Sigma Indexer

AC Servo Drives Engineering Tool
SigmaWin+
ONLINE MANUAL
INDEXER Component
MANUAL NO. SIEP S800000 70A

Copyright 2009 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 seri-

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

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

Product warning labels may use either the ISO or JIS standards. Treat either in the same
manner.
Manual Outline
This manual explains the following areas for SigmaWin+ INDEXER component users.
Outline of SigmaWin+ INDEXER component Functions and Operation
SigmaWin+ INDEXER component Installation/Removal
Related Manuals
Be sure to refer to the corresponding technical materials regarding related devices,
modules, and other equipment.
Use this product only with a full understanding of its specifications, service life, and other
important information.
Document
Document Name
Number
SIEPS80000005 -II Series SGM/SGDH
User's Manual
Rotational Motor/Analog Voltage
and Pulse Train Reference
SIE-C718-9 -II Series SGDH Indexer
Application Module User's Manual
iii
How to Use this Manual
Meaning of Basic Terms
This manual applies the following meanings to the terms below unless otherwise specified.
Servomotor : -II Series Servomotor
SERVOPACK : -II Series SERVOPACK
Servodrive : A servomotor integrated with a SERVOPACK
Servo System : A complete servo control system in which a servodrive is integrated with
an upper level controller and peripheral devices.
NS600 : Application module JUSP-NS600
NS601 : Application module JUSP-NS601
Notes on the PC Communication Function

-II Series Series SERVOPACK Operator Panel and SigmaWin+ INDEXER component
The operator panel of the SERVOPACK SGDH-E in the -II series with the NS600
or NS601 will be disabled in the following situations. (The LEDs on the panel display will
all be out, and input by the panel switches is not accepted.)
SigmaWin+ INDEXER component is connected to the NS600 or NS601.
Serial commands are sent to the NS600 or NS601.
The operator panel reactivates in the following situations.
SigmaWin+ INDEXER component is closed correctly.
More than three minutes have elapsed since SigmaWin+ INDEXER component was closed
incorrectly.
However, when the controller or the personal computer sends a serial command via the NS600s
or NS601s connector CN6, the operator panel may remain disabled.
iv
Regarding Software
Usage Notes
Use this software on one specified PC. Request a separate license to use this software on
another computer.
Copying of this software for purposes other than use as backup copies is strictly prohib-
ited.
Carefully store the CD-ROM (original medium) upon which this software is written.
Reverse compiling or assembly of this software is strictly prohibited.
Use of this software in whole or in part by a third party through transfer, exchange, resale,
and so forth, is strictly prohibited without the prior agreement of Yaskawa Electric Corpo-
ration.
Copyright and all other rights for this software are reserved by Yaskawa Electric Corpora-
tion.
Operating Systems and Registered Trademarks

Windows 95, Windows 98, Windows NT, Windows 2000 and Windows Me are registered
trademarks of Microsoft Corporation in the United States.
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+ INDEXER component is running. Always close
SigmaWin+ INDEXER 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
! CAUTION
Always be sure to close SigmaWin+ INDEXER component before turning the SERVO-
PACK power off or on.
The operation of both or either the PC or SERVOPACK cannot be assured if this is not observed.
Notes on Using WindowsXP
! CAUTION
If using NTFS, contact a user with administrator privileges to log on to SigmaWin+.
If SigmaWin+ runs in Limited User mode with NTFS, the necessary settings cannot be read into
the application program so an error may occur at start up or the program may not successfully run.
If using FAT32, SigmaWin+ can be run in Limited User mode.
When using SigmaWin+, do not change the active window to another window for another
application program even if using the Multi-user function.
If the active window is changed while SigmaWin+ is running, the window that shows the status of
the job may not be viewed and possibly result in an accident or harm to personnel or the motor.
Notes on Using NP115
! CAUTION
Do not remove or insert NP115 unit, connectors and cables while power is on.
This may cause system shutdown due to communication error.
vi
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Safety Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
1 System Outline
1.1 Outline and Advantages of SigmaWin+ INDEXER
Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Compatible Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.4 Installing SigmaWin+ Program . . . . . . . . . . . . . . . . . . . . . 1-3
1.5 Removing SigmaWin+ Program. . . . . . . . . . . . . . . . . . . . 1-8
1.6 Installing and Removing Other SigmaWin+
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
2 Starting SigmaWin+
2.1 Starting SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 From the Start Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.2 From a Shortcut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Selecting a SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
3 SigmaWin+ INDEXER Component Main Window
4 Operation
4.1 Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.2 Editing Parameters Online . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
vii
4.2 Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.3 Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.3.1 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.3.2 Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.3.3 Serial Command Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.4 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.4.1 Setting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.4.2 Online Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.4.3 Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54
4.4.4 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
4.4.5 Setting the Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64
4.5 Tracing and Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65
4.6 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-94
4.7 Table Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-98
4.7.1 Program Table Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-98
4.7.2 Zone Table Editing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-132
4.7.3 Jog Speed Table Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-151
Appendix A: Cable Between the PC and SERVOPACK
Appendix B: Install File List
Revision History
viii
1.1 Outline and Advantages of SigmaWin+ INDEXER Component
1 System Outline
This section includes an outline of the SigmaWin+ INDEXER component system, and
explains its advantages and preparation prior to use.
1.1 Outline and Advantages of SigmaWin+ INDEXER

Component
SigmaWin+ INDEXER component is a software tool for the setup and optimum tuning of
Yaskawa -II SERVOPACKs.
This product provides uniform features and functions enabling even beginners to easily
perform connections, test runs, and simple tuning.
Main Functions
Editing of tables, such as program tables
Parameter editing and help displays appropriate for each parameter
Display and release of generated alarms (help displays appropriate to the cause and reso-
lution 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
1.2 Compatible Devices

SigmaWin+ INDEXER component is compatible with the following SERVOPACK in the
-II series.
SGDH-E + NS600 or NS601
Note: Some SigmaWin+ INDEXER component functions may be unusable depending on the SERVOPACK
type. Unusable functions will appear dimmed on the selection menu.
1-1
1.3 System Requirements
1.3 System Requirements

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

Note: Operation cannot be assured on the NEC PC9821 series.
Processor Pentium 200MHz
Main Memory 64MB (96MB recommended)
Free Hard Disk Space At Normal Setup
250MB (300MB recommended at installation)
At Custom Setup
component: 40MB
-II component: 90MB
SGDS component: 70MB
INDEXER component: 70MB
(100MB recommended at each installation)
Monitor Super VGA (800600 or greater using a small font)
Number of Colors 256 colors (65536 colors recommended)
Operating System (OS) Windows 98
Windows NT4.0 Service Pack 3 or later (IE4.01 Service Pack 2 or later)
Windows 2000
WindowsMe
WindowsXP*
Communication Cables The JZSP-CMS02 (D-SUB 9-pin connector-compatible) cable is available from
for SERVOPACK to PC Yaskawa. Contact Yaskawa if necessary. For cable wiring, see Appendix A.
Connection
Other One node or more RS-232C or RS-422A I/F
CD-ROM drive (for installation only)
* If using HotfixQ328310, SigmaWin+ may or may not be installed. If it cannot be
installed, use Hotfix329623 instead.
1-2
1.4 Installing SigmaWin+ Program

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

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

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

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

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

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

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

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

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

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

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

Enter the necessary settings for communication setup.
(1) Click Search.
(2) Select SERVOPACK series and axis address. Click Search.

After the SERVOPACKs have been successfully connnected to SigmaWin+, a list
of the connected SEROVPACKs will appers on the screen.
SERVOPACK Selection Box
Note: When RS-232C is used, only one SERVOPACK will be displayed.
2-3
(3) Select the SERVOPACK to be connected and then click OK, or just double-click
the SERVOPACK to be connected.
Click Cancel to close the dialog box.
< If the SERVOPACK is not Displayed >

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

Is the power on?
Are the connections loose? Fasten all communication cable connectors securely.
Was the correct port selected? Make sure that the port connected to the communication
cable is the same as the port selected during connection.
Is the axis address correct? <RS-232C: Single Axis Connection>
Make sure the setting for the axis address in the NS600 or
NS601 (set by rotary switches) is the same as the axis
address selected during connection.
<RS-422A:Multi-axis Connection>
Make sure that the axis address of the connected NS600
or NS601:
Is not duplicated.
Is the RS-232C port enabled? To save energy, it is possible to select the option of not
feeding power to the RS-232C port in the PC. Check this
setting.
See the manual for the PC for details on how to select
this function.
Is a battery being used to power the PC? Problems in communications may occur if the PC is
running on batteries. Use AC power.
Is the wiring correct? Check the communication cable wiring.
See Appendix A or the SERVOPACK user's manual for
more information on the wiring.
Is the communication cable the Shorten the cable length as much as possible.
recommended length? Recommended Lengths of Communication Cables
RS-232C: Maximum 2m
RS-422A: Maximum 30m (total)
2-4
If the SERVOPACK selection box still does not appear even after checking the above
items:
The SERVOPACK uses RS-422A specifications for standard communications. Sometimes
the RS-232C cannot be used, depending on the type of PC.
Moreover, communication may be impossible due to external environmental influences
such as noise.
Execute the following if communications cannot be performed even after verifying the
aforementioned items:
Use a different PC.
If using RS-232C, change to an RS-422A connection.
2-5
3 SigmaWin+ INDEXER Component
Main Window
The SigmaWin+ INDEXER component main window has a menu bar and a toolbar as
shown in the following figure.
SigmaWin+ INDEXER Component Main Window
All application functions can be accessed from the menu bar or the toolbar.
3-1
Menu Bar and Menus
SigmaWin+ INDEXER 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+ INDEXER
component.
SERVOPACK Help: Displays a help window for the SERVOPACK.
Introduction Tour: Introduces main functions of SigmaWin+ INDEXER
component.
Technical Support: Lists local contacts.
About SigmaWin+: Displays version information of SigmaWin+ INDEXER
component.
There are also function menus. For details, see Chapter 4.
3-2
Print Setting
In the SigmaWin+ INDEXER 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 one of the five functions you select, the items that you can print will
differ.
3-4
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
Documents can be printed in color or black and white. Select your preference.
Click OK.
3-5
Toolbar
Click an icon on the toolbar to directly select its corresponding function.
SigmaWin+ INDEXER Component Toolbar
Toolbar
Function Name
Button
Parameter Editing
Parameter Online Editing
Alarm Display
Product Information
Status Monitor
Motion Monitor
Input Signal Monitor
Output Signal Monitor
Serial Command Monitor
Absolute Encoder Reset
Multi-Turn Limit Setting
Absolute Encoder Zero Setting
Rigidity Setting
Save Moment of Inertia Setting
Analog Monitor Output Adjustment
Motor Current Detection Offset Adjustment
Origin Search
3-6
Toolbar
Function Name
Button
Password Setting
Trace
JOG Operation
Program Table Editing
Zone Table Editing
Jog Speed Table Editing
3-7
4.1.1 Editing Parameters
4 Operation
4.1 Editing Parameters
The following two methods exist for editing parameters.
Using the Parameter Editing window
Using the Online Parameter Editing window

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+ INDEXER component main window, click Parameters and then click
Edit Parameters. The Parameter Editing window for the online mode appears.
Saves parameter data to a file.
Check boxes Prints the Parameter Editing window.
Selects all parameters, including those not displayed.

Displays the related help window.
Parameter Editing Window (Online Mode)
4-1
Display Setting
Click Change to view the Display setting box. Select the information to be displayed, the
user level, and the control mode.
Display Setting Box
Display Items
Select the information to be displayed.
Display Filter
The number of parameters displayed is determined by the user level and the control mode.
User Level: Beginner
Expert
Professional (all parameters)
Control Mode: 13 modes
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.
4-2
Edit
The selected parameter can be viewed and then changed in the Edit box. The Edit box
differs according to the parameter selected. Click Edit, and the Edit box appears.
Comment
Comments can be typed or edited in the Comment box. Click Comment, and the Comment
box appears.
4-3
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
Overwrite
Pn000 : 0000 Pn000 : 0000
Overwrite Pn001 : 0000
Pn001 : 0000
Pn002 : 0000
Pn003 : 0002
Factory
Settings
Pn002 : 0000
Pn003 : 0002
1. Click Import, and the Open box appears.
4-4
2. Select the file to be transferred, and click Open.
Initialize
The settings of the SERVOPACK can be returned to the factory settings with the Initialize
function. Return to the initial settings using the following procedure.
1. Click Initialize, and the Verification box appears.
Click Cancel to return to the main window without changing the SERVOPACK
settings.
2. Click OK, and the dialog box to initialize the SERVOPACK settings appears.
Click Cancel to return to the main window without changing the SERVOPACK
settings.
3. Click OK to start initialization, and the percentage of the progress completed is shown.
4-5
When the settings are successfully initialized, you will be prompted to verify that all
parameter settings are correct for the target machine.
4. Click OK.
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, comfirming if you want to compare all
parameter settings.
Click Cancel to return to the main window without comparing the settings.
2. Click OK to start the comparison, and the percentage of the progress completed is
shown.
4-6
When the comparison has been successfully completed, the Comparison Results box
appears.
3. Click Save to save the results of the comparison.
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 Select All (including those not-displayed) button 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 main window without reading the settings.
2. Click OK to start reading and overwriting the settings.
4-7
Write
Selected parameter settings can be saved with the Write function. Select the check boxes of
the parameters to be saved. Click the Select All (including those not-displayed) button to
select all the parameters to be saved, including those not currently displayed. Save the
settings if the parameters using the following procedure.
1. Click Write to save the parameter settings.
A Verification box asking you to confirm overwriting will be displayed when the
settings of the non-displayed parameters differ from the settings of the current
SERVOPACK.
Click OK to continue and overwrite the previous settings. Click Cancel to return to the
main window without overwriting the parameters.
4-8
2. A Verification box listing the saved parameters will be displayed after they have been
successfully saved.
3. Click OK, and restart the SERVOPACK.

The new settings will now be valid.
4-9
(Print) Button
The data on the Parameter Editing window can be printed.
Click the button, and the Printing Item Setting 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.

Color Selection
4-10
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.
4-11
Parameter Editing when Offline

In the SigmaWin+ INDEXER component main window, click Parameters and then click
Edit Parameters. The Edit Parameters box appears.
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 >

When Load from File is selected, the Open box appears.
Select the file to be imported, and click Open.
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< When "Select New SERVOPACK" is Selected >

(1) When Select New SERVOPACK is selected, the SEROPACK Selection box
appears.
(2) Select the SERVOPACK model, capacity and voltage.
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(3) Type the version number of the SERVOPACK. The version number is shown on
the front of the SERVOPACK.
Version Number
Version Number on SGDH
If the version number is unknown, select Unknown/No match.

(4) Select the specifications of the SERVOPACK.
(5) Select the application module. Select JUSP-NS600 or JUSP-NS601.
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(6) Type the version number of the application module. The version number is shown
on the side of the application module.
Version Number
Version Number on NS600 or NS601

(7) Select the specifications of the applcation module, and then click OK. The data
will be imported, and the Parameter Editing window will appear.
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Prints the Parameter Editing window.

Saves parameter data to a file.
Opens files.
Check boxes Selects a new SERVOPACK.
Selects all parameters, including those not displayed.

Displays the related help window.
Parameter Editing Window (Offline Mode)
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(Open) Button
The parameters file can be loaded in the Open box. To load the file, use the following
procedure.
1. Click the button, and the Open box appears.
2. Select the name of the parameter file to be imported, and click Open.
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(New) Button
A new SERVOPACK can be selected in the SERVOPACK Selection box using the New
command. To change to a different SERVOPACK, use the following procedure.
1. Click the button, and the SERVOPACK Selection box appears.
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2. Select the SERVOPACK model, capacity and voltage.
3. Type the version number of the SERVOPACK. The version number is shown on the
front of the SERVOPACK.
Version Number
Version Number on SGDH

4. Select the specifications of the SERVOPACK.
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5. Select the application module. Select JUSP-NS600 or JUSP-NS601.
6. Type the version number of the application module. The version number is shown on
the side of the application module.
Version Number

7. Select the specifications of the applcation module, and then click OK. The data will be
imported, and the Parameter Editing window will appear.
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(Print) Button
The data on the Parameter Editing window can be printed.
Click the button, and the Printing Item Setting box appears
Cover

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 return to the Printing Item Setting box and change some settings, click Editing of the
Printing Items.
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Display Setting
Click Change to view the Display setting box. Select the information to be displayed, the
user level, and the control mode.
Display Setting Screen
Display Items
Select the information to be displayed.
Display Filter
The number of parameters displayed is determined by the user level and the control mode.
User Level: Beginner
Expert
Professional (all parameters)
Control Mode:13 modes
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.
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Edit
The selected parameter can be viewed and then changed in the Edit box. The Edit box
differs according to the parameter selected. Click Edit, and the Edit box appears.
Comment
box appears.
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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
Overwrite
Pn000 : 0000 Pn000 : 0000
Overwrite
Pn001 : 0000 Pn001 : 0000
Pn002 : 0001
Ignored
Pn003 : 1100
If the imported parameters is fewer

Parameters in
Parameter Imported
Overwrite
Pn000 : 0000 Pn000 : 0000
Overwrite Pn001 : 0000
Pn001 : 0000
Pn002 : 0000
Pn003 : 0002
Factory
Settings
Pn002 : 0000
Pn003 : 0002
1. Click Import, and the Open box appears
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4.1.2 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.
Edit parameters online using the following procedure.

1. In the SigmaWin+ INDEXER 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
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.
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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.
5. If there are still parameters to be edited, click Set for a second or third time and set
these in the same manner as the first parameter.
Displays the
related help Deletes the parameter
window. displayed at left.
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To view other parameters, click Del to delete the currently displayed parameter and
then click Set.
6. Click OK when parameter display 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.
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4.2 Alarm Display
4.2 Alarm Display

Alarms can be viewed in the Alarm Display.
In the SigmaWin+ INDEXER component main window, click Alarm and then click
Display Alarm.
Alarm Display
Last Error
The last error is displayed.

Error for the NS600 or NS601 and the SGDH are indicated in the following style.
NS600 or NS601 error [SGDH error]: Error name
The error which is displayed here may not be the current error.
Click the button to display details concerning a specific error.
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4.2 Alarm Display
Alarm
The current alarm is displayed.

Alarms for the NS600 or NS601 and the SGDH are indicated in the following style.
NS600 or NS601 alarm [SGDH alarm]: Alarm name
To clear an alarm, click Reset 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.
Click the button to display details concerning a specific alarm and its corrective
measures.
Alarm Traceback
The SERVOPACK stores a history of the 10 most recent alarms. These are displayed in the
Alarm Traceback window, and are shown in order of occurrence with their alarm displays
and details about the type of alarm, such as name.
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
by SigmaWin+ INDEXER component when an alarm occurs. However, alarm traceback
data is not updated when alarms with the same alarm number occur consecutively.
Click Clear to delete or clear the alarm history.
measures.
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4.3.1 Product Information
4.3 Monitor
4.3.1 Product Information
Information about the SERVOPACK and the motor can be viewed in the Product
Information window.
In the SigmaWin+ INDEXER component main window, click Monitor and then click
Product Information. Information about the SERVOPACK and the motor will be
displayed.
Product Information Window
Click the button to display the specifications for the respective product models.
Click OK to return to the SigmaWin+ INDEXER component main window.
4.3.2 Monitor
The SERVOPACKs status, movement, and I/O signal status, can be monitored on the
computer screen.
There are four types of monitor windows: Status Monitor, Motion Monitor, Input Signal
Monitor, and the Output Signal Monitor.
The monitor windows are independent of each other, but several windows can be displayed
at the same time.
Select the information to be monitored in the Monitor Item Setting window.
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4.3.2 Monitor
Status Monitor
To monitor the status of the SERVOPACK, use the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Monitor, point to
Monitor and click Status 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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4.3.2 Monitor
Motion Monitor
To monitor the motions of the SERVOPACK, use the following procedure.
Monitor and click Motion Monitor.

the "Value" column.
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4.3.2 Monitor
Input Signal Monitor

To monitor the input signal of the SERVOPACK, use the following procedure.
Monitor and click Input Signal Monitor.
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4.3.2 Monitor
the "Value" column.
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4.3.2 Monitor
Output Signal Monitor

To monitor the output signal of the SERVOPACK, use the following procedure.
Monitor and click Output Signal Monitor.
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4.3.2 Monitor
the "Value" column.
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4.3.2 Monitor
Monitor Item Setting

To select the information to be monitored, use the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Monitor, and then click
Monitor Setting. The Monitor Item Setting box appears.
The Monitor Selection list displays items being monitored.
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4.3.2 Monitor
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 Select list and then click Add.
Moves the selected

item up one level.
Information Moves the selected

not displayed item down one level.
in the Monitor
window
Information to be
displayed in the
Monitor window
3. Click OK, and the four monitor windows appear showing the selected information.
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4.3.2 Monitor
To move an item or change its settings, right-click an item and select a command.
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4.3.3 Serial Command Monitor

The status of a command that is transmitted between the SERVOPACK and the host
computer can be monitored on the screen.
To monitor the status of a command, use the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Monitor and then click
Serial Command Monitor. The Serial Command Monitor window appears.
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2. Click Start the monitor. The commands received from the host computer and those
sent from the SERVOPACK are displayed. Two kinds of displays are available, binary
or command.
Displays the sent

Determined by
or received
the parameter
number of settings. See
characters after
Section 4.1 for
turning on the
details on setting
power. parameters.
Serial Command Monitor Window: Binary Display
Serial Command Monitor Window: Command Display
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When a large quantity of commands are sent in a short time, the monitor might not be
able to process all the information. If so, a star, * is shown in the binary display or
LOST is shown in the command display for information that was unable to be
processed.
3. To stop the processing of the monitor, click Stop the monitor.
Saves the
information about the
commands in a file.
Clears the lists of commands.
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4.4.1 Setting the Absolute Encoder
4.4 Setup
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+ INDEXER 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.
Click Cancel to return to the main window without resetting the absolute encoder.
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2. Click Continue, and the Abolute encoder Setup box appears.
The Alarm Name box displays the code and name of the alarm that is occurring now.
measures.
Click button to return to the main window without resetting the absolute encoder.
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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< 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+ INDEXER 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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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 imcomplete and an
alarm occurs.
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7. Return to the SigmaWin+ INDEXER 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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Absolute Encoder Zero Setting

If using an absolute encoder, the current position can be changed to a specified position.
Make the zero setting for the absolute encoder using the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Setup, point to Set
Absolute Encoder, and click Absolute Encoder Zero 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 making the zero setting for the
absolute encoder.
2. Click Continue.
3. The Absolute Encoder Zero Setting box appears. Type the desired value for the
position.
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4. Click Set.
Click Cancel to return to the main window without making zero setting for the absolute
encoder.
5. Click Continue and the zero point for the absolute encoder is set.
6. To finish the setting, click the button of upper-right of the box. A warning
message appears.
7. Click OK.
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4.4.2 Online Autotuning

Incorrect settings for the speed loop gain, position loop gain, in the servo system are often
the causes of slow performance when positioning. Set these servo gains to match the
machines configuration and rigidity.
Autotuning
Automatically measures the machine's

characteristics for optimum tuning.
Moment of Load
Inertia
Servomotor
Friction
SERVOPACK
The SERVOPACK has an autotuning function which automatically measures the

mechanical characteristics of the system and sets the necessary servo gains. Using this
function makes it easy, even for beginners, to tune servo gains. The servo gains are set in
the parameters.
Setting Machine Rigidity in Online Autotuning

Select the target values for the speed loop gain and position loop gain for the servo system
in the Machine Rigidity Setting box during online autotuning.
In the SigmaWin+ INDEXER component main window, click Setup, point to Set Online
Autotuning and click Set Rigidity, and the Machine Rigidity Setting box appears.
Rigidity Setting box during Online Autotuning
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Machine Rigidity
Select the machines rigidity from the data boxes. Increasing the machine rigidity setting
will increase the loop gains and shorten the positioning time of the servo system. If the
setting is too high, however, machine excitation may result. If excitations occur, lower the
setting.
Select the machines rigidity according to the recommendations in the following table.
However, these settings may not be appropriate for all machines.
Drive Type Machine Rigidity

Direct connection to ball screw 4 to 10
Ball screw with gearbox 3 to 4
Timing belt 1 to 4
Chain 1 to 3
Harmonic gears 1 to 3
Click Guideline to view details on the rigidity setting guidelines.
Execute
When Execute is clicked, the tuning-related parameters will automatically change
according to the rigidity setting. The changed settings are displayed in the Current
column.
Tuning related Parameters

Lists the parameters needed for autotuning.
Previous:Lists the settings that were used before the rigidity was
changed.
Current: Lists the settings that are changed based on the rigidity setting.
Click Execute, and the new changed values are displayed in the Current column.
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Saving Autotuning Results

Online autotuning constantly calculates the latest moment of inertia and updates the data so
that the speed loop gain meets the target value. The autotuning results must be saved in the
Identified Moment of Inertia Ratio Setting box so that the settings can be used the next time
that the servo is turned on.
In the SigmaWin+ INDEXER component main window, click Setup, point to Set Online
Autotuning and click Set Identified Moment of Inertia Ratio and the Identified Moment
of Inertia Ratio Setting box appears.
Identified Moment of Inertia Ratio

Shows the latest load moment of inertia ratio. This value constantly changes as the
servomotor accelerates or decelerates.
Write Results
Assign the currently displayed load moment of inertia to the SERVOPACK parameter
Pn103.
Pn103: Moment of Inertia Ratio

Shows the load moment of inertia ratio that was just assigned to parameter Pn103 when the
Write Results was clicked.
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4.4.3 Offset Adjustment

There are two types of offset adjustments.
Analog monitor output adjustment
Motor current detection offset adjustment
Adjusting Analog Monitor Output

With this function, you can monitor the motor speed, torque reference, position error, and
so on by the analog monitor output.
There are two types of analog monitor output adjustment: Zero Adjustment and Gain
Adjustment.
Perform zero adjustment when correcting a error in output voltage caused by drift, or a
error from the zero point caused by noise on the monitoring system. Also, perform adjust
the gains when matching the sensitivity to the measurement system.
Monitor Output
Voltage
Gain
Adjustment
Zero
Adjustment
Setting Unit
Zero Adjustment Range: 2V 17mV/LSB
Gain Adjustment Range: 50% to 150% 0.4% LSB
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Zero Adjustment
Adjust the zero position using the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Setup, point to Adjust
Offset and click Adjust the Analog Monitor Output, and the Adjust the Analog
Monitor Output box appears. Click the Zero Adjustment tab.
There are two channels: CH1 and CH2.

2. While watching the analog monitor, use the +1 and -1 buttons to adjust the offset.
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Gain Adjustment
Adjust the gain using the following procedure.
Offset and click Adjust the Analog Monitor Output, and the Adjust the Analog
Monitor Output box appears. Click the Gain Adjustment tab.
There are two channels: CH1 and CH2.

2. While watching the analog monitor, use the +1 and -1 buttons to adjust the gain.
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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 incorrectly 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.
There are two types of motor current detection offset adjustment: Automatic and Manual.
Automatic Adjustment
Automatically adjust the offset using the following procedure.
Offset and click 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 carefully or incorrectly.
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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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Manual Adjustment
Manually adjust the offset using the following procedure.
1. Turn the motor at 100 min-1.
Offset and click 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 carefully or incorrectly.
3. Click Continue, and then click the Manual Adjustment tab.
4. While watching the analog monitor, use the +1 and -1 buttons to adjust the offset to
minimize the ripple on the torque reference monitor. The U-phase and V-phase currents
must be adjusted so that they balance. Repeat the adjustment alternately between them
several times.
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4.4.4 Origin Search
4.4.4 Origin Search
! WARNING
Using the origin search function while the motor is running is dangerous.
Be sure to check the user's 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 60 min-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.
The following conditions must be satisfied to carry out an origin search.
1. The servo ON (/S-ON) input signal is OFF.
2. Parameter Pn50A.1 is set to any number other than "7", and the servo ON mask is
released.
3. The password (parameter overwrite prohibition) is set to "0000" allowing overwrite
(release of overwrite prohibitions).*
* The SERVOPACK must be restarted after this change to enable the settings.
Perform an origin search using the following procedure.
1. In the SigmaWin+ INDEXER 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.
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4.4.4 Origin Search
Click Cancel to return to the main window without performing origin search.
<When the Password Has Been Set>

If the password has been set, the following message will appear.
Click OK, and cancel the password.

See 4.4.5 Setting the Password for cancelling method.
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4.4.4 Origin Search
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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4.4.4 Origin Search
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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4.4.5 Setting the Password
4.4.5 Setting the Password

The password setting function is used to prevent the inadvertent rewriting of the
parameters.
Set or cancel the password using the following procedure.
1. In the SigmaWin+ INDEXER component main window, click Setup, and then click
Password. One of the following boxes will appear.
<If the Password Has Been Set>
Click Permit to cancel the password.
<If the Password Has Been Cancelled>
Click Prohibit to set the password.

2. A message appears, telling you that the password 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 Tracing and Tuning

Structure
The following flowchart shows how the trace function works.
Main window Setup Open Trace Set
Save As Trace Settings
Data
Start Trigger Wait
Transmission
Zoom
Cursor
Open
Save As
Properties
Print
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Data Trace
Main Window
In the SigmaWin+ INDEXER component main window, click Trace & Tuning, and then
click Trace, and the Trace main window appears.
Trace Main Window
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Trace Settings
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.
Trace Setting Box
< Trace Object Settings >
The settings for the trace objects, or targets can be made here.
Data 1/Data 2
Select content such as "Torque Reference", "Speed Feedback", etc., identical to the analog
monitor as trace objects from the data boxes.
I/O 1 / I/O 2
Select output signals such as "/COIN" or "ALM" and input signals such as "/C-SEL", "P-
OT", or "N-OT" as trace objects.
Line
Select a line color for data 1 and 2 and I/O 1 and 2.
< 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 direct input is attempted, 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.
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1. If the input data setting is larger than the maximum 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.
2. If the input data is smaller than the minimum setting time:
Click OK to automatically adjust the sampling time to the minimum setting. Click
Cancel to return to the Trace Setting box without setting the sampling time.
3. If the input data 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.
< Trigger Condition 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 conditions are designated as any one of the following four items.
Trigger Type
Designate the object to which the trigger is applied. The selected objects can either be from
the designated in Data 1 and 2, and I/O 1 and 2, or "No Trigger".
If "No Trigger" is selected, the trigger will be applied at the same time as the START
button is pressed. Also the settings for "Trigger Level", "Edge Type" and "Pre-Trigger"
will be unavailable.
Trigger Type box
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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" or "No Trigger".
Edge Type
Designate the direction of change when a trigger is applied. Select "Rising Edge", "Falling
Edge", or "Change Edge" as the type of edge.
Edge 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
The miniature graph beside the Edge Type box shows how the selected edge will look.
Rising Edge Falling Edge Change Edge
Pre-Trigger (0% to 99%)

Designate to what degree data is displayed in the graph before a trigger is applied.
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Open
In the Trace Setting box, click Open, and the trace setting files.
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.
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Save
In the Trace Setting box, click Save, and then select the storage location for the setting file
shown in the Trace Setting box.
Save 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.
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
In the Trace Setting box, click Cancel to return to the Trace main window without
changing the settings.
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Starting the Trace

In the Trace main window, click START, and an illustration showing SigmaWin+
INDEXER component waiting for the trigger appears on the screen.
Waiting for the Trigger
The illustration is displayed until the set trigger conditions are met. Click Cancel to stop
waiting for the trigger and to return to the Trace main window.
Reading Trace Data from the SERVOPACK
When the conditions are met and the trigger is applied, an illustration showing the progress
of the data transmission appears on the screen. The Trace main window is displayed when
the data transmission is complete.
Note: 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+ INDEXER component may continue to wait for the
trigger even after the trigger has been applied. SigmaWin+ INDEXER component waits because data
for the sampling time is saved in the SERVOPACK after the trigger has been applied.
4-72
Main Window
This Trace main window displays a graph based on the trace settings.
Trace Main Window
4-73
Toolbar
The position of the toolbar can be adjusted, and the on-screen display type selected.
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
Save the data.
Save
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
View the Parameter Online Editing box. For
details, see Section 4.1.2.
Parameter Online
Editing
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.
4-74
Trace Object Graph

In the graph, you can view the trace objects designated in the Trace Setting box.
Slider for Origin of Data 1 Slider for Origin of Data 2
Vertical Axis Range Box 1 Vertical Axis Range Box 2
Origin Arrow for I/O 1 and I/O 2 Horizontal Axis Range Box
Trace Object Graph
4-75
Vertical Axis Range

Select a vertical axis range for both Data 1 and Data 2 from the corresponding box.
If AUTO is selected, the range widths will be automatically adjusted so that all of the data
can be shown in the graph.
The range must be selected from the list.
Vertical Axis Range 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. .
37.125
Horizontal Axis Range Box
Supplement: Regarding I/O Trace Graph
Grid Line
The center of the grid

becomes the HI position.
Origin Mark
Grid Line
Trigger Conditions
This displays the trigger conditions in the Trace Setting box.
The trigger level is blank if an I/O trace is the trigger condition.
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Toolbar Details
(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. Two vertical bars will be displayed.

2. Move each cursor. As you move each cursor, the data changes in the cursor box in the
lower right of the window.
Cursor A Cursor B
3. To view the speed data, select Horizontal in the Cursor Setting box. Two horizontal
bars will be displayed.
4-77
4. Move each cursor. As you move each cursor, the data changes in the cursor box in the
lower right of the window.
Cursor B
Cursor A Reference Pulse Speed
Feedback Speed
4-78
(Zoom) Button
A view of an area selected by the mouse can be magnified. Zoom in on an area using the
following procedure.
1. Click the button.

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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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.
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(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 Main Window
Open
Click Open to load the selected trace file.
Cancel
Click Cancel to return to the main window without loading the file.
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(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.
When the Button is Clicked in the Main Window
Up to 256 characters can be typed as a comment.

The default file name is the current time (yyyymmddhhmmss).
Save
Click Save to save the data to a designated trace file.
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 As dialog
box without saving the file.
Cancel
Click to Cancel to return to the main window.
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(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.
Cover

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
4-83
After setting is finished, click OK. The document appears on the screen the way it will appear
in print.

To return to the Printing Item Setting dialog box and change some settings, click Editing of the
Printing Items.
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(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
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Parameters Tab
4-86
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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(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 button, and the Clipboard Copy dialog box appears.
Clipboard Copy Dialog Box
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.
4-88
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 button on 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 = 40 Hz; Pn101: speed loop integral time constant = 2000 [0.01 ms];
Pn102: positioning loop gain = 40 l/s)
Trace object: Trace 1 = Reference pulse speed
Trace 2 = Speed feedback
I/O Trace 1 = /COIN signal (positioning completed)
I/O Trace 2 = /TGON signal (motor running)
Trigger conditions: Falling edge of reference pulse speed 0 min-1
Pre-trigger: 30 %
(We are using this setting to trigger the completion of the
command.)
When in this condition, the positioning completed time is 163 ms.
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2. To adjust the positioning completed time, modify the values of the parameters.
Click the button to view the Online Parameter Editing box.
3. To increase the gain, click the setting arrows to raise or lower the values.
(Pn100 = 80, Pn102 = 80, and Pn101 = 1000)
4-90
4. Confirm the positioning completed time on the trace main window.

The positioning completed time has been reduced by 113 ms.
Because the machine is still not vibrating, increase the gain some more.
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5. Click the button to view the Online Parameter Editing box again and then change
the values.
(Pn100 = 100, Pn102 = 100, and Pn101 = 800)
4-92
6. Confirm the positioning completed time on the trace main window.

The positioning completed time has been reduced by 43 ms.
7. Repeat steps 2 to 4 until you get the target positioning completed time.
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4.6 JOG Operation
4.6 JOG Operation
! WARNING
Performing JOG operation while the motor is running is dangerous.
Be sure to check the user's manual before executing.
Pay particular attention to the following.
Check the safety of the area adjoining the drive unit.
The motor runs at the JOG speed, while the RUN 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.
The following conditions must be satisfied to carry out a JOG operation.
1. The servo ON (/S-ON) input signal is OFF.
2. Parameter Pn50A.1 is set to any number other than "7", and the servo ON mask is
released.
3. The password (parameter overwrite prohibition) is set to "0000" allowing overwrite
(release of overwrite prohibitions).*
* The SERVOPACK power must be restarted after this change to enable the settings.
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4.6 JOG Operation
Perform a JOG operation using the following procedure.

1. In the SigmaWin+ INDEXER 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 Password Has Been Set>

If the password has been set, the following message will appear.
Click OK, and cancel the password.

See 4.4.5 Setting the Password for cancelling method.
4-95
4.6 JOG Operation
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.
The Operation box differs on motor types.
For rotating motor For linear motor
Pn304: JOG Speed (Pn383 for linear motor)

Parameter Pn304 (Pn383 for linear motor) 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.
4-96
4.6 JOG Operation
4. Click Servo ON.
For rotating motor For linear motor
5. Press Forward or Reverse. A JOG operation is performed only while one of these
buttons is pressed.
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4.7.1 Program Table Editing
4.7 Table Editing

Programs can be viewed and edited in the Program Table Editing window. Create programs
by setting the individual program steps (one row in the table is a program step). The NS600
or NS601 runs the program (steps) that is in the program table in accordance with a
reference from the upper-level controller.
When Online
In the SigmaWin+ INDEXER component main window, click Table and then click Edit
Program Table. The Program Table Editing window appears.
Prints the Program Table Editing window.
Saves the program table data.
Splits the specified area into a specified number of stations at equal intervals.
Program Table Editing Window (Online Mode)
4-98
A B C D E F G H I J
Box A: POS
The positioning target position can be changed in this box. Double click any cell in the box,
and the Target Position Reservation box appears.
Displays the
current setting.
Select the target position. The following table shows the six items that can be selected.
Selection Items Display

Absolute Position A Position
Relative Distance I Distance
Infinity (Positive direction) +INFINITE
Infinity (Negative direction) -INFINITE
Stop STOP
Without reference -
If "Absolute Position" or "Relative Distance" is selected, type a number in the Position/

Distance column.
Click OK to save the changes and return to the Program Table Editing window.
Box B: SPD
The speed can be typed directly in this box.
4-99
Box C: RDST
The registration relative distance can be set in this box. Double click any cell in the box,
and the Registration Relative Position box appears.
Click OK to return to the Program Table Editing window without registration.

Do not select No Registration to register a relative position. Type the registration relative
position.
Click OK.
Box D: RSPD
The registration speed can be typed directly in this box.
4-100
Box E: ACC (NS600 Ver. 0004 or later, NS601 only)

Box F: DEC (NS600 Ver. 0004 or later, NS601 only)
The acceleration and deceleration speeds can be set in this box. Double click any cell in
one of these boxes, and the Acceleration and Deceleration box appears.
To set the same acceleration or deceleration speed as in the previous step, select Same as
previous step and click OK.
To set a new speed, clear the previous setting by clicking Same as previous step to
remove the checkmark. Then, type the new setting in the Acceleration or Deceleration box
and click OK.
Box G: POUT
The output signals 0 to 4 can be set in this box. Double click any cell in the box, and the
Output Signal box appears.
Displays the current

settings. The
setting for output
signal 0 is shown at
the far left, and that
for output signal 4
at the far right.
Select the output timing for the output signals. The following table shows the four items
that can be selected.
Selection Items Description Display

Active Always Active. A
Not Active Always Inactive. N
Same as previous step Continues previous state. :
Zone Sets a zone signal (Z0 to Z4) corre- Z
sponding to the column.
4-101
Ex.: The "ANNZ" display shows the following settings.

Output Signal 0: Active
Output Signal 1: Not Active
Output Signal 3: Zone Signal Z3
Output Signal 4: Same as previous step
Click OK to save the settings and return to the Program Table Editing window.
Box H: EVENT
The conditions can be set in this box. Double click any cell in the box, and the Event box
appears.
Select the conditions. The following table shows the items that can be selected.
Positioning Comple- Establish conditions for INPOSITION I
tion band
NEAR Establish conditions for NEAR band N
Command Issuance Establish conditions for command issu- D
Completion ance completion
SEL0, SEL1, ... Establish conditions at signal (SEL0, SEL0, SEL1, ...
SEL1, ...) ON
Wait Time Establish conditions after a designated T Wait Time
wait time
Same as previous Use the same conditions as the previous :
step step
If a item other than same as previous step is selected, type a wait time.
Box I: LOOP
The number of times a step that is to be carried out can be typed directly in this box.
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Box J: NEXT
The next step can be designated in this box. Double click any cell in the box, and the Next
Step box appears.
If the program ends in this step, select Complete, and then click OK.
If the program continues, do not select Complete, and type the number of the next step.
Comment
box appears.
4-103
Import
Program table settings can be transferred or imported from a stored file with the Import
function. If the imported program tables differ in number from the on-screen program
tables, the following processing takes place.
If the number of imported program tables is greater
Program Tables in Imported Program
Program Table Editing window Tables
STEP0 : I+10000, 1000, ... Overwritten
STEP0 : I+10000, 1000, ...
STEP1 : I-20000, 2000, ... Overwritten
STEP1 : I-20000, 2000, ...
Ignored STEP2 : A+1000, 500, ...
STEP3 : STOP, 1500, ...
If the number of imported program tables is fewer

Overwritten
STEP0 : I+10000, 1000, ... STEP0 : I+10000, 1000, ...
STEP1 : I-20000, 2000, ...
Overwritten STEP1 : I-20000, 2000, ...
STEP2 : STOP, 1000, ...
STEP3 : STOP, 1000, ...
Factory Settings
STEP2 : STOP, 1000, ...
STEP3 : STOP, 1000, ...
4-104
Write
The program tables can be written to the SERVOPACK with the Write function. Click
Write, and a warning message will appear reminding you that the data erased if the power
is turned off.
Click OK to write in the data.

Click Cancel to return to the Program Table Editing window without writing in the data.
<Differences Between Write and Save>

Write: Saves table data to the SERVOPACK in temporary storage. The data
in the table is deleted when the power is turned OFF.
Save: Saves the data in the table that is stored in the SERVOPACK memory
to the flash memory. The data for the tables remains unchanged if
power is turned off.
Read
The program tables can be read within the connected SERVOPACK with the Read
function. Click Read, and a message will appear, confirming if you want to read the table
data.
Click OK to start reading and overwriting the table data.

Click Cancel to return to the Program Table Editing window without reading the table data.
4-105
Save
The data in the table can be saved to the flash memory with the Save function. Click Save,
and a warning message will appear reminding you that the data may different than that of
the SERVOPACK.
Click Cancel to return to the Program Table Editing window. Then by clicking Write,
write program table that is currently displayed but has not been stored into the
SERVOPACK.
If already saved in temporary storage, click OK. A conformation message appears.
Click OK to save the data.

Click Cancel to return to the Program Table Editing window without saving the data.
Initialize
function. Click Initialize, and a verification message appears.
Click Initialize to initialize the program tables.

Click Cancel to return to the Program Table Editing window without changing the settings.
4-106
Station Split Button

A specified number of stations at equal intervals can be created between specified
positions. And each station position can be allocated to the program table.
Two types of station splits are available: linear and rotation. The window differs in
accordance with the method of moving the load.
Click the Station Split button, , and the Station Split Selection box appears.
< Linear Movement of Loads >
1. Click Next.
4-107
2. Type the values for the settings and click OK. The Program Table Editing window will
appear.
< Rotational Movement of Loads >
4-108
1. Click Next.
appear.
4-109
(Print) Button
The data on the Program Table Editing window can be printed. To print the data, click the
button. The Printing Item Setting dialog box appears.
Header & Footer Tab Printing Items Tab
Cover

Color Selection
4-110
in print.

Printing Items.
4-111
When Offline
Program Table. The Program Table Editing box appears.
Load From File: Reads existing data.

Select New SERVOPACK: Creates new data.
<When "Load from File" is Selected>

Select the data to be imported, and click Open.
4-112

appears.
4-113

4-114
Version Number

will be imported, and the Program Table Editing window will appear.
Prints the Program Table Editing window.
Saves the program table data.
Opens files.
Selects a new SERVOPACK and application module.
Splits the specified area into a specified number of stations at equal intervals.
Program Table Editing Window (Offline Mode)
4-115
Default values are displayed in gray. The settings in this window are all gray as they are
default settings.
A B C D E F G H I J
Box A: POS
The positioning target position can be changed in this box. Double click any cell, and the
Target Position Reservation box appears.
Displays the
current setting.
Select the target position. The following table shows the six items that can be selected.
Selection Items Display

Absolute Position A Position
Relative Distance I Distance
Infinity (Positive direction) +INFINITE
Infinity (Negative direction) -INFINITE
Stop STOP
Without reference -
If "Absolute Position" or "Relative Distance" is selected, type a number in the Position/

Distance column.
Click OK to save the changes and return to the Program Table Editing window.
Box B: SPD
The speed can be typed directly in this box.
4-116
Box C: RDST
The registration relative distance can be set in this box. Double click any cell, and the
Registration Relative Position box appears.
Click OK to return to the Program Table Editing window without registration.

Do not select No Registration to register a relative position. Type the registration relative
position.
Click OK.
Box D: RSPD
The registration speed can be typed directly in this box.
Box E: ACC (NS600 Ver. 0004 or later, NS601 only)

Box F: DEC (NS600 Ver. 0004 or later, NS601 only)
The acceleration and deceleration speeds can be set in this box. Double click any cell in
one of these boxes, and the Acceleration and Deceleration box appears.
4-117
To set the same acceleration or deceleration speed as in the previous step, select Same as
previous step and click OK.
To set a new speed, clear the previous setting by clicking Same as previous step to
remove the checkmark. Then, type the new setting in the Acceleration or Deceleration box
and click OK.
Box G: POUT
The output signals 0 to 4 can be set in this box. Double click any cell in the box, and the
Output Signal box appears.
Displays the current

settings. The
setting for output
signal 0 is shown at
the far left, and that
for output signal 4
at the far right.
Select the output timing for the output signals. The following table shows the four items
that can be selected.

Active Always Active. A
Not Active Always Inactive. N
Same as previous step Continues previous state. :
Zone Sets a zone signal (Z0 to Z4) corre- Z
sponding to the column.
Ex.: The "ANNZ" display shows the following settings.

Output Signal 0: Active
Output Signal 3: Zone Signal Z3
Output Signal 4: Same as previous step
4-118
Box H: EVENT
The conditions can be set in this box. Double click any cell in the box, and the Event box
appears.
Select the conditions. The following table shows the ten items that can be selected.
Positioning Comple- Establish conditions for INPOSITION I
tion band
NEAR Establish conditions for NEAR band N
Command Issuance Establish conditions for command issu- D
Completion ance completion
SEL0, SEL1, ... Establish conditions at signal (SEL0, SEL0, SEL1, ...
SEL1, ...) ON
Wait Time Establish conditions after a designated T Wait Time
wait time
Same as previous Use the same conditions as the previous :
step step
If a item other than same as previous step is selected, type a wait time.
Box I: LOOP
The number of times a step that is to be carried out can be typed directly in this box.
4-119
Box J: NEXT
The next step can be designated in this box. Double click any cell in the box, and the Next
Step box appears.
If the program ends in this step, select Complete, and then click OK.
If the program continues, do not select Complete, and type the number of the next step.
4-120
(Open) Button
The parameters file can be loaded in the Open box. To load the file, use the following
procedure.
2. Select the name of the file to be imported, and click Open.
4-121
(New) Button
4-122

4-123
Version Number

imported, and the Program Table Editing window will appear.
4-124
(Print) Button
The data on the Program Table Editing window can be printed. To print the data, click the
Cover

Color Selection
4-125
in print.

Printing Items.
4-126
Station Split Button

A specified number of stations at equal intervals can be created between specified
positions. And each station position can be allocated to the program table.
Click the Station Split button, , and the Station Split Selection box appears.
Select the split method, and click OK.
< When Linear is selected >
Type the values for the settings and click OK. The Program Table Editing window will
appear.
4-127
< When Rotary is selected >
4-128
1. Type the beginning and end of the motor which needs one rotation of load axis, and
click Next.
appear.
4-129
Comment
box appears.
Import
Program table settings can be transferred or imported from a stored file with the Import
function. If the imported program tables differ in number from the on-screen program
If the number of imported program tables is greater
STEP0 : I+10000, 1000, ... Overwritten
STEP0 : I+10000, 1000, ...
STEP1 : I-20000, 2000, ... Overwritten
STEP1 : I-20000, 2000, ...
Ignored STEP2 : A+1000, 500, ...
STEP3 : STOP, 1500, ...
If the number of imported program tables is fewer

Overwritten
STEP0 : I+10000, 1000, ... STEP0 : I+10000, 1000, ...
STEP1 : I-20000, 2000, ...
Overwritten STEP1 : I-20000, 2000, ...
STEP2 : STOP, 1000, ...
STEP3 : STOP, 1000, ...
Factory Settings
STEP2 : STOP, 1000, ...
STEP3 : STOP, 1000, ...
4-130
4-131
4.7.2 Zone Table Editing

Zones can be viewed and edited in the Zone Table Editing window. Designate a zone by
setting the starting and ending positions of the zone. The NS600 or NS601 will send five
output signals (/POUT0 to /POUT4) corresponding to the zone of the current position
according to the zone table.
When Online
Zone Table. The Zone Table Editing window appears.
Saves the zone table data.
Prints the Zone Table Editing window.
A B
Zone Table Editing Window (Online Mode)
Thirty-two types of zones can be set. The five signals (Z0 to Z4) correspond to the
following: Z0 = /POUT0, Z1 = /POUT1, Z2 = /POUT2, Z3 = /POUT3, Z4 = /POUT4.
Box A: ZONEN
The zone starting position (ZONEN) can be designated directly in this box.
Box B: ZONEP
The zone ending position (ZONEP) can be designated directly in this box.
4-132
Comment
box appears.
Import
Zone table settings can be transferred or imported from a stored file with the Import
function. If the imported zone tables differ in number from the on-screen zone tables, the
following processing takes place.
If the number of imported zone tables is greater
Zone Tables in Imported Zone
Zone Table Editing window Tables
Overwritten
ID0 : 1000, 1100
ID1 : 2000, 2200 Overwritten ID0 : 1000, 1100
ID1 : 2000, 2200
Ignored ID2 : 3000, 3300
ID3 : 1100, 1500
If the number of imported zone tables is fewer


Overwritten
ID0 : 1000, 1200 ID0 : 1000, 1200
Overwritten
ID1 : 2000, 2100 ID1 : 2000, 2100
ID2 : 0, 0
ID3 : 0, 0
Factory Settings
ID2 : 0, 0
ID3 : 0, 0
4-133
1. Click Import and the Open box appears.
Write
is turned off.

Click Cancel to return to the Zone Table Editing window without writing in the data.

4-134
Read
The zone tables can be read within the connected SERVOPACK with the Read function.
Click Read, and a message will appear, confirming if you want to read the table data.

Click Cancel to return to the Zone Table Editing window without reading the table data.
Save
the SERVOPACK.
Click Cancel to return to the Zone Table Editing window. Then by clicking Write, write
zone table that is currently displayed but has not been stored into the SERVOPACK.

Click Cancel to return to the Zone Table Editing window without saving the data.
4-135
Initialize
Click Initialize to initialize the zone tables.

Click Cancel to return to the Zone Table Editing window without changing the settings.
4-136
(Print) Button
The data on the Zone Table Editing window can be printed. To print the data, click the
Cover

Color Selection
4-137
in print.

Printing Items.
4-138
When Offline
Zone Table. The Zone Table Editing box appears.


4-139

appears.
4-140

4-141
Version Number

will be imported, and the Zone Table Editing window will appear.
Prints the Zone Table Editing window.

Saves the zone table data.
Opens files.
A B
Zone Table Editing Window (Offline Mode)
4-142
Box A: ZONEN
The zone starting position (ZONEN) can be designated directly in this box.
Box B: ZONEP
The zone ending position (ZONEP) can be designated directly in this box.
(Open) Button
The parameter file can be loaded in the Open box. To load the file, use the following
procedure.
4-143
(New) Button
4-144

4-145
Version Number

imported, and the Zone Table Editing window will appear.
4-146
(Print) Button
The data on the Zone Table Editing window can be printed. To print the data, click the
Cover

Color Selection
4-147
in print.

Printing Items.
4-148
Comment
box appears.
Import
Zone table settings can be transferred or imported from a stored file with the Import
function. If the imported zone tables differ in number from the on-screen zone tables, the
following processing takes place.
If the number of imported zone tables is greater
Overwritten
ID0 : 1000, 1100
ID1 : 2000, 2200 Overwritten ID0 : 1000, 1100
ID1 : 2000, 2200
Ignored ID2 : 3000, 3300
ID3 : 1100, 1500
If the number of imported zone tables is fewer


Overwritten
ID0 : 1000, 1200 ID0 : 1000, 1200
Overwritten
ID1 : 2000, 2100 ID1 : 2000, 2100
ID2 : 0, 0
ID3 : 0, 0
Factory Settings
ID2 : 0, 0
ID3 : 0, 0
4-149
4-150
4.7.3 Jog Speed Table Editing

The jog speeds can be viewed and edited in the Jog Speed Table Editing window. The
NS600 or NS601 changes the speed to the corresponding jog speed in the jog speed table in
accordance with the combination of input signals, /JOG0 to /JOG3.
When Online
Jog Speed Table. The Jog Speed Table Editing window appears.
Saves the jog speed table data.
Prints the Jog Speed Table Editing window.
Jog Speed Table Editing Window (Online Mode)
Sixteen types of jog speed can be set. The four signals (J0 to J3) correspond to the
following: J0 = /JOG0, J1 = /JOG1, J2 = /JOG2, J3 = /JOG3.
Box A: JSPD
The jog speed can be typed directly in this box.
4-151
Comment
box appears.
Import
Jog speed table settings can be transferred or imported from a stored file with the Import
function. If the imported jog speed tables differ in number from the on-screen jog speed
If the number of imported jog speed tables is greater
Jog Speed Tables
in Jog Speed Table Imported Jog Speed
Editing window Tables
Overwritten
ID0 : 1000 ID0 : 1000
ID1 : 2000
Overwritten
ID1 : 2000
Ignored ID2 : 3000
ID3 : 1100
If the number of imported jog speed tables is fewer

Jog Speed Tables
Overwritten
ID0 : 1000 ID0 : 1000
Overwritten ID1 : 2000
ID1 : 2000
ID2 : 1000
ID3 : 1000
Factory Settings
ID2 : 1000
ID3 : 1000
4-152
1. Clicking Import and the Open box appears.
Write
is turned off.

Click Cancel to return to the Jog Speed Table Editing window without writing in the data.

4-153
Read
The jog speed tables can be read within the connected SERVOPACK with the Read
function. Click Read, and a message will appear, confirming if you want to read the table
data.

Click Cancel to return to the Jog Speed Table Editing window without reading the table
data.
Save
the SERVOPACK.
Click Cancel to return to the Jog Speed Table Editing window. Then by clicking Write,
write jog speed table that is currently displayed but has not been stored into the
SERVOPACK.

Click Cancel to return to the Jog Speed Table Editing window without saving the data.
4-154
Initialize
Click Initialize to initialize the jog speed tables.

Click Cancel to return to the Jog Speed Table Editing window without changing the
settings.
(Print) Button
The data on the Jog Speed Table Editing window can be printed. To print the data, click
the button. The Printing Item Setting dialog box appears.
4-155
Cover

Color Selection
in print.

Printing Items.
4-156
When Offline
Jog Speed Table. The Jog Speed Table Editing box appears.


4-157

appears.
4-158

4-159
Version Number

(7) Select the specifications of the application module, and then click OK. The data
will be imported, and the Jog Speed Table Editing window will appear.
4-160
Prints the Jog Speed Table Editing window.

Saves the jog speed table data.
Opens files.
Jog Speed Table Editing Window (Offline Mode)
Box A: JSPD
The jog speed can be typed directly in this box.
4-161
(Open) Button
The parameter file can be loaded in the Open box. To load the file, use the following
procedure.
4-162
(New) Button
4-163

4-164
Version Number

imported, and the Jog Speed Editing window will appear.
4-165
(Print) Button
The data on the Jog Speed Table Editing window can be printed. To print the data, click
the button. The Printing Item Setting dialog box appears.
Cover

Color Selection
4-166
in print.

Printing Items.
4-167
Comment
box appears.
Import
Jog speed table settings can be transferred or imported from a stored file with the Import
function. If the imported jog speed tables differ in number from the on-screen jog speed
If the number of imported jog speed tables is greater
Jog Speed Tables
Overwritten
ID0 : 1000 ID0 : 1000
ID1 : 2000
Overwritten
ID1 : 2000
Ignored ID2 : 3000
ID3 : 1100
If the number of imported jog speed tables is fewer

Jog Speed Tables
Overwritten
ID0 : 1000 ID0 : 1000
Overwritten ID1 : 2000
ID1 : 2000
ID2 : 1000
ID3 : 1000
Factory Settings
ID2 : 1000
ID3 : 1000
4-168
4-169
Appendix A: Cable Between the PC and
SERVOPACK
Prepare a dedicated cable for connecting the PC to the SERVOPACK. Contact Yaskawa
for the dedicated cable.
Model : JZSP-CMS02 (D-sub 9 pins)
Cable Specifications
D-sub Connector Half-pitch Connector
17JE-13090-02 (D8A) Plug : 10114-3000VE
Dai-ichi Denshi Kogyo, Inc. Shell : 10314-52A0-008
Sumitomo 3M, Inc.
2000 50
6 1 Cable
8 1
Cable Model : JZSP-CMS02 14 7

9 5
2-M2.6 Screw 6-M2.6 Screw
Connection Circuit
PC side SERVOPACK side
(D-sub 9 pins) (Half-pitch 14 pins)
Clamp to hood Clamp to hood
/ /
/ /
14
A-1
Communication Specifications
The communication specifications are:
Baud Rate 9600 bps

Bit Structure Start: 1 bit
Data: 7 bits
Stop: 1 bit
Odd Number Parity: 1 bit
Synchronization Type Start-stop synchronization
XON/XOFF Control None
Shift Control None
Communication Type Half-duplex communication
A-2
Connection Circuit
When Using an RS-422A port
The cable can also be connected using an RS-422A port. The following diagram shows a
connection circuit.
Transmission Range : 30m maximum (the maximum cable length is 30m.)
Transmission Type : RS422A
< Multi-Axis Connection (for non-terminal connection) >
RS-422A Port - II Series SERVOPACK CN7
+5V
RXD 1 TXD
*RXD 2 *TXD
1K to 10K 8 TXD
0V
9 *TXD
TXD 3 RXD
Twist Pair Cable
*TXD 4 *RXD
10 RXD
6 *RXD
7 RT
0V 14 GND
Shield FG Case
A-3
< Multi-Axis Connection (for terminal connections) >
A 120 terminal resistor is inserted due to a short between pins 6 and 7.
RS-422A Port - II Series SERVOPACK CN7
+5V
RXD 1 TXD
*RXD 2 *TXD
8 TXD
1K to 10K
0V 9 *TXD
TXD 3 RXD
Twist Pair Cable
*TXD 4 *RXD
10 RXD
6 *RXD
7 RT
0V 14 GND
Shield FG Case
A-4
Connector Terminals on the SERVOPACK Side
Pin Number Signal Name Signal Line Name Signal Direction

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

5 OPH Reserved Terminal -
6 /RXD A 120 terminal resistor between RXD - *RXD is inserted if
there is a short between pins 6 and 7.
7 RT
8 TXD Transmission Data (non-inverted side) PS
9 /TXD Transmission Data (inverted side) PS
10 RXD Reception Data (non-inverted side) PS
11 Reserved Terminal # *3
12 Reserved Terminal # *3
13 5VPP Reserved Terminal -
14 GND Signal 0V -
Connector Pin Number and Signal Name
*1. P: PC
*2. S: SERVOPACK
*3. #: Reserved Terminal (always leave open)
Note: Peel back the cable shield on the end of each connector and affix it PPwith a clamp.
A-5
Appendix B: Install File List
SigmaWin+ INDEXER component installs the following files into two directories on the
PC.
The application default installation directory is C:\PROGRAM FILES\SgmaIDE\
SigmaWinPlus\SigmaIndexer.
Main Application Files
File Name Function Installation Directory

SIGMAINDEXER.exe Executable Module (EXE) Application Directory\Bin
BASELIB.dll Executable Module (DLL) Application Directory\Bin
CYELIB.dll Executable Module (DLL) Application Directory\Bin
SVADJUST.dll Executable Module (DLL) Application Directory\Bin
SVBASE.dll Executable Module (DLL) Application Directory\Bin
SVCHART.dll Executable Module (DLL) Application Directory\Bin
SVCONNECT.dll Executable Module (DLL) Application Directory\Bin
SVGRAPH.dll Executable Module (DLL) Application Directory\Bin
SVINFO.dll Executable Module (DLL) Application Directory\Bin
SVJOG.dll Executable Module (DLL) Application Directory\Bin
SVLIB.dll Executable Module (DLL) Application Directory\Bin
SVLIBC.dll Executable Module (DLL) Application Directory\Bin
SVMON.dll Executable Module (DLL) Application Directory\Bin
SVMONSETTING.dll Executable Module (DLL) Application Directory\Bin
SVMULTITURN.dll Executable Module (DLL) Application Directory\Bin
SVPASSWORD.dll Executable Module (DLL) Application Directory\Bin
SVPLUSRES.dll Executable Module (DLL) Application Directory\Bin
SVPRN.dll Executable Module (DLL) Application Directory\Bin
SVTRACE.dll Executable Module (DLL) Application Directory\Bin
SVTUNEON.dll Executable Module (DLL) Application Directory\Bin
SVUSER.dll Executable Module (DLL) Application Directory\Bin
SVUSERDIRECT.dll Executable Module (DLL) Application Directory\Bin
SVZSET.dll Executable Module (DLL) Application Directory\Bin
IDXSERIALMON.dll Executable Module (DLL) Application Directory\Bin
IDXALARM.dll Executable Module (DLL) Application Directory\Bin
IDXENCABS.dll Executable Module (DLL) Application Directory\Bin
IDXIDXTBL.dll Executable Module (DLL) Application Directory\Bin
IDXZONETBL.dll Executable Module (DLL) Application Directory\Bin
B-1
Main Application Files

IDXJOGTBL.dll Executable Module (DLL) Application Directory\Bin
YEDBASE.dll Executable Module (DLL) Application Directory\Bin
YESIGMA.dll Executable Module (DLL) Application Directory\Bin
IDEINFO.mdb Database File Application Directory\Bin
YEPRN.exe Executable Module (EXE) Application Directory\Bin
SIGMAIDE.atb SigmaWin+ INDEXER Application Directory\Bin\Dat\ToolBar
component Menu File
SIGMAFUNCINFO.swi Component Information Application Directory\Bin\Dat
File
ORG_BLUE_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_BLUE_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_DARKGREEN_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_DARKGREEN_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_GREEN_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_GREEN_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PERPLE_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PERPLE_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PINK_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PINK_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PRINT_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_PRINT_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_RED_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_RED_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_SYAN_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_SYAN_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_YELLOW_LEFT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
ORG_YELLOW_RIGHT.bmp Bitmap File Application Directory\Bin\Dat\Bmp
SERVOPACK.chm Help File Application Directory\Help
SIGMAWIN+ INDEXER Help File Application Directory\Help
COMPONENT.chm
SIGMATOUR.chm Help File Application Directory\Help
B-2
Microsoft Foundation Support Files

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

DAO350.dll DAO DLL DAO Directory
DAO2535.tlb DAO TBL File DAO Directory
MSJET35.dll DAO DLL Windows System Directory
MSRD2X35.dll DAO DLL Windows System Directory
EXPSRV.Ddll DAO DLL Windows System Directory
MSJINT35.dll DAO DLL Windows System Directory
MSJTER35.dll DAO DLL Windows System Directory
B-3
Tool OCX

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

SIGMAINDEXER.pdf SigmaWin+ INDEXER component Application Directory\Manuals
Users Manual
Visal Basic Runtime Library

MSVBVM60.dll Visual Basic Runtime Library Windows System Directory
TABCTL32.ocx Tab Control OCX Windows System Directory
COMDLG32.ocx Common Dialog OCX Windows System Directory
B-4
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.SIEP S800000 70A

Published in Japan June 2009 09-6
Date of Date of original

publication publication
Rev.
Date of Publication No. Section Revised Content
June 2009 First edition

AC Servo Drives Engineering Tool
SigmaWin+
ONLINE MANUAL
INDEXER Component
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstrae 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, 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, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
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.
2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800000 70A

Published in Japan June 2009 09-6
09-1

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AC Servo Drives Engineering Tool

MANUAL NO. SIEP S800000 70A

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

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

Furthermore, items marked with ! CAUTION may have important consequences

ISO Standards JIS Standards

This manual uses ISO standard symbols.

Notes on the PC Communication Function

Operating Systems and Registered Trademarks

Notes on Using WindowsXP

Notes on Using NP115

3 SigmaWin+ INDEXER Component Main Window

Appendix A: Cable Between the PC and SERVOPACK

Appendix B: Install File List

1.1 Outline and Advantages of SigmaWin+ INDEXER

1.2 Compatible Devices

1.3 System Requirements

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

1.4 Installing SigmaWin+ Program

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

3. Click Next to continue.

5. Select the setup type.

<To install all components of SigmaWin+>

<To install selected components of SigmaWin+>

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

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

1.5 Removing SigmaWin+ Program

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

5. Click Finish to complete the removal process.

1.6 Installing and Removing Other SigmaWin+

2. Choose "Modify" and click Next.

The components with check boxes are currently installed.

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

4. Click Finish to complete the changing process.

2.1 Starting SigmaWin+

2.1.1 From the Start Menu

2.1.2 From a Shortcut

SigmaWin+ Startup Screen

2.2 Selecting a SERVOPACK

<When Offline is selected>

Select the SERVOPACK series and click Starting.

<When Online is selected>

(2) Select SERVOPACK series and axis address. Click Search.

SERVOPACK Selection Box

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

< If the SERVOPACK is not Displayed >

Check Item Note

SigmaWin+ INDEXER Component Main Window

SigmaWin+ INDEXER Component Menu Bar

Data for each function

SigmaWin+ INDEXER Component Toolbar

Parameter Online Editing

Input Signal Monitor

Output Signal Monitor

Serial Command Monitor

Absolute Encoder Reset

Multi-Turn Limit Setting

Absolute Encoder Zero Setting

Save Moment of Inertia Setting

Analog Monitor Output Adjustment