clicked in the Trace Main Window
Open
Click Open to load the selected trace file.
Cancel
Click Cancel to return to the Trace main window without loading the file.
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4.6 Tracing
(Save As) Button
The on-screen trace graph can be saved to a file. To save the graph, click the button.
The Save As dialog box appears.

The default file name is the current time (yyyymmddhhmmss).
Save
Click Save to save the data to the selected trace file. Automatically returns to the Trace
main window when no file is selected.
Click Yes to overwrite the already existing file. Click No to return to the Save As dialog
box without saving the file.
Cancel
Click Cancel to return to the Trace main window.
INFO If the saved file is opened using a SigmaWin+ version number that does not support Data 3 and
I/O 3 for trace, the contents of only Data 1, Data 2, I/O 1 and I/O 2 are read-in.
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4.6 Tracing
(Print) Button
The graph and data on the Trace main window can be printed. To print the graph and data,
click the button. The Printing Item Setting dialog box appears.
Header & Footer Tab
Printing Items Tab When the Overlapping Printing Items Tab When the Overlapping
Function Is Not Effective Function Is Effective
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4.6 Tracing
Cover
Select Attaching the Cover, and the click Cover Editing. For details, see Chapter 3.

To enter your printing preferences or specifications, click the tab whose options you want to
enter or change, and enter the desired settings.
Overlapping
Selecting the overlapping check box prints not only the overlapped trace graph but also
each trace graph before overlapping. Click to clear the check box and only the overlapped
trace graph is printed.
Color Selection
After setting is finished, click OK. The document appears on the screen the way it will
appear in print.
<When the Overlapping Function Is Not Effective>
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4.6 Tracing
<When the Overlapping Function Is Effective>

The following overlapped trace graph is displayed first, and then each trace graph before
overlapping is displayed.
To print the document as is without any changes, click Print.

To return to the Printing Item Setting dialog box and change some settings, click Editing of the
Printing Items.
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4.6 Tracing
(Measurement Conditions) Button

The conditions for measuring the trace can be viewed. To view the conditions, click the
button. The Measurement Condition dialog box appears. If not already selected, click
the Measurement Conditions tab to view the conditions for measuring the trace.
Measurement Conditions Tab
Parameter Tab
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4.6 Tracing
Comment Tab
Click the Comment tab and type any comments.
OK
Click OK to save comments and return to the Trace main window.
Cancel
Click Cancel to return to the Trace main window without saving the comments.
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4.6 Tracing
(Cursor) Button
The information for the location where a cursor is shown can be viewed. Information for
the cursor locations A and B can be viewed.
The color of cursor locations A and B can be changed.
Display the data using the following procedure.
1. Click the button. The Cursor setting box appears and two vertical bars will be
displayed on the trace graph.
2. Move each cursor. As you move each cursor, the data changes in the "Cursor" of the
Cursor setting box.
Displays the frequency between
cursors A and B when "Vertical"
is selected.
Cursor A
Cursor B
3. To view the trace target, select Horizontal in the Cursor setting box. Two horizontal
bars (A and B) will be displayed.
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4.6 Tracing
4. Move each cursor. As you move each cursor, the data changes on the Cursor setting
box.
The distance between two horizontal or vertical
bars can be fixed so that moving either cursor A or
B moves the two horizontal or vertical bars in
parallel as one unit.
Use this function for comparison of distance on the
trace graph.
Cursor B
Cursor A
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4.6 Tracing
(Zoom) Button
A view of an area selected by the mouse can be magnified. Zoom in on an area using the
following procedure.

2. Position the mouse at one corner of the area you want to select, and drag to the opposite
corner. A line will appear around the selected area.
Area designated by the Mouse
Area to be Magnified
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4.6 Tracing
3. Release the left mouse button. The selected area of the graph is enlarged.
Magnified Area
4. Click the button to view the original graph.
If you use the Zoom button before clicking Start on the Trace main window, the trace graph
will be displayed while the designated area is still enlarged.
INFO
This is effective when doing a serial trace.
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4.6 Tracing
(Clipboard Copy) Button

The displayed screen can be copied to the clipboard. It can be exported to Word or Excel by
using this button.
Click the button, and the Clipboard Copy dialog box appears.
Area to be copied
Select the area to be copied to the clipboard.
Graph display color selection

Select the graph and background color. The graph can be clearly printed when the Black
and white option or the White background check box is selected.
OK
Click OK to copy the selected area to the clipboard.
Cancel
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4.6 Tracing
(Save As CSV) Button

The on-screen trace graph can be saved in CSV format. The trace data can be edited by
Excel. Click the button. The Save As dialog box appears.

Save
Click Save to save the data to the selected CSV file.
Cancel
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4.6 Tracing
An Example of Using the Trace Function

In this example of how to adjust the servo using the trace function, the positioning
completed time is being reduced. The positioning completed time is the time from the
completion of the command until the /COIN signal is formed.
1. Click the (Cursor) button in the Trace main window. Check the positioning
completed time using the cursor.
This graph shows the results of a trace carried out using the factory settings. (Pn100:
speed loop gain = 400 [0.1 Hz]; Pn101: speed loop integral time constant = 2000 [0.01
ms]; Pn102: positioning loop gain = 400 [0.l/s].
Trace object: Data 1 = Position Reference Speed
Data 2 = Speed feedback
I/O 1 = /COIN signal (positioning completed)
I/O 2 = /TGON signal (motor running)
Trigger conditions: Falling edge of reference pulse speed 0 min-1
Pre-trigger: 20%
(We are using this setting to trigger the completion of the command.)
When in this condition, the positioning completed time is 128 ms
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4.6 Tracing
2. To adjust the positioning completed time, modify the values of the parameters.
Click the button to view Online Parameter Editing box.
3. Click the or button to raise or lower the gain.

(Pn100=800, Pn102=800, Pn101=1000)
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4.6 Tracing
4. Check the positioning completed time on the Trace main window.

The positioning completed time has been reduced to 55 ms.
Because the machine is still not vibrating, increase the gain some more.
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4.6 Tracing
5. Click the button to view the Online Parameter Editing box again and then change
the values.
(Pn100=1000, Pn102=1000, Pn101=800)
6. Check the positioning completed time on the Trace main window.

The positioning completed time has been reduced to 39 ms.
7. Repeat steps 2 to 4 until you get the target positioning completed time.
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4.7 Tuning
4.7 Tuning
WARNING
The tuning function executes tuning for the SERVOPACK. Using this function while
the motor is running is dangerous. Before executing this function, be sure to carefully
read this manual. Special care must be taken for the following.
Before executing this function, make sure that the emergency stop (power off)
can be activated when needed.
The response speed may change considerably during tuning. Before executing this
function, make sure that the emergency stop (power off) can be activated when
needed.
Confirm the safety of the area adjoining the drive unit.
Before executing this function, always confirm that the area within the motor motion
range and direction is clear for safe operation.
Provide protective devices to ensure safety in the event of overtraveling or other
unexpected movement.
Always confirm that there is no position error before running the motor.
Be sure to return to the origin and reset the position prior to normal operation.
Running the motor without resetting the origin can lead to an overrun and is
extremely dangerous.
When this function is used for a vertical axis, check the safety of the system.
When this function is used for a vertical axis, confirm that the axis level does not
drop when the servo is turned off.
<Tuning Precautions>
Set the moment of inertia (mass) ratio first.
The moment of inertia (mass) ratio must be set to achieve correct tuning.
Be sure to set the ratio. The setting can be performed from the Tuning window.
If vibration is generated, execute custom tuning.
Lower the gain until there is no vibration by executing custom tuning.
Note: While tuning, you can read the precautions related to the process. Click the
Precautions button provided in each tuning window.
The tuning function allows you to smoothly carry out tuning of your servo system.
The tuning function calculates the moment of inertia ratio and sets a servo gain suitable for
the machine characteristics. The optimal gain is set to avoid vibrations.
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Structure
The following flowchart shows how the tuning function works.
Tuning main window Moment of inertia (mass) ratio identification
Autotuning
Custom tuning
When more advanced

adjustment is required
Gain switching
when motor/machine is stopped
Set the moment of inertia ratio first, and select autotuning to execute.
If more advanced adjustment is required after autotuning, execute custom tuning.
To reduce vibrations when the motor or machine is stopped, execute Gain switching while
the motor/machine is stopped.
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Tuning Main Window

Open the Tuning main window using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Tuning and then click
Tuning.
Click Cancel to return to the SigmaWin+ -V-MD component main window without
executing tuning.
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2. Click Execute. The Tuning main window appears.
Tuning Main Window
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Moment of Inertia Identification
When automatically setting the moment of inertia ratio:

Click Execute in the main window, and the moment of inertia identification process will
start.
See 4.7.1 Moment of Inertia (Mass) Identification for details on moment of inertia
identification.
When the moment of inertia is identified, a message will ask you to execute software reset.
Click OK to execute software reset. See 4.5.9 Resetting the SERVOPACK by Software for
the software reset function.
When manually setting the moment of inertia ratio:

Click Edit and enter a value in the input field. Click OK.
Autotuning
Select the Position reference input or No reference input option under Reference input
from host controller, and then click Autotuning.
Autotuning with reference input (when the Position reference input option is
selected):
The servo gain is automatically adjusted while running the motor by the reference from the
host controller. If vibration is generated during adjustment, the vibration suppression
function can be used. See 4.7.2 Autotuning with Reference Input for details.
Autotuning without reference input (When the No reference input option is
selected):
The servo gain is automatically adjusted while running the motor by the SERVOPACK
internal reference (auto-run). See 4.7.3 Autotuning without Reference Input for details.
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When More Advanced Adjustment is Required after Autotuning

Click Advanced adjustment when more advanced adjustment is required after autotuning.
The Tuning box will appear.
Custom tuning
The gain can be manually adjusted. If vibration is generated during adjustment, the anti-
resonance control adjustment function and vibration suppression function can be used. See
4.7.4 Custom Tuning for details.
Gain switching
The settings to suppress vibration while the motor and machine are stopped can be made.
This button is not supported for the -V-MD.
When tuning is completed, click Finish to quit the tuning function.
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4.7.1 Moment of Inertia (Mass) Identification
WARNING
Using the moment of inertia (mass) identification function while the motor is running
is dangerous.
Before using this function, be sure to check this manual.

The motor rotates (moves for linear motor) for 0.5 sec. per running/measurement
while using this function.
Make sure that there is no danger in running the motor before executing this function.
During operation of this function, the motor will rotate (move) in both the forward
and reverse directions per running/measurement. Before using this function, make
sure that there is sufficient area to turn (move) corresponding to the setting. If this
function is used repeatedly, the starting position may shift. Check the starting position
before running the motor or measuring.
When this function is used for a vertical axis, check the safety of the system.
When this function is used, confirm that the axis level does not drop when the servo
is turned off.
Always confirm that there is no position error after execution of this function.
Because the motor is driven by an internal reference, be sure to return to the origin
and reset the position prior to normal operation. Running the motor without resetting
the origin can lead to an overrun and is extremely dangerous.
Execute the software reset function or turn the power off and then on again
after the completion of this function.
An alarm will occur when the servo is turned on by a command from the host control-
ler after execution of this function. Execute the software reset function, or turn the
power off and then on again.
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Load moment of inertia (mass) can be regarded as a standard parameter when adjusting
control parameters. Although the load moment of inertia (mass) ratio can be derived by
calculation based on the mass and structure of the machine components, this is a very
cumbersome operation in which deriving correct values for the complex structures of
today's machines is very difficult.
The moment of inertia (mass) identification method of SigmaWin+ -V-MD component
can obtain accurate and high-quality moment of inertia (mass) values simply by running the
motor several times forward and backward.
The following flowchart shows how the moment of inertia (mass) is identified.
Start
Reference Condition Setting
Reference Transfer
Operation/Measurement
Writing Results
End
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Moment of Inertia (Mass) Identification Boxes

Open the moment of inertia (mass) identification boxes using the following procedure.
Click Execute in the Tuning main window. The Condition Setting box will appear.
The boxes displayed here are those displayed when using a rotary motor.
Setting the Conditions

Set the conditions for identifying moment of inertia (mass) in the Condition Setting box.
Condition Setting Box
Speed Loop Setting

Set the speed loop gain and integral time constant.
Edit
Click Edit to view the Speed Loop-Related Setting Change box.
Identification Start Level

Set the moment of inertia (mass) identification start level.
Help
Click Help to open the window for guidelines on the reference condition settings.
See <Guidelines for Reference Condition Settings> for details.
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Reference Selection
Select the reference pattern for identifying the moment of inertia (mass). (Recommended
method.)
Detailed Setting
Create the reference pattern for setting the moment of inertia (mass) by changing the values
with the slider or by directly entering the values.
Next>
Click Next to view the Reference Transmission box.
Cancel
Click Cancel to return to the main window without changing the conditions.
Confirm
Click Confirm to view the reference wave.
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<Guidelines for Reference Condition Settings>

Run the motor to measure the loads inertial moment (mass) of the mechanism to compare
it with the rotors inertial moment (coil assembly mass for linear motor) of the motor in
the moment of inertia (mass) ratio.
Set the driving mode, reference pattern (maximum acceleration, maximum speed, and
maximum moving distance), and parameters related to the speed loop.
Accurate measurement of the moment of inertia (mass) ratio depends on the settings. See
the measurement results to determine the proper settings. See the following guidelines for
each setting.
Reference Selection
The motor turns (moves) with the references as shown in the following graph for a forward
run and a reverse run. The following references are for a rotation (movement) in a forward
run. Select a reference pattern from the Reference Selection box (recommended method) or
create the reference pattern by directly entering the values.
As the setting for maximum acceleration increases, the accuracy of the inertia identification
tends to improve.
Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and
set the maximum acceleration within the operable range.
Speed [min-1] (For linear motor: [mm/s])
+ Reference
speed
Time[ms]
Reference
speed
CAUTION
The amount of movement is the value for each operation (a forward run or a
reverse run). After several operations, the operation starting position may
have moved in either direction. Confirm the operable range before each mea-
surement and operation.
Certain settings for the parameters or inertia size of the mechanism may
result in overshooting or undershooting, and cause the speed to temporarily
exceed the maximum speed. Allow a margin when making the settings.
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Speed Loop Setting

If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be
measured accurately.
The speed loop setting to get the required response for the moment of inertia (mass) setting
is already set to the default setting. Normally, this setting does not have to be changed.
If this speed loop gain is too high, and is causing excitation in the mechanism, lower the
setting. However, do not set it to a value that is higher than the default setting.
Identification Start Level

With a heavy load or low-rigidity machine, torque limit may be applied and the moment of
inertia identification may fail.
In this case, double the identification start level and execute identification again.
INFO If the moment of inertia (mass) ratio cannot be measured accurately

If the torque (force) is limited, the moment of inertia (mass) ratio identification cannot be made
correctly. Adjust the setting of the limit or decrease the acceleration in Reference Selection so
that the torque (force) will not be limited.
See "Torque (Force) Limit" in the SERVOPACK users manual for details of the torque (force)
limiting function.
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Reference Transmission
Transfer the reference conditions to the SERVOPACK. Click Start in the Reference
Transmission box to begin the transfer.
Reference Transmission Box
Start
Click to Start to transfer the reference conditions to the SERVOPACK. A progress bar
displays the progress status of the transfer.
Cancel
The Cancel button is available only during the transfer to the SERVOPACK. After the
transmission is finished, it is unavailable and cannot be selected.
Next>
The Next button is available if the data is transferred successfully. If an error occurs or if
the transmission is interrupted, it is unavailable and cannot be selected.
Click Next to view the Operation/Measurement box.
<Back
Click Back to return to the Condition Setting box. The Back button is unavailable during a
data transfer.
Cancel
Click Cancel to stop processing and return to the main window.
After the data has been successfully transferred, click Next, and the Operation/
Measurement box appears.
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Operation/Measurement
In the Operation/Measurement box, run and measure the actual motor. Measurements are
taken two to seven times and then verified.
Run the motor and take measurements using the following procedure.
1. Click Servo ON to turn on the servo power.
2. Click Forward to take measurements by turning (moving) the motor forward.

After the measurements and the data transmission are finished, the following window
appears.
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3. Click Reverse to take measurements by turning (moving) the motor in reverse.

appears.
4. Repeat steps 2 through 3 until all the measurements have been taken.
The actual number of times the measurements have been taken is displayed in the upper
left part on the screen.
The progress bar displays the percentage of data that has been transferred.1
5. After the measurement has been successfully completed, click Servo ON to turn to the
servo OFF status.
6. Click Next, and the Write Results box appears.
When Next is clicked without turning to the servo OFF status, the following message
appears.
Click OK to turn to the servo OFF status.
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Writing Results
In the Write Results box, set the moment of inertia (mass) ratio calculated in the operation/
measurement to the parameters.
Write Results Box
Identified Moment of Inertia (Mass) Ratio

Displays the moment of inertia (mass) ratio calculated in the operation/measurement.
Writing Results
Click Writing Results to assign the value displayed in the identified moment of inertia
(mass) ratio to SERVOPACK parameter Pn103.
Pn103: Moment of Inertia (Mass) Ratio

Displays the value assigned to the parameter.
Click Write Results, and the new ratio calculated from the operation/measurement will be
displayed.
<Back
The Back button is unavailable.
Cancel
Click Cancel to return to the main window.
Finish
Click Finish to return to the SigmaWin+ -V-MD component Main window. If Pn103
(Moment of Inertia (Mass) Ratio) has been changed, that new value will remain.
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4.7.2 Autotuning with Reference Input
WARNING
Executing the autotuning function with reference input while the motor is running is
dangerous.
Before executing this function, make sure that the emergency stop (power off) can be
activated when needed.
And, provide protective devices to ensure safety in the event of overtraveling or other
unexpected movement.
Check the position reference to be input.
This function executes tuning using the position reference from the host controller.
Make sure that the SERVOPACK is ready to receive the reference from the host con-
troller before using this function. In the tuning sequence of this function, a /COIN
signal is used to judge whether or not positioning is completed. Therefore, it is neces-
sary to output a /COIN signal at every completion of positioning. If no /COIN signal
is output within approx. 10 seconds after completion of position reference distribu-
tion (position reference = 0), an error will occur.
This autotuning uses reference inputs from the host controller, and sets a servo gain suitable
for the machine characteristics. The gain is set as high as possible to avoid vibrations.
To execute autotuning using reference inputs from the host controller, use the following
procedure.
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1. Select the Position reference input option under Reference input from host
controller in the Tuning main window, and then click Autotuning. The Autotuning-
Setting Conditions box will appear.
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2. Select the mode from the Mode selection combo box and the mechanism from
Mechanism selection combo box, and then click Next. The Autotuning-Moment of
Inertia Ratio Setting box will appear. When the Start tuning using the default
settings. check box is selected in the Autotuning-Setting Conditions box, tuning will be
executed using tuning parameters set to the default value.
3. Enter the correct moment of inertia ratio and then click Next. The following window
will appear.
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4. Turn the servo on and then input the reference from the host controller. Click Start
tuning to start tuning.
Vibration generated during tuning is automatically detected and the optimum setting for
the detected vibration will be made. When setting is completed, the LED indicator
lamps (bottom left of the box) of the functions used for the setting will light up.
5. When tuning is complete, click Finish. The results of tuning will be written in the
parameters.
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4.7.3 Autotuning without Reference Input
WARNING
Executing the autotuning function without reference input while the motor is running
is dangerous.
This function starts automatic operation with vibration. Before executing this func-
tion, make sure that the emergency stop (power off) can be activated when needed.
Confirm that the area within the motor motion range and direction is clear for safe
operation. Provide protective devices to ensure safety in the event of overtraveling or
other unexpected movement, since the motor rotates in both directions within the set
moving range.
Check the setting of electronic gear regardless of the control mode.
With this function, the moving distance is calculated on the base of the electronic
gear ratio (parameter) not only in position control mode but also in other control
modes.
Always make sure that the electronic gear ratio is correctly set before executing this
function.
This autotuning sets a servo gain suitable for the machine characteristics.
The gain is set as high as possible for auto run within the set range to avoid vibration.
CAUTION
Two methods are available to stop autotuning without reference input while the motor
is running, and the motor will stop according to the method selected. Make sure to
select the best method for the situation.
If the SERVO OFF button is used, the motor will stop according to the stopping
method after servo off specified by the parameters.
If the CANCEL button is used, the motor will decelerate to a stop and then enter a
zero clamp state.
Note: The CANCEL button may not be used with some SERVOPACKs.
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To execute autotuning without using a reference input, use the following procedure.
1. Select the No reference input option under Reference input from host controller in
the Tuning main window, and then click Autotuning. The Autotuning-Setting
Conditions box will appear.
2. Select whether or not to use the load moment of inertia (load mass) identification from
the Switching the load moment of inertia (load mass) identification box, the mode
from the Mode selection box, the mechanism from the Mechanism selection box, and
enter the moving distance. Then, click Next.
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When the Start tuning using the default settings. check box is selected in the
Autotuning-Setting Conditions box, tuning will be executed using the tuning
parameters set to the default values.
3. Click Servo ON. The following box will appear.
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4. Click Start tuning. The motor will start rotating and tuning will commence.
Vibration generated during tuning is automatically detected, and the optimum setting
for the detected vibration will be made. When the setting is complete, the LED
indicator lamps (bottom left of the box) of the functions used for the setting will light
up.
5. When tuning is completed, click Finish. The results of tuning will be written in the
parameters.
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4.7.4 Custom Tuning
WARNING
The custom tuning function is used to adjust servo gains.

When tuning is initiated by this function, some parameters will be overwritten with
the recommended values. As a result, the response speeds may change considerably.
Before executing this function, make sure that the emergency stop (power off) can be
activated when needed.
Set a correct moment of inertia (mass) ratio to execute this function.
If not correctly set, vibration may be generated.
Note the timing when the feed forward level setting is validated.
The set feed forward level will not be immediately validated, but will be validated
after the Positioning Completion signal (/COIN) is output.
This custom tuning adjusts servo gains by manually adjusting the feed forward level and
feedback level. If vibration is detected during tuning, the anti-resonance control adjustment
function and the vibration suppression function can be used. Use custom tuning for fine
adjustment of gains as well as for autotuning.
Either one of the following two methods of custom tunings can be executed by selecting the
tuning mode.
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When the tuning mode is set to 0 (servo gains with priority given to stability)
or 1 (servo gains with priority given to response)
This custom tuning enables multiple servo gains to be set to stable conditions merely by
manipulating one tuning level. If vibration is detected during tuning, the notch filter/anti-
resonance control auto setting function is provided to suppress it. The anti-resonance
control adjustment function can also be manually set during tuning.
When the turning mode is set to 2 (servo gains with priority given to
positioning application) or 3 (servo gains with priority given to prevention of
overshooting in positioning applications)
This custom tuning enables not only multiple servo gains to be set to stable conditions but
also realizes reduction of positioning time by manipulating two tuning levels. This tuning
uses the following-model control to reduce positioning time. In addition to the notch filter/
anti-resonance control auto setting function in case of vibration occurrence during tuning, a
function to automatically set friction compensation is provided. The anti-resonance control
adjustment function and the vibration suppression function can also be manually set during
tuning.
INFO Autotuning can be executed as the final step to keep balance among servo gains.
Custom Tuning - Adjust Box when Tuning Mode is Set to 0 or 1
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Custom Tuning - Adjust Box When Tuning Mode is Set to 2 or 3
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4.7 Tuning
Execute custom tuning using the following procedure.

The procedure described here is for when the tuning mode is set to 2 (servo gains with
priority given to positioning application).
1. Click Advanced adjustment in the Tuning main window, and then click Custom
tuning in the Tuning box that will appear. The Custom Tuning - Mode selection box
will appear.
The tuning modes that can be selected will vary according to the SERVOPACK setting.
2. Select the tuning mode from the Tuning mode box and the mechanism from the
Mechanism selection box, and then click Next. The Friction compensation option is
available only when the tuning mode is set to 0 or 1.
The Custom Tuning - Moment of Inertia Ratio Set box will appear.
Enter the correct moment of inertia ratio.
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3. Click Next. The Custom Tuning - Adjust box will appear.
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4. Turn the servo on and input the reference from the host controller. Then, click Start
tuning to begin tuning.
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5. Change the feed forward level by clicking the setting arrows. Continue to raise the level
until an overshoot occurs.
INFO The set feed forward level will not be applied until the Positioning Completion signal /COIN is
output. After you change the tuning level, proceed to step 7.
INFO When the tuning mode is set to 0 or 1, change the tuning level by clicking the setting arrows.
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6. Change the feedback level by clicking the setting arrows. Continue to raise the level
until no overshoot occurs.
7. Repeat steps 5 and 6 to continue tuning.

The notch filter/anti-resonance control auto setting function, the anti-resonance control
adjustment function, the vibration suppression function, or autotuning with reference
input can be used as required.
See Functions To Suppress Vibration for details.
To reset to the original settings and status, click Back.
8. When tuning is complete, click Completed. The settings will be written in the
SERVOPACK.
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4.7 Tuning
Functions To Suppress Vibration

<Notch Filter/Anti-resonance Control Adjustment Auto Setting Function>
For vibration frequencies above 1,000 Hz when servo gains are increased, the notch filter
auto setting function provides effective suppression. For vibration frequencies between 100
and 1,000 Hz, the anti-resonance control adjustment auto setting function is effective.
Auto Setting
To use auto setting, enable the notch filter/anti-resonance control adjustment auto setting
function by using parameters.
During tuning, the notch filter frequency (anti-resonance control frequency for the anti-
resonance control adjustment auto setting function) effective for the detected vibration is
automatically set and displayed in 1 step or 2 step (in Anti-res Adj when using the anti-
resonance control adjustment auto setting function).
Window with Notch Filter Automatically Set
Cancel
If the automatically set notch filter frequency (or anti-resonance control frequency) does
not effectively suppress vibration, click Cancel to reset to the preceding frequency.
When the frequency is reset, vibration detection will restart.
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Vib Detect (vibration detection)

While the notch filter/anti-resonance control adjustment auto setting function is enabled,
click Vib Detect (vibration detection) to manually detect vibration. The SERVOPACK
detects vibration at the moment Vib Detect (vibration detection) is clicked, and the notch
filter frequency (or anti-resonance control frequency) effective for the detected vibration is
set and displayed in 1 step or 2 step (or in Anti-res Adj). Manual vibration detection can
also be executed when the SERVOPACK does not detect vibration.
Anti-res Ctrl Adj (anti-resonance control)
Click Anti-res Ctrl Adj (anti-resonance control) to execute the anti-resonance control
function if further adjustment is required. See 4.7.5 Anti-resonance Control Adjustment
Function for details.
<Vibration Suppression Function>

This function is used to suppress low-frequency (1 to 100 Hz) vibrations for which neither
the notch filter nor anti-resonance control adjustment functions are effective. When a
vibration for which the vibration suppression function can be used is detected, the Vib
Suppress (vibration suppression) button will blink.
Vib suppress (vibration suppression)
Click Vib suppress (vibration suppression) to execute the vibration suppression function.
See 4.7.6 Vibration Suppression Function for details.
<Autotuning with Reference Input>

To Autotuning
Click To Autotuning to execute autotuning using reference inputs from the host controller.
See 4.7.2 Autotuning with Reference Input for details.
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4.7.5 Anti-resonance Control Adjustment Function
CAUTION
The anti-resonance control adjustment function supports the adjustment of anti-reso-

nance control effective for vibration frequencies from 100 to 1,000 Hz when servo
gain is increased.
This function will automatically set parameters when used. As a result, the response
speeds may change considerably after execution. Before executing this function,
make sure that the emergency stop (power off) can be activated when needed.
The moment of inertia (mass) must be correctly set to execute this function.
If it is not correctly set, satisfactory anti-resonance control cannot be achieved.
This function is generally only used to adjust the servo gain, as you should
avoid considerable change in the frequency.
If the frequency is changed while the anti-resonance control adjustment function is
being used, the current anti-resonance control effect will be lost. Care must be taken
when automatic frequency detection is executed in Auto Detect mode.
If vibration cannot be suppressed by executing this function, cancel execution
and reduce the servo gain by other methods such as custom tuning.
Use an adjustment method such as custom tuning to improve response char-
acteristics after executing this function.
When the servo gain is increased during an adjustment such as custom tun-
ing, vibration may be generated again. In this case, execute the anti-reso-
nance control adjustment function again for fine adjustment.
The anti-resonance control adjustment function supports the adjustment of anti-resonance

control effective for vibration frequencies from 100 to 1,000 Hz when servo gain is
increased. Vibration can be suppressed by setting vibration frequency by auto detection or
by manual setting to adjust damping gain. Input a reference and execute this function when
there is vibration.
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To execute the anti-resonance control adjustment function, use the following procedure.
1. In the Tuning main window, click Advanced adjustment, Custom tuning, and then
Anti-resonance control. The Anti-resonance Control Adjustment Function box will
appear.
2. Click Auto Detect or Manual Set to set the frequency.
Auto Detect
Click Auto Detect. The SERVOPACK will automatically analyze the frequency and set the
optimum frequency.
Manual Set
Click Manual Set to view the currently set frequency. When the anti-resonance control
adjustment function is not effective, the displayed frequency can be manually adjusted by
clicking the setting arrows.
Use this setting method if the frequency is already known.
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3. Click Start adjustment.
4. Adjust the damping gain by clicking the setting arrows.
Click Reset to reset the settings to their original values during adjustment.
5. When the adjustment is complete, click Finish. The set values will be written in the
SERVOPACK.
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4.7.6 Vibration Suppression Function
CAUTION
The vibration suppression function suppresses vibration of low frequencies from 1 to

100 Hz, for which notch filter and anti-resonance control adjustment functions are
not applicable.
When used, this function will automatically set parameters. As a result, the response
speeds may change considerably after execution. Before executing this function,
make sure that the emergency stop (power off) can be activated when needed.
Special care must be taken because the change in the parameter settings will
be validated with the following timing:
When a parameter setting is changed while the motor is running, the change will be
validated after the signal /COIN turns on.
When there is no vibration or when the vibration frequency is outside the
detection range, the frequency will not be detected.
If vibration cannot be suppressed with the automatically detected vibration
frequency, there may be a difference between the actual vibration frequency
and the detected frequency.
Use an adjustment method such as custom tuning to improve the response
characteristics after executing this function.
The vibration suppression function is a support function mainly used to suppress transitory
vibration of low frequencies from 1 to 100 Hz generated by impact when the motor/
machine is stopped. This function is effective for vibration frequencies for which notch
filter and anti-resonance control adjustment functions are not applicable. Input a reference
and execute this function when there is vibration.
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To execute the vibration suppression function, use the following procedure.

1. In the Tuning main window, click Custom tuning, and then Vibration suppression.
The Vibration Suppression Function box will appear.
2. Click Import, or set the frequency by clicking the setting arrows.
Import
Click Import to set the monitored residual vibration frequency as the set frequency. (This
function is valid only when the residual vibration frequency is between 1.0 and 100.0.)
The set frequency can be manually adjusted by clicking the setting arrows.
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3. Click Set.
If there is still vibration, fine-adjust the set frequency by clicking the setting arrows,
and then click Set again.
Click Reset to reset the frequency to the original value during adjustment.
4. When vibration is suppressed, click Finish. The set frequency will be written in the
SERVOPACK.
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4.8 Test Run
4.8 Test Run

4.8.1 JOG Operation
WARNING
Performing JOG operation while the motor is running is dangerous.

Before executing this function, be sure to check this manual.
The motor runs at the JOG speed, while the Forward or Reverse button is pressed.
Make sure that there is no danger in running the motor before execution.
The Forward Run Prohibit (P-OT) and Reverse Run Prohibit (N-OT) signals
are disabled during JOG operation.
During operation, make sure to verify the actual operation and position of the motor
or machine.
This function turns the motor at the set JOG speed. The rotational direction and the speed
setting can be verified without connecting an upper-level controller.
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4.8 Test Run
Perform a JOG operation using the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Test Run, and then click
Jog. A warning message appears reminding you of the dangers that are possible when
using this operation.
Click Cancel to return to the main window without performing JOG operation.
<When the Write Prohibited Setting is ON>

If the write prohibited setting is ON, the following message will appear.
Click OK, and set the write prohibited setting to OFF.

See 4.5.5 Write Prohibited Setting for setting method.
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4.8 Test Run
2. Click OK, and the JOG Operation box appears.

If the servo is on, an error message will appear. Make sure that the servo is off.
Pn304: JOG Speed

Parameter Pn304 displays the JOG speed. Click Edit to change the JOG speed.
Operation
On the left, shows if the servo is on or off and the corresponding LED display.
On the right, the button changes according to the servos status. When the servo is off,
the Servo ON button appears; when the servo is on, Servo OFF button appears.
3. Check the JOG speed. To change the JOG speed, click Edit.
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4.8 Test Run
4. Click Servo ON.
5. Press Forward or Reverse. A JOG operation is performed only while one of these
buttons is pressed.
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4.8 Test Run
4.8.2 Program JOG Operation
WARNING
Using the program JOG operation function while the motor is running is dangerous.
Before executing this function, be sure to check this manual.
Pay particular attention to the following items.
The motor actually runs based on a preset pattern when this function is used. Make
sure that there is no danger in running the motor before actually using it.
Confirm the position of the machine.
Reset the machine position using the Origin Return function before using the pro-
gram JOG function.
This function allows automatic operation determined by the preset pattern of operation.
CAUTION
Two methods are available to stop program JOG operation while the motor is run-
ning, and the motor will stop according to the method selected. Make sure to select
the best method for the situation.
If the Servo OFF button is used, the motor stops according to the stopping method
after servo off specified by the parameters.
If the Cancel button is used, the motor coasts to a stop and then enters a zero clamp
state.
Note: The Cancel button may not be used with some SERVOPACKs.
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4.8 Test Run
To perform the JOG operation for a particular pattern, use the following procedure.
1. In the SigmaWin+ -V-MD component main window, click Test Run and then click
Program JOG Operation. A warning message appears, reminding you of the possible
dangers.
Click Cancel to return to the main window without performing program JOG
operation.
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4.8 Test Run
2. Click OK, and the Running Condition Setting box appears.
3. Set the running conditions and click Apply. The graph for the operation pattern is
displayed.
4. Click Run and the Program JOG Operation box appears.
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4.8 Test Run
5. Click Servo ON and Execute. The program JOG operation starts.
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4.9.1 Mechanical Analysis Function
Function Outline
Mechanical Analysis
This function measures the frequency characteristics of a mechanical system where a
SERVOPACK is connected to a PC. It enables the measurement of mechanical frequency
characteristics without the use of special equipment.
SGMMV Servomotor
Motor Motor
Speed Speed
Excitation Excitation
Reference Reference
PC
The function applies a mechanical excitation from the motor and measures the speed
frequency characteristics in relation to the motor torque (force for linear motor).
This allows the function to ascertain the resonance of the mechanical system from the
measured frequency characteristics.
This function ascertains the mechanical resonance and uses it as a reference for servo tuning
and mechanical changes. Study of mechanical changes is necessary because the servo
performance cannot be fully realized according to the machine rigidity. This will become a
direction (reference value) for adjustment of parameters such as those for servo rigidity, and the
torque (force) filter time constant, in servo tuning.
Also, it will be used for the notch filter setting and parameter inputs (Pn110 and later) used in
high-speed machine positioning such as the machine control functions.
See the User's Manual for more information on the operations that use the mechanical reso-
nance as a reference value.
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WARNING
Using the mechanical analysis function while the motor is running is dangerous.
Before executing a mechanical analysis, be sure to check this manual.
Check the safety of the area adjoining the drive units.
The motor runs for 2 sec. maximum per excitation/measurement while using this
function.
Make sure that there is no danger in running the motor before execution.
Correctly set the allowable rotation (movement).
Damage to the machine due to overrun, etc., may result if this is not set properly.
Also, there is a limit to the allowable rotation (movement) per excitation/measure-
ment. The excitation starting position may deviate if excitation is performed multiple
times. Be sure to check this before excitation/measurement.
When the mechanical analysis function is used for a vertical axis, check the
safety of the system.
When the mechanical analysis function is used for a vertical axis, select Vertical
mode from Driving Mode Selection and confirm that the axis level does not drop
when the servo is turned off.
Always reset the origin after quitting the mechanical analysis function.
The mechanical analysis function causes the position to deviate because it executes
motor excitation by the torque (force) reference. After quitting this function, be sure
to return to the origin and reset the position before regular operation of the motor.
Running the motor without resetting the origin can lead to an overrun and is
extremely dangerous.
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Frequency Characteristics
The analysis function ascertains machine characteristics by applying an excitation to the
machine using the motor, and measuring the frequency characteristics from the torque
(force) to the motor speed. In a typical machine the resonance frequency becomes clear if
the gain and phase are graphed (Bode Plot) as shown in Figure below. The Bode Plots show
the size of the response of the machine to which the torque (force) is applied (gain), and the
phase delay (phase) of the response for each frequency. The machine resonance frequency
can be ascertained from the maximum frequency of the valleys (anti-resonance) and peaks
(resonance) of the gain and the phase delay.
In a motor unit and rigid machine the gain and phase change gradually in the board line.
Motor Load
J1 J2
K
Spring
. K
J2
Resonance *
*
(J
K 1 +1 )
1 J2
Frequency Characteristics of the Inertia Model
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Structure
The following flowchart shows how the mechanical analysis function works.
Wizard Format
Main Window Analysis Start Reference Setting Guidance

Conditions Setting
Open Reference
Conditions Setting
Reference Transfer
Save As Reference
Condition Settings
Excitation/Measurement
Setting Guidance
Zoom
Return to default
Cursor
Open
Save As
Properties
Print
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Analysis
A mechanical analysis wizard will lead you through the steps of analyzing a connected
SERVOPACK. The following flowchart shows the steps involved in analyzing the
frequency characteristics.
Analysis Start
Reference Transfer
Analysis End
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Main Window
Open the main window of the mechanical analysis function using the following procedure.
In the SigmaWin+ -V-MD component main window, click Solution, and then click
Mechanical Analysis. A warning message appears reminding you of the dangers that are
possible when using this operation.
(Although the following windows describe the rotary motor, all instructions, warnings etc.
apply to both rotary and linear motors.)
Click Cancel to return to the SigmaWin+ -V-MD component main window without
carrying out mechanical analysis.
Click OK, and the Mechanical Analysis main window appears.
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Mechanical Analysis Main Window
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In the Mechanical Analysis main window, click START, and the Reference Conditions
Setting box appears. Select the conditions for exciting the machine with the motor and
measuring the frequency characteristics.
Reference Conditions Setting Box
Driving Mode Selection

Horizontal mode: Excite the motor with the torque control.
Do not use this mode for the vertical axis. The load may droop.
Vertical mode: Excite the motor with the position control.
The servo ON status is maintained during the motor run/measurement. The SERVOPACK
will not turn to servo OFF status automatically.
Use this mode for the vertical axis. A control such as notch filter is applied to this mode, so
the characteristics differ from those of the horizontal mode.
CAUTION
Always confirm that the gain setting is stable before starting operation in verti-
cal mode. Because position control is applied in vertical mode, the motor may
vibrate if not stable.
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Sampling Time/Measurement Frequency/Excitation Time

Select a sampling time. The sampling time must be selected from the list. The shorter the
sampling time, the higher the measurable frequency and the shorter the excitation time will
be. If the sampling time is shortened, however, the frequency resolution will be degraded
and the measurement accuracy, particularly at low frequencies, will be lowered. The
sampling time determines the measured frequency and excitation time. First, select a short
sampling time, and then determine the best sampling time while checking the measurement
results.
Excitation Signal
The type of excitation signal is assumed to be only cycle wave.
Excitation Amplitude (1 to 300%)

Select the size of the reference amplitude applying excitation to the motor as a percentage
of the ratio of size to rated torque (force). A larger excitation amplitude tends to give more
correct measurements, but an excessively large amplitude can cause overspeed (A.510) and
overcurrent (A.100) alarms. Problems with the load inertia (mass for linear motor) and the
balance would cause the alarms to occur, and accurate measurements would be impossible.
Also, the excitation amplitude must be set to a value below the "Torque (Force) Limit".
Remember that the accurate measurement is not possible if the torque (force) is restricted
during excitation.
See the user's manual for the individual SERVOPACK for details on the Torque (Force)
Limit function.
Allowable Rotations (1 to 1000)

(Allowable Movements (1 to 1000 mm) for linear motor)
Select the limit of motor rotations (movements) during measurement. If the allowable
number of rotations (movements) is exceeded, the motor will stop by zero clamp function
and measurements will be halted. Consider the deceleration ratios for the pulley radius, ball
screws, and so on, and then select a number of motor rotations (movements). When
reducing the number of motor rotations (movements), also reduce the excitation amplitude
and the sampling time.
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CAUTION
The allowable rotations (movements) is a restriction for each excitation
period. In multiple excitation applications, the excitation start position might
shift. Check the range of motion each time excitation is applied.
Detection of the allowable rotation (movement) in the SERVOPACK may be

delayed by a maximum of 2 ms. If so, operation may exceed the settings due
to factors such as inertia (mass) size and interference from speed. Include a
margin when setting the allowable number of rotations (movements).
No. of Measurements (1 to 5 sets)

Select the number of times that the measurements should be taken to get an average of the
measurements. One set is a back-and-forth operation that starts excitation or measurement
from the forward side and excitation/measurement from the reverse side. More
measurement iterations tends to yield more accurate measurements, but the time required
for measurement increases.
Line Color
Select the colors of the lines used in the graph of the measurement results.
Open
In the Reference Conditions Setting box, click Open, and the reference conditions files are
displayed.
Open Dialog Box
Click Open to read the designated reference conditions setting file. Click Cancel to return
to the Reference Conditions Setting box without reading the file.
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Save
In the Reference Conditions Setting box, click Save, and then select the storage location for
the setting file shown in the Reference Conditions Setting box.
Save As Dialog Box
Click Save to store the file name designating the current reference conditions. Click Cancel
to return to the Reference Conditions Setting box without saving the file.
Help
Click Help to open the window for guidelines on the reference condition settings.
See <Guidelines for Reference Condition Settings> for details.
Next>
Click Next to view the Reference Transmission box.
<Back/Cancel
Click Back or Cancel to return to the Mechanical Analysis main window.
After the setup has been successfully completed, click Next, and the Reference
Transmission box appears.
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<Guidelines for Reference Condition Settings>

Run the motor to excite the machine and measure the frequency characteristics.
Set Driving Mode, Sampling Time, Excitation Amplitude, and No. of Measurements.
Accurate measurement of the frequency characteristics depends on the settings. See the
measurement results to determine the proper settings. See the guidelines for each setting.
The number of Allowable Rotations (Movements) must be set so that measurements can
be taken safely. Set the motor revolutions (movements) so the setting is within the opera-
ble range.
Driving Mode Selection

Horizontal mode is used to run a motor with torque control, and Vertical mode is used with
position control.
Use Vertical mode for a vertical axis to prevent the load from dropping (shifting).
A control such as notch filter is applied to Vertical mode, so the characteristics differ from
those of Horizontal mode.
Sampling Time [s] (Measurement Frequency [Hz], Excitation Time [ms])

As sampling time is shortened, the higher the frequencies are that can be measured and the
shorter the excitation time becomes. However, frequency resolution will deteriorate.
Measurement accuracy becomes especially poor at low measuring frequencies.
Measuring frequency and excitation time depend on the sampling time.
First, set the sampling time to a certain small value. Then see the results of the
measurement and determine the proper sampling time.
Excitation Signal: Cycle Wave (fixed)

Excites the machine with a cycle wave.
Excitation Amplitude [%/Rated torque (force)] Range: 1% to 300%

Select the size of the reference amplitude applying excitation to the machine as a
percentage of the ratio of size to rated torque (force).
A larger excitation amplitude tends to give more accurate measurements, but an excessively
large amplitude can cause overspeed (A.510) and overcurrent (A.100) alarms. Problems
with the load inertia (mass) and the balance would cause the alarms to occur, and accurate
measurements would be impossible.
Also, the excitation amplitude must be set to a value below the "Torque (Force) Limit."
Remember that accurate measurement is not possible if the torque (force) is restricted
during excitation.
See the users manual of the individual SERVOPACK for details of the Torque (Force)
Limiting function.
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Allowable Rotations [Rotation] Range: 1 to 1000 Rotations

Allowable Movements [mm] Range: 1 to 1000 mm (for linear motors)
Select the limit for motor rotations (movements) during measurement. If the allowable
number of rotations (movements) is exceeded, the motor will stop by zero clamp function
and measurement will be halted.
Consider the deceleration ratios for the pulley radius, ball screws, and so on, and then select
a number of motor rotations (movements).
When reducing the number of motor rotations (movements), also reduce the excitation
amplitude and the sampling time.
CAUTION
The allowable rotations (movements) is a restriction for each excitation

period. In multiple excitation applications, the excitation start position might
shift. Check the range of motion each time excitation is applied.
Detection of the allowable rotation (movement) in the SERVOPACK may be

delayed by a maximum of 2 ms. If so, operation may exceed the settings due
to factors such as inertia (mass) size and interference from speed. Include a
margin when setting the allowable number of rotations (movements).
No. of Measurements [Set] Range: 1 to 5

Select the number of times that the measurements should be taken to get an average of the
measurements. One set is a back-and-forth operation that starts excitation or measurement
from the forward side and excitation/measurement from the reverse side. More
measurement repetitions tend to yield more accurate measurements, but the time required
for measurement will increase.
Line Color
Select the colors of the lines used in the graph of the measurement results.
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Reference Transmission
In the Reference Transmission box, transfer the reference conditions to the SERVOPACK.
Click Start to begin the transfer.
Reference Transmission Box
Start
Click Start to transfer the reference conditions to the SERVOPACK. A progress bar
displays the progress status of the transfer.
Cancel
The Cancel button is available only during the transfer to the SERVOPACK. After the
transmission is finished, it is unavailable and cannot be selected.
Next>
The Next button is available if the data is transferred successfully. If an error occurs or if
the transmission is interrupted, it is unavailable and cannot be selected.
Click Next to view the Excitation/Measurement box.
<Back
Click Back to return to the Reference Conditions Setting box. The Back button is
unavailable during a data transfer.
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Cancel
Click Cancel to stop processing and return to the main window without transferring the
reference conditions.
After the data has been successfully transferred, click Next, and the Excitation/
Measurement box appears.
Note: Strange noises may be made by the motor during excitation or measurement, but this is not
unusual and it is not a mechanical error.
In the Excitation/Measurement box, excite the actual motor and take measurements. The
measurement will be taken the number of times designated in the Reference Conditions
Setting box.
Excite the motor and take measurements using the following procedure.
<For horizontal mode>

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2. Click Forward to take measurements by turning (moving) the motor forward. After the
measurements and the data transmission are finished, the following window appears.
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4. Click Reverse to take measurements by turning (moving) the motor in reverse. After
the measurements and the data transmission are finished, the following window
appears.
5. Repeat steps 1 through 4 until all the measurements have been taken the specified
number of times.
The actual number of times the measurements have been taken is displayed in the lower
The progress bar displays the transfer status of the current batch.
6. After the measurement has been successfully completed, click Finish to return to the
main window.
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<For vertical mode>

2. Click Forward to take measurements by turning (moving) the motor forward. After the
measurements and the data transmission are finished, the following window appears.
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3. Click Reverse to take measurements by turning (moving) the motor in reverse. After
the measurements and the data transmission are finished, the following window
appearsClick Reverse to take measurements by turning (moving) the motor in reverse.
appears.
4. Repeat steps 1 through 3 until all the measurements have been taken.
The actual number of times the measurements have been taken is displayed in the lower
The progress bar displays the transfer status of the current batch.
5. After the measurement has been successfully completed, click Servo ON to turn to the
servo OFF status.
6. Click Finish to return to the main window.
When Finish is clicked without turning to servo OFF status, the following window
appears.
Click OK to turn to servo OFF status.
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For both the horizontal and vertical modes, if the motor stops because the excitation was
excessive, an error message appears prompting you to change the settings.
Click OK to stop taking measurements and return to the main window.
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Main Window
The Mechanical Analysis main window displays the analysis results. To view the
conditions in which the analysis was done, click the Measurement tab or the Notch Filter
Setting tab.
Mechanical Analysis Main Window (Measurement Tab)
Mechanical Analysis Main Window (Notch Filter Setting Tab)
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Measurement Tab
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Gain Graph/Phase Graph

Estimated Resonance 2nd Estimated Resonance
Estimated anti-resonance frequency
Frequency Frequency Candidate
Vertical
Scroll Bar
Vertical Axis
Range Change
Box
Horizontal
Axis Range
Change Box
Vertical Scroll
Bar
Vertical Axis Range Change Box
Gain Graph and Phase Graph
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Vertical Axis Range Change Box/Vertical Scroll Bar

The individual range for the vertical axis for both the gain graph and the phase graph can be
set.
Select the range from the corresponding box. The units for the gain graph are "dB" and the
units for the phase graph are "deg."
If AUTO is selected, the range widths will be automatically adjusted so that all of the data
can be shown in the graph. When the window is too small to show all of the vertical axis, a
vertical scroll bar is displayed to allow you to view all of the axis.
The range must be selected from the list.
Vertical Axis Range Change Box
Horizontal Axis Range Change Box/Horizontal Scroll Bar

The horizontal axis range is for both the gain graph and the phase graph, and so is displayed
with a multiple. The unit of both the gain and phase graph is "Hz."
If FULL is selected, all of the data will be automatically adjusted so that the entire
horizontal axis can be displayed. When the window is too small to show all of the
horizontal axis, a horizontal scroll bar is displayed to allow you to view all of the axis
Horizontal Axis Range Change Box
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Resonance/Anti-Resonance
In case that the estimated model is double inertia model, the corresponding text boxes
display the estimated resonance and anti-resonance frequencies. The cursor shows the
positions of the estimated resonance and anti-resonance frequencies on the graph.
If the estimated candidate differs from the resonance point, a maximum of two can be
displayed. The candidates are displayed with various lines to identify them.
2nd Estimated resonance frequency candidate: Long dotted line
3rd Estimated resonance frequency candidate: Dash-dot line
Click Clear to delete the values for the estimated resonance and
anti-resonance frequencies. When the frequencies are deleted, the cursors representing their
values on the graphs are also deleted. The 2nd and 3rd candidates for the estimated
resonance frequency are also deleted.
In case that the estimated model is rigid model, the estimated resonance and anti-resonance
frequencies are not displayed. In this case, the following message appears when Display is
clicked.
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Notch Filter Setting Tab
The notch filter frequency is calculated automatically and displayed in the column of the
"Notch Filter Frequency." Click Setting and new frequency, which is compensated for
digitalization, is displayed in the column of the "Pn409: Notch Filter Frequency."
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The notch filter frequency can also be set by using the cursor. See Toolbar Details for
details on the cursor.
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Toolbar
Mechanical Analysis Window Toolbar
Toolbar Button Click this button to:

Load the mechanical analysis data file.
Open
Save a copy of the on-screen gain graph and
phase graph to a specified file.
Save As
Print the Mechanical Analysis main window.
Print
View the conditions to measure the
mechanical analysis.
Measurement Conditions
View the information for the location where
a cursor is shown.
Cursor
Enlarge the view of a selected area.
Zoom In
Restore the area shown in the window to its
usual size.
Return
Copy the displayed screen to the clipboard.
Clipboard Copy
See Toolbar Details for details on the toolbar buttons.
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Toolbar Details
(Open) Button
The mechanical analysis data file can be loaded in the Open dialog box. To load the file,
click the button. The Open dialog box appears.
When the Button is Clicked in the Main Window
Open
Click Open to load the selected measurement results data file.
Cancel
Click Cancel to return to the main window without loading the file.
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(Save As) Button

he on-screen measurement results gain graph and phase graph can be saved to a file. To
save the graph, click the button. The Save As dialog box appears.
When the Button is Clicked in the Main Window

Save
lick Save to save the data to a designated measurement results data file.
Cancel
Click to Cancel to return to the main window.
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(Print) Button
The graph and data on the Mechanical Analysis main window can be printed. To print the
graph and data, click the button. The Printing Item Setting dialog box appears.
Header Footer Tab Printing Items Tab

Printing Item Setting Box
Cover
Select Attaching the Cover, and the click Cover Editing. For details, see Chapter 3
SigmaWin+ -V-MD Component Main Window.

To enter your printing preferences or specifications, click the tab whose options you want
to enter or change, and enter the desired settings.
Color Selection
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After setting is finished, click OK. The document appears on the screen the way it will
appear in print.
To print the document as is without any changes, click Print.

To return to the Printing Item Setting box and change some settings, click Editing of the
Printing Items.
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(Measurement Conditions) Button

The conditions for measuring the mechanical analysis can be viewed. To view the
conditions, click the button. The Measurement Conditions dialog box appears. If not
already selected, click the Measurement Conditions tab to view the conditions for
measuring the mechanical analysis.
Measurement Conditions Tab
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Comments Tab
Click the Comments tab and type any comments.
OK
Click OK to save comments and return to the Mechanical Analysis main window.
Cancel
Click Cancel to return to the Mechanical Analysis main window without saving the
comments.
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(Cursor) Button
The information for the location where the vertical and horizontal cursor bars intersect can
be viewed. Information for the cursor locations A and B can be viewed.
The color of cursor location A and cursor location B can be changed.
Display the data using the following procedure.
1. Click the button. The cursor changes into a crosshairs pointer.

2. To confirm the location of the cursor, click the intersection point of the cursor bars and
the information related to its location is shown in the cursor location A box in the lower
right of the window.
Cursor A
Cursor A Selection Mode
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3. Next, confirm the cursor location B. Click the intersection point and the information
related to its location is shown in cursor location B box in the lower right of the
window.
Cursor A Cursor B
Cursor B Selection Mode
4. If you move the cursor bar with the mouse to another location and then click the
intersection point, the information in the cursor location A box changes to represent the
new location.
5. The next time you move the cursor bar and click the intersection point, the information
in the cursor location B box changes and so on everytime the location changes.
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(Zoom) Button
A view of an area selected by the mouse can be magnified. Zoom in on an area using the
following procedure.

2. Position the mouse at one corner of the area you want to select, and drag to the opposite
corner. A line will appear around the selected area.
Area Designated by Mouse
Area to be Magnified
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3. Release the left mouse button. The selected area of the phase graph as well as the gain
graph are enlarged.
Magnified Area
4. Click the button to view the original graph.
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(Clipboard Copy) Button

The displayed screen can be copied to the clipboard. It can be exported to Word or Excel by
using this button.
Click the button, and the Clipboard Copy dialog box appears.
Select the area to be copied to the clipboard.
OK
Click OK to copy the selected area to the clipboard.
Cancel
Click Cancel to return to the main window.
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Appendix A Install File List
SigmaWin+ -V-MD component installs the following files into two directories on the PC.
The application default installation directories are as follows.
Main application file C:\Program Files\SigmaIDE\SigmaWinPlusJ

\SigmaWinMDJ\Bin
Electronic manual C:\Program Files\SigmaIDE\SigmaWinPlusJ
\SigmaWinMDJ\Help
Main Application Files

File Name
BaseLib.dll SvDamping2.dll SvPoleDetect.dll
CMIF.dll SvDetVib.dll SvPrgJog.dll
CommMbus.dll SvEasyFFT.dll SvPrn.dll
CYeLib.dll SvEncAbs.dll SvRealTrace.dll
IdeInfoJ.mdb SvEngine.dll SvResponseLevelSet.dll
IdxIdxTbl.dll SvEngineIF.dll SvSReset.dll
IdxJogTbl.dll SvGainSw.dll SvTrace.dll
IdxSerialMon.dll SvGraph.dll SvTuningGuide.dll
IdxZoneTbl.dll SvInertia.dll SvUPWizard.dll
IFDCom.dll SvInfo.dll SvUser.dll
IFDMP.dll SvJog.dll SvUserConvert.dll
IFDUsb.dll SvLib.dll SvUserDirect.dll
SigmaFuncExecutor.exe SvLibC.dll SvUserLib.dll
SigmaWinMD.exe SvMecha.dll SvVibMon.dll
SvAATEx.dll SvMon.dll SvZeroPos.dll
SvAdjust.dll SvMonIo.dll YeCipher.dll
SvAdvTune2.dll SvMonSetting.dll YeCmLib.dll
SvAlarm.dll SvMotorScale.dll Yedbase.dll
SvAxisName.dll SvMultiTurn.dll YePrn.exe
SvBase.dll SvOnePara.dll YESIGMA.dll
SvChart.dll SvOpCard.dll SigmaFuncInfo.swi
SvConnect.dll SvPassword.dll
SvDamping1.dll SvPlusRes.dll
Electronic Manual
File Name
SigmaTour.chm
SigmaWinMD.pdf
A-1
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.SIEP S800001 04A

Published in Japan October 2013 13-10
Date of Date of original

publication publication
Rev.
Date of Publication Section Revised Content
No.
October 2013 First edition
AC Servo Drives Engineering Tool
SigmaWin+
ONLINE MANUAL
-V-MD Component
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310
http://www.yaskawa.com
YASKAWA ELTRICO DO BRASIL LTDA.
Avenida Piraporinha 777, Diadema, So Paulo, 09950-000, Brasil
Phone 55-11-3585-1100 Fax 55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstrae 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (CHINA) CO., LTD.
12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
2013 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800001 04A

Published in Japan October 2013 13-10
13-6-9
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AC Servo Drives Engineering Tool

MANUAL NO. SIEP S800001 04A

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

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

Furthermore, items marked with CAUTION may have important consequences

Notes on the PC Communication Function

ALARM SCROLL MODE/SET

SGDV-MDA02E8M3 A.95A A.95A

Notes on Using WindowsXP

3 SigmaWin+ -V-MD Component Main Window

1.1 Outline and Advantages of SigmaWin+-V-MD

1st 2nd 3rd

SGDV SGDV SGDV SGDV SGDV

Ethernet Connection through a Controller

MECHATROLINK-III communications cable

SGDV SGDV SGDV SGDV SGDV

Connection through a Controller on a PCI Bus

MECHATROLINK-III communications cable

SGDV SGDV SGDV SGDV SGDV

1.3 Compatible Devices

1.4 System Requirements

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

Using Ethernet Communications

When Using a Controller

SigmaWin+-V-MD Version 1.00 or later

1.5 Installing SigmaWin+ Program

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

3. Click Next to continue. The License Agreement window will appear.

6. Select the setup type.

<To install all components of SigmaWin+>

<To install selected components of SigmaWin+>

If SigmaWin+ has been successfully installed, the InstallShield Wizard Complete

9. Click Finish to complete the setup.

1.6 Removing SigmaWin+ Program

3. Click YASKAWA SigmaWin+ English Edition as the program to be removed, and

5. Click Finish to complete the removal process.

1.7 Installing and Removing Other SigmaWin+

2. Choose "Modify" and click Next.

The components with check boxes are currently installed.

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

4. Click Finish to complete the changing process.

2.1 Starting SigmaWin+

2.1.1 From the Start Menu

2.1.2 From a Shortcut

SigmaWin+ Startup Screen

2.2 Selecting a SERVOPACK

2.2.2 Offline Connection

2.2.3 Ethernet Connection

Connect Dialog Box

If the SERVOPACK is not Displayed (If Communications Are Not Possible)

2.2.4 Ethernet Connection through a Controller

4. Select Online, and click the Search Button.

1. Click Search of Controller tab.

Connectable SERVOPACKs will be found through the MECHATROLINK

2.2.5 Connection through a Controller on a PCI Bus

3. Select Online, and click Search.

If the SERVOPACK is not Displayed (If Communications Are Not Possible)

Check Item Measure

SigmaWin+ -V-MD Component Main Window