This section describes the setup process for Yaskawa Sigma II/III Serial Absolute Encoders, 16-bit (Sigma II), 17-bit (Sigma II/III) and 20-bits (Sigma II/III) per revolution versions. This setup process assumes that the Sigma II/III encoder is directly interfaced to the Guidance Controller. Connecting the encoder through a Yaskawa drive amplifier is not currently supported. Please consult the Yaskawa documentation for the type of encoder equipped with your motor.
Up to 4 motors equipped with Sigma II/III encoders can be interfaced to the "Enhanced" versions of the Guidance Controllers by connecting to the differential signals provided on the MIDS encoder connectors. Please see the Guidance Controller, Hardware Introduction and Reference Manual or the Controller Hardware section of the PreciseFlex Library for specific wiring instructions.
The following procedure describes how to configure a single motor with a Yaskawa Sigma II/III Serial Absolute encoder.
| Setup 3-Yaskawa SII-1: Yaskawa Sigma II/III Serial Absolute Encoders | ||
|---|---|---|
| Function | Action / DataID's | See Also |
| Initial setup | Perform Setup 2A to define the number of robots and axes in the standard fashion. Perform Setup 2B initializing the servos as though incremental axes are to be used for all axes. |
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| Restart | If not already done, save the changes to flash and restart. |
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| Customize the servo configuration |
Set the "Servo board configuration code" (10008) to "-1" to indicate you are customizing the values from 10020 to 10048. |
(Web) ... > Servo parameters > Servo module |
| Change the encoder type |
Set the "Encoder type" (10027) to either "20" (Sigma II 16-bits per revolution), "21" (Sigma II 17-bits per revolution), "22" (Sigma II 20-bits per revolution), "23" (Sigma III 20-bits per revolution), or "24" (Sigma III 17-bits per revolution)to indicate the proper type of Sigma II/III encoder. |
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| Restart | Save the changes to flash and restart. |
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Since a large variety of motors are available with Yaskawa Sigma II/III Serial Absolute Encoders, it is not practical to provide the current loop information for each motor. Therefore, for most of the parameters described in Setup 2C and Setup 2D, the standard procedures defined for an incremental encoder should be executed. For selected parameters, the following table contains specific values for the Sigma II/III encoders.
| Setup 3-Yaskawa SII-2: Yaskawa Sigma II/III Specific Parameters | ||||
|---|---|---|---|---|
| Function | 16-bit | 17-bit | 20-bit | See Also |
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65536 |
131072 |
1048576 |
(Web) ... > Servo parameters > Encoder |
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1 |
1 |
1 |
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Use values from motor data sheet, seeSetup 2C |
(Web) ... > Servo parameters > Amplifier |
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"AUTO mode motor PEAK(non-RMS)/(RMS rated) current, %" (10613) |
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(Web) ... > Servo parameters > Current loop |
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SeeSetup 2C |
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4 |
4 |
4 |
(Web) ... > Servo parameters > Commutation process |
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For absolute encoders, the commutation reference angle only has to be found once. Thereafter, the reference angle will be automatically derived from the absolute encoder position. |
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Following this setup, the steps in Setup 2E to Setup 2G should be executed in the standard fashion with the following exception.
| Setup 3-Yaskawa SII-3: Homing Setup | ||
|---|---|---|
| Function | Action / DataID's | See Also |
| Homing method |
Set the "Homing method" (2803) to "-9" to indicate that an absolute encoder is being utilized. |
(Web) ... > Joint/Cartesian control > Homing/jogging |
| Zero position offset |
Execute the homing sequence to read the absolute position of the encoder and adjust the "Calibration home offset, mcnt" (16120) to correct the axis position for any offset between the encoder reading and the desired axis position. |
(Web) ... > Calibration parameters > Servo Settings |