eLM SigmaFSP 02 Wizard PDF

TRM801-06-SigmaFSP-Wizard
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Text Captions: Class ID: TRM801-06-SigmaFSP-Wizard
Doc Number eLM.SigmaFSP.02.Wizard
Revision 1.00 11/03/2006
Yaskawa Electric America
Technical Training Services
FlexWorks New Project Wizard
Sigma FSP
eLearning Module
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Monday, December 18, 2006
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Text Captions: This module will guide you through the FlexWorks New Project Wizard using both demonstration and interactive simulation of
Yaskawa's FlexWorks software.
When completed, the Sigma FSP parameters will be configured and ready for motion programming.
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Slide 4
Text Captions: At this point the Sigma FSP should be properly installed and wired.
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Autoplay: Start Flexworks

Text Captions: The first step is to start FlexWorks.
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Text Captions: When the software is launched, a window immediately appears, asking to select the drive version.
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zoom driver version

Text Captions: The drive version refers to the firmware level of the Sigma FSP, printed on the front of the unit.
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Slide 8
Text Captions: Click OK
Click OK
In most cases you can click OK to accept the latest drive version.
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Slide 9
Text Captions: Select the File menu
Select the File menu
The first step needed, even before going online, is to start a new project under the File menu
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Slide 10
Text Captions: Select the New Project menu item
Select the New Project menu item
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Text Captions: Select the Sigma II item
Select Sigma II
Starting a new project automatically starts the New Project Wizard.
The first page of the wizard is Motor Selection.
In this case we are using a Sigma II motor.
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Text Captions: It is possible to use a third-party motor with the Sigma FSP.
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Text Captions: The Add Another Motor button is for factory authorized use. All details regarding third-party motors can be found at Yaskawa.com.
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Text Captions: Click the Next > button
Click the Next > button
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Basic Selection
Text Captions: The Sigma FSP can be operated using any one of five control methods, as selected in parameter Pn000.1
The five control methods are: Torque, Speed, Position, Contact Speed, and Programming.
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Text Captions: Two of these five methods can be selected through this wizard.
Programming control method is the default and should remain selected when a program will be developed using FlexWorks.
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Text Captions: Other Basic Selection options include reversing the motor direction, and setting the axis address when multiple Sigma FSP units are
connected on a serial network.
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Slide 19
Text Captions: Click the Pull-Down menu or click Next> to proceed
Click the pull-down menu
Click the pull-down menu to learn more about the two control modes available through the wizard, or click Next> to proceed.
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START Learn More

Text Captions: Opening
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Learn More
Text Captions: This pull-down menu of the wizard allows selection of either Programming or Position Control method
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Text Captions: A sixth mode, Yaskawa Option Board, does not apply.
To use torque, speed, or contact speed mode, the parameter Pn000.1 must be adjusted directly, not through the wizard.
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Slide 24
Text Captions: Direct parameter adjustment occurs outside the New Project Wizard using the Parameters window.
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Slide 25
Text Captions: Control Method Selection is adjusted with the first parameter on the list, Pn000.1.
Torque, speed, and contact speed control methods work just the same as they do in the Sigma II amplifier.
Pn000.1 must be set in this screen to use these modes.
Programming control method is the default and should remain selected when a program will be developed using FlexWorks.
Programming and Position control methods can be selected through the wizard
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Slide 26
Click the Next> button to proceed with the Wizard
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END Learn More

Text Captions: Closing
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User Units
Text Captions: The Sigma FSP allows the User Unit to be changed from this default.
Changing the User Unit allows the move profile to be entered according to units such as hundredths of a degree, thousands of an inch, microns, etc.
By default the Position User Unit is encoder counts, the Speed User Unit is encoder counts per millisecond, and the Acceleration User Unit is encoder
counts per ten milliseconds squared.
The term User Unit is equivalent to the Reference Units used in other Yaskawa option boards and controllers.
The default User Units, as shown here, are based on post-quadrature encoder counts.
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Text Captions: User Units are defined in this screen by finding a ratio that converts the desired User Units to the default User Units listed.
In this eLearning Module well stick with the default User Units and leave the ratios set to 1.
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To accept the default units, click Next>
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Default Profile
Text Captions: The default profile screen sets the default speed, acceleration, and jerk to be used in a move when no specific command was used to
set them in the program.
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Text Captions: Acceptable values for the default speed and acceleration will depend on the user units defined, as well as the mechanical system
itself.
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Text Captions: If error 26 is displayed after completing the wizard, it is almost certainly because one or more of these default values was too high.
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Text Captions: In this case, simply edit the wizard and change the values of the default profile screen.
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Slide 43
Text Captions: Click to change Profile
Click here!
When using the default user units, 10 [counts per millisecond] is an appropriate default speed value for most motors, and 100 [counts per 10ms^2] is
an appropriate default acceleration value.
Please enter these values now.
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Slide 44
Text Captions: Enter 10 for the Speed and click the Acceleration field
Enter 10
Enter 10 for the Speed and click the Acceleration field
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Slide 45
Text Captions: Enter 100 for Acceleration
Enter 100
Enter 100 for Acceleration
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Slide 46
Text Captions: The value for Jerk smoothes the acceleration.
Jerk defines how long it takes to ramp the acceleration rate from zero to full acceleration.
A larger value makes a smoother acceleration.
If no smoothing is desired, simply leave Jerk set to zero.
Otherwise, a typical value for Jerk is 100 microseconds.
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Slide 47
Text Captions: At this point it is not necessary to enter anything under the Advanced Setting button.
But to see what the options are, click the Advanced Setting button now.
Otherwise click Next>.
Click the Advanced Setting button, otherwise click Next>
Click the Advanced Setting button to learn about more options.
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Copy of START Learn More

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Slide 49
Text Captions: The Motion End Window sets the level of position error that is acceptable for a positioning move to be complete.
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Slide 50
Text Captions: In Programming Mode, Pulse Train Synchronized Window applies only to the MOVE_R command.
It sets the acceptable level of position error between the motor and external pulse train.
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Slide 51
Text Captions: When the position error falls below the Position Completed Width, then the /COIN output turns on in position mode.
In programming mode, the /FAST output will turn on instead of /COIN if the FAST_OUTPUT_SETTING command is not used.
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Slide 52
Text Captions: For rotary applications, such as a rotary table, Rotation Base sets the rollover position in user units.
Click cancel to return to the previous window
Click cancel to return to the previous window
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Slide 53
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Copy of END Learn More

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Analog Input
Text Captions: The Analog Input screen only needs to be set when the application will use move commands that utilize the analog input feature.
Click one of the fields to find out more.
Otherwise click next
Click here to find out more
Click Next> to continue the wizard
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Slide 56
Text Captions: The values in these fields scale the relationship between command voltage and rated speed or rated torque.
But in programming control mode, the Sigma FSP still has access to these analog inputs, either as general inputs, or to adjust the torque and speed
of a move.
These inputs are normally connected to an external controllers reference command when the Sigma FSP operates in analog speed control mode or
analog torque control mode.
The Sigma FSP has an analog Speed input and analog Torque input.
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Pulse Train
Text Captions: The Pulse Train screen only needs to be modified when the application will use commands to synchronize to an external encoder.
Click Learn More for more details.
Otherwise click Next> to continue the wizard.
Click Learn More for more details.
Otherwise click Next> to continue the wizard
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Copy (3) of START Learn More

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Slide 59
Text Captions: Configuration of the reference pulse input to match the encoder or controller is illustrated in the Sigma FSP manual in section 5.2.2.
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Slide 60
Text Captions: Reference Pulse Form selects the format of the pulses that the master encoder produces.
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Slide 61
Text Captions: This will usually be A-Phase/B-Phase quadrature format when following an external encoder signal.
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Slide 62
Text Captions: Select Logic determines whether the rising edge or falling edge of the pulses are counted.
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Slide 63
Text Captions: The electronic gear ratio only applies to the MOVE_R command, allowing the effective resolution of the master encoder to be
increased or decreased according to the ratio entered.
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end LEARN MORE

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Inputs
Text Captions: The Sigma FSP has 7 input terminals.
Activation of one of these input terminals can trigger a built-in input signal.
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Slide 66
Text Captions: Assign input 3 to activate /ALM-RST
Click here!
For example, input 3 can be set to activate /ALM-RST
Click to allocate this input now.
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Slide 67
Text Captions: All of the inputs listed can be used with Programming Control Method.
However, the bottom three input signals apply ONLY to the Programming Control Method and have no effect with Torque, Speed, Position, or Contact
Speed Control Method.
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Slide 68
Text Captions: P-OT and N-OT are connected to the over-travel proximity sensors so that motion is stopped in the positive or negative direction,
respectively.
A custom subroutine to recover from the over-travel condition can be programmed using the FAULT_MANAGER command.
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Slide 69
Text Captions: Click Learn More for more information on the inputs. Otherwise click Next> to continue the wizard
Click Learn More for more information or Next> to continue the wizard
Click Learn More for more information or Next> to continue the wizard
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Copy (2) of START Learn More

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learn more
Text Captions: In torque, speed, position, and contact speed control method, the function of these inputs in the Sigma FSP is identical to the SigmaII
amplifier.
Other inputs not shown, such as the contact speed input signals, are also available in these modes by direct parameter selection.
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Slide 72
Text Captions: In Programming Mode, the /Emergency signal will abort all motion. A custom subroutine to recover from the emergency condition can
also be programmed using the FAULT_MANAGER command.
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Slide 73
Text Captions: The New Move Enable signal is used so that an input can trigger the next move command in the program, with a response time of 125
microseconds. This feature can be used to synchronize the move with the product as it is sensed, without consideration for delays in program
execution.
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Slide 74
Text Captions: The Home Switch signal is required when homing to a sensor using the HOME_SW or HOME_SW_C command.
Other homing commands are available that do not require the use of a home sensor, and a custom homing routine can also be written.
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Slide 75
Text Captions: It is also useful to map the Home Switch signal to the same input as P-OT or N-OT for homing to an over-travel sensor.
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Text Captions: This method uses one less input, one less sensor, and will not cause an over-travel condition during the home routine.
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Slide 82
Text Captions: Click Next> to continue the wizard
None of these inputs need to be changed from default for basic programming.
If any are needed, this page of the wizard can be edited later.
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Copy (2) of END Learn More

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Outputs
Text Captions: Output signals are assigned to output terminals the same way that inputs are.
Output signals can be used in any control mode.
Other output signals not shown are available by direct parameter selection.
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Slide 85
The function of the outputs in the Sigma FSP and Sigma II is identical.
However the Sigma FSP has one additional high-speed output, called the /FAST output, available only in programming mode.
By default, the /FAST output works like the /COIN output, with a response time of only 125 microseconds. But the functionality can be changed using
the FAST_OUTPUT_SETTING command.
This type of output is sometimes referred to as a PLS, Notch, or Zone output.
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Encoder
When the Sigma FSP is in programming mode, the setting in this field is not needed because there is no upper level controller.
This allows the resolution of the motor to be reduced, as seen by the controller, making it easy to retrofit Sigma FSP to existing applications.
The Encoder Output Setting screen sets the number of pre-quadrature pulses per revolution that should be output from the Sigma FSP as feedback
to an upper level controller.
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Slide 87
Text Captions: Click the Finish button
Click the Finish button
Completion of the wizard will update the parameters displayed in FlexWorks.
These parameters are part of the project file, which should be saved to the computer.
After going online, these parameters need to be sent to the Sigma FSP.
Control power must then be cycled for some of the parameters to take effect.
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Slide 88
Text Captions: Select the File menu
Select the File menu
Before proceeding, the project file should be saved to the computer.
Please save the project.
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Slide 89
Text Captions: Select the Save Project As... menu item
Select the Save Project As... menu item
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Slide 92
Text Captions: Select the Communication menu
Select the Communication menu
Now go online.
Be sure the YS-12 serial cable is connected between the Sigma FSP and your computer.
Click the Communication menu and select On-Line.
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Text Captions: Select On - Line
Select the On - Line menu item
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Text Captions: Online status is indicated in the bottom right.
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Slide 96
Text Captions: You may also notice the built-in digital operator blanks out for a few minutes while the connection is being confirmed.
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Slide 97
Text Captions: Errors may appear when going on-line for the first time.
Click OK to accept.
These errors are generated because the default parameters may not be valid.
However, the default parameters will soon be replaced by the parameters generated by the Wizard.
Click OK to accept the error
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Slide 98
Text Captions: Click OK to accept the error
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Slide 99
Text Captions: Click the Download Parameters button
Click the Download Parameters button
The parameters created by the wizard must now be downloaded.
Please click the Download Parameters button.
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Slide 106
Text Captions: Click to cycle power on the Sigma FSP.
Click the Ready button when finished
After parameters are downloaded the first time, power must be cycled for changes to take effect.
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Slide 107
Text Captions: Select the Communication menu
Select the Communication menu
Go back online after cycling power
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Slide 108
Text Captions: Select On - Line
Select the On - Line menu item
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Slide 110
Text Captions: The Sigma FSP is now ready for auto-tuning or motion programming.
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Slide 111
Text Captions: This Concludes
Sigma FSP
FlexWorks New Project Wizard
1-800-YASKAWA (927-5292)
www.yaskawa.com
training@yaskawa.com
Click this link to go to Yaskawa.com
Click this link to e-mail Technical Training Services
This Concludes Sigma FSP FlexWorks New Project Wizard.
Please help us by clicking the button to complete a short three-question survey.
For more information, please contact us using any of the methods listed below.
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eLM SigmaFSP 02 Wizard PDF

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TRM801-06-SigmaFSP-Wizard

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