SMC-3010 LEGEND-MC

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	Question	Posted Date
	What is the scan rate of the A1000? Posted Date: 01/04/2011 Answer: A blazing 1 ms. Along with the A1000's dual CPUs, this makes for impressive torque and speed loop response times. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-8CDJTZ Published Date: 01/04/2011 Share \| Rate Rate this article :	01/04/2011
	What is the recommended system requirement for Compass? Processor, memory, etc. Posted Date: 05/21/2020 Answer: 1.6 GHz CPU, 4 GB memory, mainly a requirement of the operating system 1280x1024 display or higher resolution mounted horizontal or vertical Any modern hard drive size is sufficient. Flash drive / non-moving mechanism recommended 100 BaseT Ethernet connection More information can be found in Doc# AN.MWIEC.06. Product Group/Line: Yaskawa Compass, Controllers Topic/Sub Topic: Software, Ask a Technical Question Document Number: CNT-E3L74L Published Date: 05/21/2020 Share \| Rate Rate this article :	05/21/2020
	What is the reason for the long deceleration when using a Direct Drive Motor system with a Sigma 2 Servopack (SGDH) and MP940? What are the steps to properly tune such a system? Posted Date: 07/25/2005 Answer: The default parameters in the MP940 and Sigma 2 Servopack (SGDH) may cause longer deceleration times than what is programmed. The attached .JPG file is a screen shot of a profile of a Direct Drive servomotor controlled with an MP940. A quick 20mS move was set for acceleration and deceleration. The SGDH speed loop gains and MP940 position loop gain are too low for the Direct Drive Servomotor system. Once the MP940 memory is cleared, and both the Servopack and controller are re-powered, the MP940 turns off 'adaptive auto tuning'. The MP940 does this by setting Pn110.0 = 2. Speed loop Gains: Pn103 (Inertia ratio) in the SGDH is still set to Factory default of 0. In this condition, the speed loop gains in the SGDH (Pn100, Pn101) are very small relative to the high encoder resolution and large inertias of both motor and load. Calculate the inertia of the load and enter the Load to Motor ratio in units of 0.01% into Servopack Parameter Pn103. The factory defaults on the other two gains (Pn100 and Pn101) are a fine starting point for a Direct Drive Servomotor and load. Since the load is direct drive, speed loop gain tuning should be started from a rigidity setting of 8. If there is too much vibration during an initial move, then it should be decreased, and a test move made again. Please refer to section 6.3.2 in the Sigma 2 manual for adjusting the gain levels for specific rigidity. Position Loop Gains: The Position Loop gain and the Position Loop Feed Forward are of equal importance. Both are located in the MP940 controller. The Motion Works+ software package includes the Position Loop Gain as System Variable 'pGain_PositionLoop'. In MPE720/MotionWorks it is register OWC010, or Set Up Parameter 17 in the SVA module configuration. Values for Position Loop Gain can vary, but a good starting point for a Direct Drive Servomotor is 50. Increase the gain for improved deceleration performance. When the system starts to oscillate or overshoot slightly, reduce the value about 25~35%. Once the Position Loop Gain is set, raise the Position Loop Feed Forward. Starting at zero, increase the value until oscillation, and then reduce slightly. Feed Forward is labeled "pGain_FeedForward" in the MotionWorks+ Software package. In MPE720/MotionWorks it is register OWC011, or Set Up Parameter 18 in the SVA module configuration. If the system performs well without Feed Forward, then leave the feed forward at zero Using Adaptive Auto Tuning to calculate inertia: In order to use Adaptive Auto Tuning and have the Servopack calculate the inertia, the feature must be re-enabled. See section 6 of the Servopack manual for details. Step 1: With the load is attached, Set Pn110.0=0. This will enable the adaptive auto-tuning algorithm after power is cycled. Step 2: The Servopack will calculate the inertia durning the first few moves. Step 3: Use function (Fn-007) to copy the inertia ratio to the EE-prom. Step 4: Disable auto tuning by setting Pn110.0=2, then cycle power again. Step 5: (Optional) Perform manual tuning by commanding open loop speed to the Servopack. This can be done via 'Speed mode' when programming an MP940 in MP720/MotionWorks. A JOG operation in MotionWorks+ is an open loop speed command. Step 6: Increase the Position Loop Gain OWC010 (pGain_PositionLoop) until it oscillates or overshoots slightly, then reduce by about 25~35% of the gain value. It may be necessary to raise the Feed Forward gain OWC011 until it overshoots then back it off a bit. Regardless of the method used. Be sure to record and save the parameter setting in both the software and machine documentation. Attachments: 155KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Adjustments, Application Example, Parameters, Troubleshooting, Tuning Document Number: MTN-5WZJZ7 Published Date: 07/25/2005 Share \| Rate Rate this article :	07/25/2005
	What is the rating of the GA500’s 24 Vdc output? Posted Date: 09/30/2019 Answer: The GA500 24 Vdc power supply can provide up to 150 mA. Product Group/Line: Inverter Drives, GA500 Drive Topic/Sub Topic: Ask a Technical Question, Inputs - Outputs, Product Launch Document Number: INV-C5W9V2 Published Date: 09/30/2019 Share \| Rate Rate this article :	09/30/2019
	What is the rating of the FP605’s +24 VDC output? Posted Date: 03/31/2022 Answer: The FP605 +24 VDC power supply can provide up to 150 mA. Product Group/Line: Inverter Drives, FP605 Topic/Sub Topic: Ask a Technical Question, Product Launch, Inputs - Outputs, Specifications Document Number: INV-8ST8J7 Published Date: 03/31/2022 Share \| Rate Rate this article :	03/31/2022
	What is the rated current of the 24VDC holding brake on Sigma II motors? Posted Date: 07/13/2004 Answer: SGMAH: A3, A5, 01, 08 = 0.25 A 02, 04 = 0.27 A SGMPH: 01 = 0.25 A 02 = 0.21 A 04 = 0.32 A 08 = 0.31 A 15 = 0.42 A SGMGH: 05, 09, 13 = 0.41 A 20, 30, 44 = 0.77 A 55, 75 = 0.98 A 1A = 1.33 A 1E = 1.46 A SGMSH/UH: 10, 15, 20 = 0.29 A 30, 40, 50 = 0.41 A Note: Sigma II holding brakes are rated for more than 110% of rated motor torque. For more detailed specifications on holding brakes, see the Sigma II Product Catalog Supplement. For details on holding brake wiring, see the Sigma II User manual, Section 5.4.4. Both publications are available here on the website in PDF form. Product Group/Line: Servo Products, SGMAH Sigma II, SGMGH Sigma II, SGMPH Sigma II, SGMSH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Specifications Document Number: MNEN-5CJMJ2 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the purpose of the TEST switch on the front panel of an E7B bypass unit? Posted Date: 06/08/2007 Answer: The TEST switch is only available when in the Bypass Mode. It is used to energize the input contactor to the Drive while the unit is operating in Bypass. When in TEST mode the drive can be programmed, or other "tests" performed while the motor runs on the power line at full speed in Bypass Mode. TEST MODE engages the input contactor and three phase AC power is applied to the drive. The output contactor, however, will not be energized, this isolates the motor from the drive's output voltage. When placed in the Drive Mode, switching from NORMAL to TEST position will remove the Drive run command and the motor will stop. Please refer to the "Selector Switch Functions" section found on page 4-9 in the E7B Drive / Bypass Technical Manual (TM.E7B.01). Product Group/Line: Inverter Drives, E7B Drive Bypass Topic/Sub Topic: Ask a Technical Question, Bypass Function, Operation Document Number: DRV-5WCPM4 Published Date: 06/08/2007 Share \| Rate Rate this article :	06/08/2007
	What is the purpose of the Near Output Signal (/NEAR) in Sigma II drives? Posted Date: 01/13/2003 Answer: The purpose of this output signal is to inform the host controller that the servomotor is close to completing operation. Since this signal is generated before the positioning completed signal (/COIN) and has a setting range of 1 to 250 reference units, it is useful for applications where the host controller needs to activate other devices or axes before motion is completed. When the servomotor is tuned well, this output could be generated even during the move and not necessarily close to completion of the move. Again, the settings can be manipulated based on the given range. When implemented properly, this can also reduce cycle time because the host controller can prepare the next motion sequence before receiving the positioning completed (/COIN) signal. This output signal is only operational when the servo amplifier is in position control mode. To learn more about wiring & settings of this output signal, please refer to section 5.5.8 of the Sigma II users manual. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Operation, Programming Document Number: REKR-5HRQVY Published Date: 01/13/2003 Share \| Rate Rate this article :	01/13/2003
	What is the purpose of a softcharge resistor and contactor in a GPD506 / P5 drive? Posted Date: 11/28/2005 Answer: See attached. For more information, refer to section one in PP.P5G5.01.Troubleshoot the GPD 506/P5 and GPD 515/G5 Unit Troubleshooting Manual. Attachments: 45KB Product Group/Line: Inverter Drives, P5 GPD506 Drive, P5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: DRV-5WHLKD Published Date: 11/28/2005 Share \| Rate Rate this article :	11/28/2005
	What is the proper value to enter in Pn600 when Yaskawa Regenerative Resistor Unit is used? Posted Date: 07/13/2004 Answer: For Sigma II ServoPack up to 6.0 kW, if internal regeneration is used, leave Pn600 at factory default, 0. The value for Pn600 is in units of 10 watts. Its important to note that it is necessary to derate wattage of the external resistor to 20% or less for natural convection cooling and 50% or less with forced air cooling For example: JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W 880W0.2 = 180W Hence, Pn-600 = 18 To see a chart with models and PN-600 settings, please see the attached .PDF file. Please refer to Sigma II User's Manual (YEA-SIA-S800-32.2B) section 5.6 for additional details. JUSP-RA04 is wired default as 6.25 ohm @ 4x220W = 880W JUSP-RA05 is wired default as 3.13 ohm @ 8x220W = 1760W JUSP-RA18 is wired default as 18 ohm @ 4x220W = 880W JUSP-RA19 is wired default as 14.25 ohm @ 8220W = 1760W Attachments: 16KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration, Start Up - Installation Document Number: MNEN-5CJMS8 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the proper sequence to reset a SigmaLogic Alarm? Posted Date: 03/08/2016 Answer: Please see attached document. Attachments: 66KB Product Group/Line: SigmaLogic Software Package, Servo Products, SGDV SigmaLogic Topic/Sub Topic: Application Example, Ask a Technical Question, Alarm, Document Clarification, Integration, Programming, Troubleshooting Document Number: SRV-GX8O26 Published Date: 03/08/2016 Share \| Rate Rate this article :	03/08/2016
	What is the procedure to setup a rotary axis in MP controllers using MotionWorks? Posted Date: 08/19/2004 Answer: A rotary axis can be selected by setting bit 5 in the Fixed Parameter 17, Axis Selection. The axis machine cycle is set by the Fixed Parameter 23, Infinite Length Axis Reset Position (POSMAX). As the axis rotates, the actual position register, ILxx08, is reset back to zero every time the POSMAX value is exceeded. It is important to note that the position reference register, OLxx12, is not affected by the rotary axis selection. If positioning motion command is selected, OWxx20=1, the user must keep track of the number of cycle turns and include them in the position reference register. For example, if POSMAX=8192cts, in order to move the axis 2.5 machine cycles, a position command of 20480cts must be issued. After the position is reached the actual position register, ILxx08, will read 4096cts. Related Registers: 1. POSMAX Monitor, ILC01C register, contains the axis infinite length value. 2. The Number of POSMAX turns is shown in ILC01E register and can be reset to the number of turns assigned by register OLC030 when setting bit 1 in OWC02D, Position Control Flags Register. Attachments: 15KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Operation, Programming, Start Up - Installation Document Number: AHAR-5K8HM3 Published Date: 08/19/2004 Share \| Rate Rate this article :	08/19/2004
	What is the procedure to reset an MPiec controller back to factory defaults? Posted Date: 01/27/2017 Answer: There are two ways to reset the controller to factory defaults, one using the web browser and the other through Hardware Configuration. See attached document for specific instructions. Attachments: 384KB 384KB Product Group/Line: MP2000iec Series, Controllers, MP2300Siec, MP2310iec, MP2600iec, MP3200iec, MP3300iec, Sigma-7Siec Topic/Sub Topic: Ask a Technical Question, Customer Support, Troubleshooting, Start Up, Operation, Instructions Document Number: CNT-77E5S3 Published Date: 01/27/2017 Share \| Rate Rate this article :	01/27/2017
	What is the procedure to replace an FSP to keep the parameters including the motor parameters in the case of using a third party motor? Posted Date: 04/02/2016 Answer: Connect using FlexWorks to the FSP that is being replaced. Upload the project (from FSP to PC). Save the Project. Connect to the new (replacement) FSP. Open the saved project from step 3. Select the menu option "File", then "Edit Wizard". Under "Motor Series", select "Custom". Press "Next" until button changes to "Finish", then press "Finish". Download parameters (From PC to FSP). The motor paramters (red parameters) will be sent to the FSP. Perform Drive Reset. Product Group/Line: Sigma FSP, Servo Products Topic/Sub Topic: Ask a Technical Question, Motors, Parameters Document Number: SRV-1RV267 Published Date: 04/02/2016 Share \| Rate Rate this article :	04/02/2016
	What is the procedure for changing the motor rotation direction with a LEGEND-MC controller? Posted Date: 07/13/2004 Answer: The following describes the setup necessary to configure a LEGEND-MC / Legend Amplifier system for ClockWise or CounterClockWise motor shaft rotation. By default, a positive direction command from the LEGEND-MC will create motor rotation in the CounterClockWise direction (CCW), when looking at the front of the motor shaft. Positive motor rotation = CW 1) Legend Amplifier: Switch Setting (SW1) switch #7 = ON, switch #6 = ON 2) LegendMC: Set configuration of Motor Type to Servo motor Reverse Polarity, "MT -1" 3) LegendMC: Set configuration of Configure Encoder to Reversed Quadrature, "CE 2" 4) LegendMC: Execute a BN command to burn in the parameters 5) Cycle power on the entire system Positive motor rotation = CCW (The following are all default settings) 1) Legend Amplifier: Switch Setting (SW1) switch #7 = ON, switch #6 = ON 2) LegendMC: Set configuration of Motor Type to Servo motor Reverse Polarity, "MT 1" 3) LegendMC: Set configuration of Configure Encoder to Normal Quadrature, "CE 0" 4) LegendMC: Execute a BN command to burn in the parameters if they were changed. 5) Cycle power on the entire system Product Group/Line: Controllers, SMC-3010 LEGEND-MC Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation Document Number: BFAR-5DFK2D Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the power-up sequence for the MP940? Posted Date: 07/13/2004 Answer: The 24VDC power for the MP940 should turn on within 3 seconds of the control power for the servopack. After they are both powered up, control power should remain ON for both products until the entire machine control system is to be powered down. If either product loses control power, an A.E2 (watchdog timer) alarm will occur indicating loss of communication between the servopack and the option card. It will be necessary to cycle control power on both units to reset this alarm. NOTE: In the case of Emergancy Stop, it is not necessary to remove control power from either the servopack or the MP940. (Only remove power from primary movers - such as Servopack main power or 24VDC power to isolated I/O). Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMMA Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the power range of FP605 configured packages? Posted Date: 02/17/2023 Answer: The FP605 configured package is available at the following power ranges: 208 V: 1 HP to 150 HP 240 V: 1 HP to 150 HP 480 V: 1 HP to 600 HP UL Type 3R packages begin at 5 HP. Product Group/Line: Inverter Drives, FP605 Enclosed Configured Topic/Sub Topic: Ask a Technical Question, Product Launch, Sizing Document Number: INV-5L81Y6 Published Date: 02/17/2023 Share \| Rate Rate this article :	02/17/2023
	What is the power range of FP605 bypass packages? Posted Date: 02/17/2023 Answer: The FP605 bypass packages are available at the following power ranges: 208 V: 1 HP to 100 HP 240 V: 1 HP to 100 HP 480 V: 1 HP to 250 HP UL Type 3R packages begin at 5 HP. Product Group/Line: Inverter Drives, FP605 Enclosed Bypass Topic/Sub Topic: Ask a Technical Question, Product Launch, Sizing Document Number: INV-QDC65V Published Date: 02/17/2023 Share \| Rate Rate this article :	02/17/2023
	What is the outer diameter of SGMAV/SGMJV Premium motor power cables? Posted Date: 03/17/2016 Answer: Please see attached document for details. Attachments: 69KB Product Group/Line: SGMAV Sigma-5, Servo Products, SGMJV Sigma-5 Topic/Sub Topic: Installation, Ask a Technical Question, Wiring Document Number: SRV-37E84D Published Date: 03/17/2016 Share \| Rate Rate this article :	03/17/2016
	What is the most common solution to communication errors in a Mechatrolink Network? Posted Date: 06/24/2013 Answer: The most common solution is prevention - proper grounding, shielding, and termination techniques will lead to a successful and robust Network Installation. Here are some recommendations: Termination: - MP940 Master: A network Terminator (120 ohm) must be inserted at both ends. Use part# JEPMC-W6020. - MP930 Master: A network Terminator (120 ohm) must be inserted at last node only (MP930 terminated internally). Use part # JEPMC-W6020, If the last node is a Sigma I servopack, then an MR connector must be used. - MP920 Master with SVB Module: A network Terminator (120 ohm) must be inserted at both ends. Use part # JEPMC-W6020, If the last node is a Sigma I servopack, then an MR connector must be used. Connector Notes: - USB Type Mating Connector made by DDK - DUSB-APA41-B1-C50. Connects to the following products: MP940, MP930, MP920 SVB Module, All Mechatrolink I/O Modules, NS100 card. If constructing custome cables, it is important to use the crimp tool specified by DDK. - MR Type Mating Connector made by HONDA - MR-8L (connector kit from Yaskawa includes shell and 8-pin mating: DE9411357). Connects to the following products: SGDB-AN, SGD-N Wiring Precautions: - Mechatrolink is a field tested and reliable copper network. However, if the cable is shorter than 1ft or longer than 50 Meters, signal reflection can cause communication errors. Yaskawa supplies an inexpensive, twisted pair shielded cable that has been both product and time-tested. This cable is recommended to insure the transmission line characteristic impedance is best suited for Mechatrolink Network in Industrial Installations. - Network Wire: Part No.DE9411358- - Mechatrolink minimum length between nodes is 1 foot - Mechatrolink maximum length between first and last node is 50 meters (164 ft) Grounding & Shielding: - Any copper network that has a server [master] or client [slave] that is poorly grounded, can have handshaking and communication problems at any point along that network. If proper industrial grounding techniques are practiced, no problems with Mechatrolink will arise. - Servopack: A detailed installation recommendation is available in the Sigma II Product User's Manual YEA-SIA-S800-32.2B section 5.8 (Wiring). Here each servopack ground is brought back to a single point (star ground configuration), AC line filtering is placed at the AC input, encoder cable is properly shielded and terminated, servomotor is grounded at the machine and servomotor power cable is shielded and properly terminated. - Controller: Star grounding should be practiced for controller FG points. In the case of the MP940, its important to tie the MP940 FG to the SGDH FG screw terminal with a short wire to shunt any noise from the Dual Ported Ram. - Network: The attached drawings below show shielding requirements for use with all Mechatrolink Products. If constructing custom cables, it is important to insure that the shield is properly terminated. In the case of USB type connectors from DDK the shield termination is provided on the aluminum shield piece of the connectors internal body. Proper termination can be insured if copper tape is wrapped over the cable shield (see attached .PDF file). This insures a low impedence path for high frequency noise components that travel on the skin of a wire. Possible Errors or Indication: In general, it is necessary that the hardware address settings match up with the software module setup. MP940 Master: If a node is not communicating, an A9F will display on the SGDH LED which can be easily decoded (see document or FAQ on A9F with MP940 product) MP930: Alarm light indication, or "Invalid System Request" when clicking on servopack module MP920 with SVB Module: Will indicate a "J" on the display if poor communications exist, or "Invalid System Request" when clicking on servopack module See attached .PDF file for illustrations and photos. Attachments: 456KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Network Communications, Troubleshooting, Wiring Document Number: MNEN-5CJMFN Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013

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Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.

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