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	Question	Posted Date
	Is there a way to "lock out" unauthorized programming of the GPD515/G5? Posted Date: 11/28/2005 Answer: Yes. This can be accomplished one (or both) of two ways: 1. In the Initialize Group, set the desired access level in A1-01. Next, go to A1-04. From this location, press the "reset" key, and without releasing, press the menu key. This is parameter A1-05 and is a "hidden" parameter which it not even listed in the technical manual. The display should now read "Select Password". Enter the desired password. From this point forward, A1-01 cannot be changed unless A1-04 = A1-05. 2. Set one of the digital inputs (H1-01 through H1-06) to "Program lockout (1B)". A key-switch can then be added between that terminal and the common (term. 11), or, to make it less obvious, authorized personnel could simply use a jumper across those two terminals when a programming change needs to be made. A contact closure will allow programming of the inverter based on access determined in the "Initialize" group of parameters. Product Group/Line: Inverter Drives, G5HHP Drive, G5 GPD515 Drive, G5 Drive 600 Volt Topic/Sub Topic: Ask a Technical Question, Keypad-Operator, Programming, Protective Features Document Number: DRV-5GVSYS Published Date: 11/28/2005 Share \| Rate Rate this article :	11/28/2005
	Is there a way for OEM to make changes in Compass after deployment? Posted Date: 05/19/2020 Answer: Yes, XML files and or DLLs can be updated. Password restrictions may be applied by the OEM. Product Group/Line: Yaskawa Compass, Controllers Topic/Sub Topic: Software, Ask a Technical Question Document Number: CNT-VLCJ4X Published Date: 05/19/2020 Share \| Rate Rate this article :	05/19/2020
	Is there a variable that will show which step of a Sequential Function Chart (SFC) program is currently executing? Posted Date: 07/04/2013 Answer: Behind the scenes, an SFC keeps track of which Step it is on using a special variable referred to as the 'Step.X' (read Step-dot-X) variable. For example, if the Step is called YASKAWA, the execution status bit is YASKAWA.X. This is a Boolean variable that indicates that a particular Step is active. This status flag is not a declared variable and will not be found in any variable worksheets, but is available for use by the IEC program to make entry and exit conditions for any actions. When the transition for a Step becomes active (evaluates as TRUE), the Step.X variable for the previous step is set FALSE and the actions for that Step are executed one more time. This allows any clean-up that the Step may require. View the attached example of how the Step X variables work for the SFC code. Attachments: 24KB Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-998KPJ Published Date: 07/04/2013 Related Files: Sequence Management with SFC using Step.X variables Share \| Rate Rate this article :	07/04/2013
	Is there a tutorial for how to size a rotary table using SigmaSelect? Posted Date: 12/04/2014 Answer: See the attached document for a step-by-step tutorial on sizing a rotary table application using SigmaSelect software. Attachments: 1.1MB Product Group/Line: Servo Products, SigmaSelect Topic/Sub Topic: Sizing, Ask a Technical Question Document Number: SRV-M8HCT6 Published Date: 12/04/2014 Share \| Rate Rate this article :	12/04/2014
	Is there a solution for MotionWorks IEC v2.x to enable the Hardware Configuration to recognize an unknown SGDV model number? Posted Date: 12/20/2017 Answer: With MotionWorks IEC v2.x, it may have been necessary to include a file (as described below) to ensure that all SGDV drives were read correctly. In general, this problem has been fixed and should no be necessary when using newer version of MothinWorks IEC v3.x. The following solution is applicable for MotionWorks IEC 2.x and SGDV drive ONLY. MotionWorks IEC 3.0 and later, as well as Sigma-7 drive compatiblity, are NOT supported using this method. Please contact Yaskawa Technical Support Group in these situations. If a file named "Compatibleparts.XML" is added to the following MotionWorks IEC working directory, the Hardware Configuration will treat an unknown part number as a part number in its database. A reference file which can be edited is included on this page. This solution is only recommended if your version of MotionWorks IEC does not recognize the part number of a Sigma-5 servopack on the network, such as a single phase 1.5KW servopack, or the fanless servopacks that end in 002000. The XML file attached to this FAQ contains the information to allow the recognition of the following six amplifier models: Exact part Compatible part SGDV-***21002000 SGDV-***21 SGDV-***25002000 SGDV-***25 SGDV-***11002000 SGDV-***11 SGDV-***15002000 SGDV-***15 SGDV-***E1002000 SGDV-***E1 SGDV-***E5002000 SGDV-***E5 The first tag contains the unknown part number. Asterisks () indicate any character. The plus character (+) indicates that the remainder of the string is ignored. The second tag is the compatible part number already in your MotionWorks IEC database. SGDV-**E1+ SGDV-***E1 Windows XP Location: C:\Documents and Settings\All Users\Application Data\Yaskawa\MotionWorks IEC ConfigTool Windows 7 - Windows 10 Location: C:\ProgramData\Yaskawa\MotionWorks IEC ConfigTool Attachments: 1KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Instructions, Software Document Number: MTN-937LKQ Published Date: 12/20/2017 Share \| Rate Rate this article :	12/20/2017
	Is there a solution for display issues when using the MPiec controller's web server with Internet Explorer 10? Posted Date: 06/11/2013 Answer: For Internet Explorer 10 to render the MPiec pages correctly it must be configured to use Internet Explorer 10 Compatibility View. Please see the illustrated walk through by opening the attached .PDF file. Attachments: 156KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Instructions, Maintenance, Start Up - Installation, Troubleshooting Document Number: MTN-987QJH Published Date: 06/11/2013 Share \| Rate Rate this article :	06/11/2013
	Is there a Software Release History for YTerm? Posted Date: 06/24/2013 Answer: YTerm is the development environment for all SMC controller products. Currently released Version = YTerm 7.0.7 Order part number: SMCGUI1 Upgrade Information: The YTerm Software Policy allows free upgrades for one full year (tracked by order date). To upgrade YTerm, place a no-charge purchase order with your distributor to have a full version CD shipped to you (part number SMCGUI1). After the expiration time, a new copy of YTerm will must be purchased. Product Release History: YTerm 7.0.7 - Official Release Dec 2005 (Windows 95/98/NT/2000/XP compatible) Up to 16 serial ports (for USB support), YTerm 7.0.5 - Official Release March 2005 (Windows 95/98/NT/2000/XP compatible) YTerm 7.0.1 - Official Release Jan 2004 (Windows 95/98/NT/2000/XP compatible) YTerm 7.0.0 - Official Release Jan 2004 (Windows 95/98/NT/2000/XP compatible) This was the first version to support the SMC-4000. YTerm 6.0.2 - Official Release Sept 2002. This was the first version to support Ethernet. YTerm 5.1.5 - Official Release in August 2001 (Windows 95/98/NT/2000 compatible) This was the first version to support the LEGEND-MC (SMC3010) YTerm 4.21 - Official Release in October 1999 (Windows 3.1/95/98/NT compatible) YTerm 4.20 - Official Release in June 1999 (Windows 3.1/95/98/NT compatible) YTerm 4.10 - Official Release in August 1998 (Windows 3.1/95 Compatible) YTerm 3.30 - First Official Release in November 1996 (Windows 3.1 Compatible) SMCGUI1 Contents: The SMCGUI1 part number is the SMC Software Development kit. The kit is a boxed item that contains the CDROM, serial programming cable (SMCCBL7), a hard copy of the YTerm software manual, and a software registration mail back card. The CDROM has YTerm software and Ethernet Utilities software on it. It also contains PDF format files of the YTerm Software Manual and PDF manuals for each controller. For more detailed information, please refer to the compiled revision history file, Readme.txt, which is included in every installation disk. Attachments: 23KB 21KB 23KB 161KB Product Group/Line: Controllers, YTerm Software Topic/Sub Topic: Ask a Technical Question, Software, Upgrade (Software - Firmware) Document Number: MNEN-5CJMEW Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Is there a Software Release History for MotionWorks+? Posted Date: 06/24/2013 Answer: Currently released Version = MW+ 2.91, order part number CP717PLUS Windows 95/98/NT/2000/XP compatible Upgrade Information: MotionWorks+ Software Policy allows free upgrades for one full year or more (11 to 24 months typical). If further upgrades are needed after the expiration time, a new copy of MW+ will need to be purchased. There are two ways to upgrade MotionWorks+: 1) Download the upgrade file from Yaskawa's Web site by searching for file #: eng.MCD.05.057 (MotionWorks Plus Upgrade File). 2) Place a no-charge purchase order with your distributor to have an Upgrade CD shipped to you (part number CP717PLUSUG). A valid serial number for your current version of MW+ must be presented with the order. To use the upgrade file, it is important to make sure that an officially registered version of MotionWorks+ program has been installed in your PC first. This serial number is maintained in the PC registry and is referenced when upgrading the software. To install an upgrade version, it is necessary to first uninstall MotionWorks+ and Cimscope, Reboot the PC, and then run the upgrade installation. Software Product Release History: MW+ 2.91 Official Release in August 2005 (uses system ladder 291, cimscope 0.55, Archiver 2.1.0.04, CamTool 4.50) MW+ 2.83 Official Release in August 2002 (uses system ladder 283, cimscope 0.41C, Archiver 2.1.0.03, CamTool 4.18) MW+ 2.82 Official Release in August 2002 (uses system ladder 282, cimscope 0.41B, Archiver 2.1.02, CamTool 4.18) MW+ 2.56 Official Release in July 2001 (uses system ladder 225, cimscope 0.37E, Archiver 2.09) MW+ 2.14 Official Release in February 2001 (uses system ladder 222, cimscope 0.36B, Archiver First) MW+ 2.05 Official Release in August 2000 (uses system ladder 216, cimscope 0.32) MW+ 1.62 Official Release in April 2000 (uses system ladder first, cimscope first) MW+ 1.56 First Official Release in February 2000 (uses system ladder first, cimscope first) Software Patches: MW+ 2.05 Patch (allows operation of 1500 RPM base speed motors, not required for 2.14 and up) MW+ 2.14 Patch (fixes error in setting up Mechatrolink Slave Modules, not required for 2.56 and up) Feature enhancements and fixes have been compiled in Product Note Documents as attached below. For more detailed information, please refer to the compiled revision history file, Readme.txt, which is included in every production CD. Attachments: 439KB 39KB 83KB 30KB 39KB 25KB 146KB 24KB Product Group/Line: Controllers, MotionWorks Plus Software Topic/Sub Topic: Ask a Technical Question, Software, Upgrade (Software - Firmware) Document Number: MNEN-5CJMEU Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Is there a software release history for MotionWorks? Posted Date: 06/27/2013 Answer: Yes. Please note that MotionWorks now offers two distinct platforms, MPE720 and CPMC-MPE770. Please download the attached .PDF file (MNEN-5CJMJL.pdf) for details including an application chart, release history and further information. MotionWorks Upgrade Information: MotionWorks Software Policy allows free upgrades to the same Major version of the software that was originally purchased. (i.e. ver 5.13 - Major version is 5 ) 1) Software MUST be registered in order to qualify for an upgrade. 2) Software can be registered by sending an e-mail to register@yaskawa.com. Please include the following: Name Mailing Address Telephone Number E-mail Address Software Version Number Software Serial Number 3) Demo software is not upgradeable. NOTE: Only version 5.31b and higher is officially XP SP2 Compatible (5.13 will work on XP SP1) Feature enhancements and fixes have been compiled in Product Note Documents attached to this FAQ. Attachments: 32KB 23KB 86KB 19KB 653KB 22KB 29KB Product Group/Line: Controllers, MotionWorks Software Topic/Sub Topic: Ask a Technical Question, Upgrade (Software - Firmware) Document Number: MNEN-5CJMJL Published Date: 06/27/2013 Share \| Rate Rate this article :	06/27/2013
	Is there a software release history for IndexWorks? Posted Date: 08/22/2007 Answer: The current released version of IndexWorks = 1.7.2, order part number = NS600-GUI Product Release History: v 1.7.2 (Mar 2002) v 1.7.1 (Mar 2002) v 1.7.0 (Feb 2002) v 1.6.1 (Jan 2002) v 1.5.2 (Aug 2001) v 1.5.1 (Jun 2001) v 1.5.0 (May 2001) v 1.3.3 v 1.3.2 v 1.3.0 Original release (for further details on release history, see file "release.txt" Attachments: 1.6MB 2KB 49KB Product Group/Line: Controllers, IndexWorks Software Topic/Sub Topic: Ask a Technical Question, Upgrade (Software - Firmware) Document Number: MNEN-5CJMQA Published Date: 08/22/2007 Share \| Rate Rate this article :	08/22/2007
	Is there a shake proof version of the V1000-4X? Posted Date: 06/21/2010 Answer: No, not at this time. Product Group/Line: Inverter Drives, V1000-4X Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-86MPTF Published Date: 06/21/2010 Share \| Rate Rate this article :	06/21/2010
	Is there a remedy for recovering a MotionWorks IEC project that shows the error: "No suitable converter for projects created with the version '2.0' of MotionWorks IEC Pro? Posted Date: 09/21/2011 Answer: Yes. The project may have some corrupted files that can be regenerated. Follow the steps below to recover the project: Please be aware that a similar message will appear if a project was created using MotionWorks IEC 2.x and an attempt is made to open it using MotionWorks IEC v1.x. The difference in the message will be the version number displayed. When there is possible project corruption, the version number will simply indicate 2.0, or possibly garbled characters. When a 2.x project is opened in MotionWorks IEC 1.x, then the version will contain a four part number, such as 2.0.0.27. In this case the project is not corrupted. MotionWorks IEC 2.x projects cannot be opened in MotionWorks IEC 1.x Steps to recover from a corrupted project: 1. Open the .zwe or .zwt project using MotionWorks IEC. Close MotionWorks IEC (this will extract the project files but fail to open it) 2. In a Windows file explorer window, browse to the folder containing the project. There should be a .mwt (for Pro) or .mwe (for Express) file with the project name and a sub-directory with the project name. Delete the .mwt or .mwe file, but not the sub-directory. 3. Copy and paste a .mwt (Pro) or .mwe (Express) file to where deleted .mwe or .mwt file was located. If you do not have another project, then create a new project using MotionWorks IEC and use the resulting .mwt or .mwe file. 4. Rename the pasted .mwe or .mwt file to match the name of the file deleted in step 2. 5. Open the project using MotionWorks IEC. 6. Compile. Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-8LUQE2 Published Date: 09/21/2011 Share \| Rate Rate this article :	09/21/2011
	Is there a Register Quick Reference Guide for the MP940 Controller? Posted Date: 11/04/2003 Answer: Attached is an excel spreadsheet that outlines commonly used registers used in the MotionWorks MPE720 programming environment. This can be used as a supplemental quick reference to the Users Manual. Attachments: 32KB Product Group/Line: Controllers, MotionWorks Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming, Troubleshooting Document Number: MTN-5PZSTF Published Date: 11/04/2003 Share \| Rate Rate this article :	11/04/2003
	Is there a Register/Variable Quick Reference Guide for the MP930 Controller? Posted Date: 11/15/2001 Answer: Yes, the attached file outlines all the commonly used control and monitoring registers. Please reference this when programming the MP930 Controller Attachments: 7KB Product Group/Line: Controllers, MP930 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Troubleshooting Document Number: MNEN-5CJMJC Published Date: 11/15/2001 Share \| Rate Rate this article :	11/15/2001
	Is there a recommended solution for controlling a motor brake when the system has a LEGEND Amplifier? Posted Date: 02/15/2006 Answer: Yes, the circuit for controlling the servomotor's brake is very simple. It utilizes the LEGEND Alarm output, the SMC3010 Estop output, and one (1) SMC3010 digital output. If a fault occurs in the LEGEND amplifier, its Alarm output will turn off, engaging the motor's brake. If a fault occurs within the SMC3010, its Estop output will turn off, engaging the motor's brake. The programmable digital output gives the program control of the motor's brake. See the attached JPG for a diagram. Attachments: 29KB Product Group/Line: Servo Products, SGDG LEGEND Topic/Sub Topic: Ask a Technical Question, Integration, Operation, Wiring Document Number: KHUL-5NGJR6 Published Date: 02/15/2006 Share \| Rate Rate this article :	02/15/2006
	Is there a recommended procedure for unzipping and transferring a Motion Works/MPE720 program to the File Manager? Posted Date: 07/13/2004 Answer: Yes. The attached document details a step-by-step procedure for transferring a Motion Works/MPE720 program to the File Manager from a zipped file. This may be useful when downloading example program files from the web, and is a fast and effective method. The program files contained in the zip file must first be extracted to an empty folder on the computer's hard drive. Next, the files must be transferred using "All File Transfer" from the File Manager right click menu system. To do this, use the FD-> HD (Floppy Drive to Hard Drive) option (note that the "FD" in this case will later be substituted for Hard drive directory selection) Attachments: 1.3MB Product Group/Line: Controllers, MotionWorks Software Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Software, Start Up - Installation Document Number: DZIK-5J48W7 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a quick way to reset SGDH servo alarms without using PC software? Posted Date: 05/21/2001 Answer: To reset an alarm on a Sigma II amplifier, just press the middle two buttons ("up arrow" and "down arrow") on the digital operator at the same time. This has the same effect as the ALM-RST input or executing the Fault Reset block in MotionWorks+. Not all alarms can be reset this way; some require you to cycle power. For a list of alarms that can't be reset, see your Sigma II User's Guide, section 9.2.3. The alarms with a single asterisk require the power to be cycled. If an external controller is attached to the SGDH, the motion program must be aborted before resetting the servo alarm to prevent an unsafe situation. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMMQ Published Date: 05/21/2001 Share \| Rate Rate this article :	05/21/2001
	Is there a procedure to repair MotionWorks IEC after Avast! Antivirus 8 quarantines MotionWorks IEC files? Posted Date: 01/16/2014 Answer: Yes. MotionWorks IEC can be recovered by restoring the quarantined application files. Please see the attachment MTN-9FDTA7.pdf for instructions on how to repair the MotionWorks IEC. Attachments: 302KB Product Group/Line: Controllers, MotionWorks IEC Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-9FDTA7 Published Date: 01/16/2014 Share \| Rate Rate this article :	01/16/2014
	Is there a procedure outlining the start-up of an MP940 Controller System? Posted Date: 02/15/2006 Answer: The attached document takes the user through a step-by-step start-up procedure for the MP940 product using either MotionWorks or MotionWorks+ environments. There are two separate files attached. Be sure to verify the software and hardware versions of your equipment to determine which file to reference. Tools you will need are as follows: MP940 connected to an SGDH Amplifier YS-15 communications cable (PC to Port#1 on MP940) PC running MotionWorks or MotionWorks Plus, with Communications Process configured with the proper COM port # @ 19.2kbaud, 8 bits, even, 1 stop MP940StartUpProcedure_RevC.pdf: MP940: A05 and HIGHER SGDH: 000E and higher MW: 3.53A and higher MW+: 2.05 and higher MP940StartUpProcedure_RevA.pdf: MP940: A03 and LOWER SGDH: 000E and higher MW: 3.51 and Lower MW+: 1.62 and Lower MP940_TorqueLimitSetTable.pdf Required file to set Torque Limit Values inside MW+ Attachments: 1.0MB 514KB 494KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMH4 Published Date: 02/15/2006 Share \| Rate Rate this article :	02/15/2006
	Is there a procedure for starting-up a Sigma II Servo System with an Absolute Encoder? Posted Date: 07/13/2004 Answer: Commissioning a Sigma II (SGDH) Servopack. When using an absolute encoder: In the case where an ABS encoder is used, the ABS encoder should be set-up before any option units are attached and before the trial operation is commenced. Section 5.7 in the users manual should be read and understood before an Absolute encoder is used for the first time. Basic Servopack/Servomotor Check: Trial Operation Section 4.1 in users manual. 1) Direction- Verify the direction by energizing control power (L1C & LC2) only, then monitoring Un-000 (7.1.7 Monitor Mode - 'Actual Motor Speed' [RPM]) for positive and negative numbers as the axis is moved by hand. 2) Change direction reference if required: This is done by changing the value in Pn-000.0 between 0 and 1. Don't forget to cycle the power if a change is made. 3) JOG the servo system: Jog is initiated with Fn-002 (7.2.2 'JOG operation using Digital operator'.) Always remember that the default JOG Speed is 500RPM and is set at Pn-304. Main Power (L1, L2 and L3) should be ON in order to JOG. When using Option units: 1) If an absolute encoder exists, set it up first (5.7 'Absolute Encoders'). 2) Check the Servopack and Servomotor connections and do the trial test described above (4.1 'Two Step Trial Operation') 3) If all is well, power everything down. Then connect option unit and re-power. 4) Adjust additional user parameters added to the system related to the option unit's existence. Resetting a SGDH (Sigma II) Servopack to factory default: 1) Fn-005 (7.2.9 'Initializing Parameter Settings') 2) Fn-006 (7.2.5 'Clearing Alarm Trace back Data') This step is not mandatory, but is suggested. 3) Fn-014 (7.2.13 'Clearing Option Unit Detection Alarm') If no option unit was used, this is not required. Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMKJ Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a procedure for starting up an MP940 with an absolute encoder? Posted Date: 07/13/2004 Answer: Yes, the following is a step by step procedure to commission an MP940 with an absolute encoder (clears an A.81, A81 alarm). Absolute Encoder setup with MP940 and MotionWorks + 1) Plug in absolute encoder motor and absolute encoder backup battery to Sigma II amplifier. Use Yaskawa part number JZSP-BA01 battery (Toshiba, ER3 V, 3.6V). 2) Turn power On and drive error "A81" will appear on drive display. 3) Open Sigma II user's manual, troubleshooting page 9-19. 4) The solution in the manual shows to follow the absolute encoder setup in the Sigma II user's manual. 5) Follow the absolute encoder setup procedure in section 5.7.4 in Sigma II user's manual (see attached file below). 6) Cycle power, the drive error "A81" will be gone and "bb" will show on drive display. 7) Start MotionWorks +. Open a new project and open Tools / Machine Unit Configuration window from the main menu bar. 8) Enter a value of "16384" in the Encoder pulse / rev data field. 9) Set Encoder Type to "Absolute". Click "OK" to close the window. 10) Open Project / Data / System Variable Definition window from the main menu bar. Enter a value of 0.0 in the sHome_Offset data field. Click on "Save Values To Hard Disk", then click on "Close" to close the window. 11) Save project, go online, compile and download. 12) Open Project / Monitoring / Variable Watch window from the main menu bar and monitor mPosition_Actual. Record this actual position value. 13) Reopen the Project / Data / System Variable Definition window and enter the negative value of the value monitored in mPosition_Actual into the value for sHome_Offset. Press enter, then click on "Save Values To Hard Disk", then click on "Close" - to close the window. 14) Save project, compile and download. This sets the current actual position to be 0.0. 15) Open Variable Watch window and monitor mPosition_Actual. It should be 0.0. 16) Setup completed. Note: When absolute encoder is used, the range of the number of encoder turns is from -32768 to +32767. Attachments: 178KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMGN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there any way to know the maximum number of supported axes and CPU speed of the MP3300iec CPU card by looking at it? Posted Date: 02/07/2018 Answer: The only way to know the complete specifications of the MP3300iec CPU card is to know the part/model number of the card. The part/model number can be found on the original packaging that the card came in. If the original packaging is not available, the part/model number can be found two ways: 1. Scan the QR code on the MP3300iec CPU card to find the product code. a. The product code is used to look up the part/model number. 2.Connect to the MP3300iec via the web browser to find the part/model number. See the attached PDF for specifications on the part/model number. The PDF will also provide the part/model number based on the QR product code. The MP3300iec Hardware Manual (YAI-SIA-IEC-7) can also be used to look up the specifications on the part/model number. Attachments: 662KB Product Group/Line: MP3300iec, Controllers Topic/Sub Topic: Ask a Technical Question, Customer Support Document Number: CNT-36KD70 Published Date: 02/07/2018 Share \| Rate Rate this article :	02/07/2018
	Is there any sample code and supporting documents to properly start and stop a motion program in MP2000 series machine controllers? Posted Date: 02/22/2005 Answer: Yes, the zip file below includes sample code for MPE720 and MP2300 as well as a "printout" of the code and the rules in PDF format. Attachments: 650KB Product Group/Line: Controllers, MotionWorks Software Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-68RRLV Published Date: 02/22/2005 Share \| Rate Rate this article :	02/22/2005
	Is there any more information available about the MotionWorks IEC compiler error "Data type has to be defined for the connection point !" ? Posted Date: 07/15/2013 Answer: Yes, please see the attached. Attachments: 31KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-99FJ3P Published Date: 07/15/2013 Share \| Rate Rate this article :	07/15/2013
	Is there any information that illustrates where linear motor technology has been successfuly applied? Posted Date: 06/16/2010 Answer: Control Design magazine has written an article that highlights Tri-Tech Industries utilization of linear motor technology to increase production and precision of motion control in the Food Industry and compares results to traditional linear motion methods. See attached .PDF file for complete article. Attachments: 129KB Product Group/Line: Servo Products, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Applications, Document Clarification, Start Up - Installation Document Number: MTN-5S5KNA Published Date: 06/16/2010 Share \| Rate Rate this article :	06/16/2010
	Is there any information on how to communicate between an MP2300 and AB Controllogix PLC? Posted Date: 02/15/2006 Answer: Yes. A technical note is available discussing the procedure for communication between an MP2300 and AB Controllogix platform. As a supplement to the document, example code is available for the MP2300, Exor, and Controllogix PLC. The documents can be accessed below. Technical Note Available Here: Search for DOC # TN.MCD.05.042 eng.MCD.05.042 MP2300 to AB Connectivity Example Code Available Here: Search for DOC # EC.MCD.05.043 eng.MCD.05.043 MP2300 to AB Communications Example Code Product Group/Line: Controllers, MP2300 Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-6D5MEL Published Date: 02/15/2006 Share \| Rate Rate this article :	02/15/2006
	Is there any information available to clarify the compiler error "Illegal Identifier"? Posted Date: 06/11/2013 Answer: Yes. In addition to the MotionWorks IEC compiler "Help on Message," which states: You have used a wrong identifier. According to IEC 61131-3 identifier are strings of letters or digits and underscores which must begin with a letter or an underscore. The use of multiple leading or embedded underscores is not allowed. The following situation will also cause the Illegal Identifier message: If making a STRING literal, such as STRING#"MC=TRUE" - do not use double quotes around the text. Single quotes must be used. Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Programming, Troubleshooting Document Number: MTN-97BMGU Published Date: 06/11/2013 Share \| Rate Rate this article :	06/11/2013
	Is there any information available regarding the communication cabapilities of the 218IF-Y1 option card available for the MPiec Series Controllers? Posted Date: 10/28/2013 Answer: Yes, The following describes the capabilities of the 218IF-Y1 card: Q1: Is web server access possible via 218IF-Y1? A1: Yes, from a PC on the same network, simply go to the IP address of the 218IF-Y1 card. Q2: Are Modbus/TCP and Ethernet/IP protocols supported by the 218IF-Y1? A2: Yes, all protocols available on the main Ethernet port are possible on the 218IF-Y1 card. Other devices acting as a Modbus master or Ethernet/IP scanner can communicate to any ethernet port on the MPiec Series Controller and the MP will respond. Q3: How can IO configure the 218IF-Y1 card to communication Modbus or Ethernet/IP? I don't see a screen supporting this in the Hardware Configuration. A3: The communication protocols are not linked to a specific ethernet port. Communications are automatically routed to the correct ethernet port based on the IP address, subnet mask, and default gateway. For example, assume the MPiec controller has the following IP address configuration: Default gateway = 192.168.1.253 Main port = 192.168.1.1 with subnet mask = 255.255.255.0 218IF-Y1 port = 192.168.2.1 with subnet mask = 255.255.255.0 If the Hardware configuration includes a Modbus slave at 192.168.2.10, the MPiec controller will automatically route the communications to that device from the 218IF-Y1 card. This is because they have the same address when filtered by the subnet mask. (192.168.2) If the Hardware Configuration includes a modbus slave at 192.168.207.30, the controller will send the communications to the Default Gateway, which in the example given above is the main port. This is because the first three octets of the IP address match the default Gateway (192.168.1) in accordance with the subnet mask (255.255.255.0) Q4: Are custom TCP/IP protocols possible with 218IF-Y1? A4: These are supported in the same manner described in A3. Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP3200iec Topic/Sub Topic: Ask a Technical Question, Options Document Number: MTN-9CTLP3 Published Date: 10/28/2013 Share \| Rate Rate this article :	10/28/2013
	Is there any information available about a free software to use for opening Yaskawa 2D drawings such as dwg and dxf? Posted Date: 05/15/2014 Answer: To open and edit 2D dwg and dxf drawings; use DraftSight which can be downloaded from its website. Search for DraftSight on the web. Product Group/Line: Servo Products, Network-Comms-MECHATROLINK-II, Network-Comms Options, SGDG LEGEND, SGDH Sigma II, SGDS, SGLF Series, SGLG Series, SGLT Series, SGMAH Sigma II, SGMAV Sigma-5, SGMBH Sigma II, SGMCS Direct Drive, SGMGH Sigma II, SGMGV Sigma-5, SGMJV Sigma-5, SGMM Sigma Mini, SGMPH Sigma II, SGMSH Sigma II, SGMSV Sigma-5, SGMUH Sigma II, Sigma FSP, Sigma Trac, SGT Sigma Trac, STF Sigma Trac, SJDE Junma, SJME Junma, Controllers, JAMSC-Network IO, JUSP-FC100 Full Closed IF Unit, MotionWorks IEC, MotionWorks Plus Software, MP2000 Series (MP2300-MP2200), MP2000iec Series, MP2100, MP2200, MP2300, MP2300Siec, MP2310iec, MP2600iec, MP3200, MP3200iec, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS100 Mechatrolink, NS115 Mechatrolink II, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, NT001, SMC-2000, SMC-3010 LEGEND-MC, SMC-4000, YTerm Software, Network-Comms-EtherCAT, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic Topic/Sub Topic: Ask a Technical Question, Dimensions Document Number: MTN-9G4SB7 Published Date: 05/15/2014 Share \| Rate Rate this article :	05/15/2014
	Is there an example SMC program showing calculations for a cam profile that matches speed, and then adjusts to the next product? Posted Date: 02/04/2003 Answer: Yes. The attached files demonstrate the basics that are required for calculating a cam profile that will match speed with a web, then perform a blended s-curve move to advance or retard the slave, typically a knife or print roller. The excel worksheet below is the basis for the cam calculations in SMC code. The resulting cam profile can be viewed in excel very easily. The data in Excel and the variables in the SMC example are close matches so the two are easier to compare. The major difference between the two calculations (Excel & SMC) is: Excel uses radians with the sin functions and the SMC uses degrees. This SMC example makes it easy to recalculate the cam if a different part size is required. Attachments: 1KB Product Group/Line: Controllers, SMC-2000, SMC-3010 LEGEND-MC, YTerm Software Topic/Sub Topic: Ask a Technical Question, Application Example, Operation, Programming, Software Document Number: KHUL-5JFLQW Published Date: 02/04/2003 Share \| Rate Rate this article :	02/04/2003
	Is there an example showing an MP940 as a DeviceNet Master controlling NS300's as slave devices? Posted Date: 09/06/2001 Answer: Yes, please see the attached Word document for how to setup a DeviceNet network using MP940 as a master and NS300's as slaves. The document describes the fixed 8 byte packet the NS300 uses for DeviceNet communication and how to manipulate the packet using MotionWorks+ to get the desired motion. The attached ZIP file includes the NS300 configuration files and the MotionWorks+ application used in the MP940. Attachments: 411KB 233KB Product Group/Line: Controllers, MP940 Machine Controller, NS300 DeviceNet Topic/Sub Topic: Ask a Technical Question, Application Example, Applications, Integration, Programming Document Number: MNEN-5CJMR2 Published Date: 09/06/2001 Share \| Rate Rate this article :	09/06/2001
	Is there an example showing an Allen Bradley SLC PLC connected to Yaskawa NS300s over DeviceNet? Posted Date: 12/21/2001 Answer: Yes, please see the attached Word document that describes how to setup a DeviceNet network using an Allen Bradley SLC as a master and NS300's as slaves. The document describes in detail how to configure the Allen Bradley 1747-SDN DeviceNet Scanner using RSNetworx and how to write the ladder logic using RSLogix 500 to communicate and control motion using NS300 Indexers. The ZIP file contains the RSNetworx configuration file, the RSLogix ladder, the NS300 EDS file, the configuration utility to configure NS300 (NSxxx), the configuration files for the NS300's, and the HMI code used in the application. Attachments: 1.4MB 40KB Product Group/Line: Controllers, NS300 DeviceNet Topic/Sub Topic: Ask a Technical Question, Application Example, Applications, Integration, Network Communications, Programming Document Number: MNEN-5CJMRN Published Date: 12/21/2001 Share \| Rate Rate this article :	12/21/2001
	Is there an electronic version of the YTerm User's Manual for the SMC Products? Posted Date: 10/26/2005 Answer: Please see the attached file for the YTerm Programming User's Manual. It describes how to install the software, create programs, connect online, navigate the YTerm environment, and utilize the monitoring and adjustment tools. Attachments: 685KB Product Group/Line: Controllers, YTerm Software Topic/Sub Topic: Ask a Technical Question, Document Clarification, Software, Specifications Document Number: MNEN-5CJMGQ Published Date: 10/26/2005 Share \| Rate Rate this article :	10/26/2005
	Is there an electronic version of the SMC-2000 Users Manual? Posted Date: 10/30/2001 Answer: The attached users manual (ATSA-SMC-2000) outlines the SMC-2000 hardware details, software programming functions, and operation of the SMC2000 product. Attachments: 3.8MB Product Group/Line: Controllers, SMC-2000 Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMGU Published Date: 10/30/2001 Share \| Rate Rate this article :	10/30/2001
	Is there an electronic version of the NS100 manual available? Posted Date: 07/13/2004 Answer: Yes, See attached pdf file Sections highlighted include the following: - Installation information - Connections and wiring - Full closed loop information - Mechatrolink command set - Parameter setting information - Troubleshooting guidelines Attachments: 4.6MB Product Group/Line: Controllers, NS100 Mechatrolink Topic/Sub Topic: Ask a Technical Question, Document Clarification, Network Communications Document Number: MNEN-5CJMPG Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there an electronic users manual for the Mechatrolink I/O modules? Posted Date: 07/13/2004 Answer: Please see the attached file for the MP900 Series Mechatrolink System Users Manual SIEZ-C887-5.1. It contains the following sections: System Overview Mechatrolink Functions I/O Allocations Servopacks Remote I/O Modules Counter Module Pulse Output Modules MP940 Module Connections External Diagrams Attachments: 4.9MB Product Group/Line: Controllers, JAMSC-Network IO Topic/Sub Topic: Ask a Technical Question, Document Clarification, Network Communications, Specifications Document Number: MNEN-5CJMLC Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there an easy way to return to the Compass default view? Posted Date: 04/28/2020 Answer: The best way is to keep multiple renamed copies of the config.XML file in the C:\ProgramData\Yaskawa\Compass\Config folder. Using this strategy, various designs can be experimented with before choosing a final design without having to completely reconfigure each time. A backup_Config.XML file is saved in that folder location each time Compass saves a configuration. Product Group/Line: Yaskawa Compass, Controllers Topic/Sub Topic: Software, Ask a Technical Question Document Number: CNT-ZER3FB Published Date: 04/28/2020 Share \| Rate Rate this article :	04/28/2020
	Is there an alternative explanation of the term "User Units" pertaining to Yaskawa's electronic gearing built into the Servopacks and JUSP-NSxxx option board products? Posted Date: 07/13/2004 Answer: User units are a description of the resultant position units after electronic gearing parameters are adjusted. This is a feature used when a Yaskawa Servopack is in position mode. A Servopack may be in position mode under two circumstances: accepting pulses from a stepper motor indexer or when an application module such as an NS600, NS300 or NS500 is attached. Electronic gearing is expressed as a ratio. The result is that the position can be pulsed or commanded in logical user units, not just motor-encoder counts. Positioning in user units allows the application programmer to set position targets in realistic units rather than encoder counts. The Ratio is expressed as B/A, where B and A are integers. 'B' is the number of Quadrature [x4] encoder counts the motor will move for a given 'A' number of commanded user units. If B=300 and A=20, then for every 20 user units sent to the Servopack via pulses or a position command issued from an option card, the servomotor will move 300 encoder counts. If only 10 user units are commanded, then the servomotor will move 150 encoder counts. To see the equation and further information, please see the attached .PDF file. Attachments: 31KB Product Group/Line: Controllers, Servo Products, NS100 Mechatrolink, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDA, SGDB, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation Document Number: MTN-5RJHGB Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there an Alarm Reset function in the JUSP-NS600? Posted Date: 06/25/2013 Answer: To reset an alarm, the following options are available: 1.) With the serial command ARES via CN6. 2.) Form an external circuit so the servo amplifier turns OFF when an alarm occurs. Alarms are reset automatically when the control power supply is turned OFF. 3.) Alarms can also be reset using a digital operator via CN7. 4.) Built-in panel display (SGDH alarms only). To reset an alarm using one of the latter two methods, press the up and down buttons simultaneously. Note 1: Encoder alarms cannot always be reset by digital operator or by serial command. In these cases, cycle the control power OFF and ON to reset the alarm. Note 2: When an alarm occurs, always eliminate the cause before resetting the alarm. Product Group/Line: Controllers, NS600 Indexer Topic/Sub Topic: Ask a Technical Question, Alarm, Applications, Hardware, Programming, Software, Troubleshooting, Wiring Document Number: MTN-696SN2 Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	Is there a more detailed description of the PID instructions found in the LadderWorks editor portion of the MPE720 - MotionWorks development package? Posted Date: 04/25/2003 Answer: Yes. The following documents describe the use of PID instruction. Basic Summary: The PID instruction executes a PID control operation according to the contents of a previously set parameter table. The input (Input) to the PID operation must be integer or real number data. Double-length integer data cannot be used. The configurations of the parameter tables for integer and real number data are different. Operations are performed by processing each parameter as an integer consisting of the lower-place 16 bits. Attachments: 154KB 1015KB Product Group/Line: Controllers, MotionWorks Software Topic/Sub Topic: Ask a Technical Question, Operation, Programming Document Number: DZIK-5LXE3E Published Date: 04/25/2003 Share \| Rate Rate this article :	04/25/2003
	Is there a list of User's Manuals for the MP900 Series Products? Posted Date: 10/20/2006 Answer: Many of these manuals can be ordered from Yaskawa Literature department. Most are available in PDF format for download from our Download Center <- Click Here MPE720 MotionWorks Software Manuals for MP Controllers - YEA-SIA-887-2.1 LadderWorks Ladder Editor Programming Manual - YEA-SIA-887-2.3 LadderWorks Ladder Editor Operation Manual - SIEZ-C887-1.3 Motion Programming Users Manual - SIEPC88070005 MPE720 Software Users Manual Mechatrolink Users Manuals - SIEZ-C887-5.1 Mechatrolink System Users Manual (for NS100 & I/O) - SIE-C718-4 NS100 Mechatrolink Option Module Users Manual MP920 - Modular Machine Controller - SIEZ-C887-2.1 MP920 Design and Maintenance Manual - KAE-S887-2 MP920 Module Selection Guide and Brochure (47 pages) - SIEZ-C887-2.5 Motion Module Users Manual (SVA and SVB) - SIEZ-C887-2.6 Communications Module Users Manual (215IF - High Speed Token-ring Network for Controller-to-Controller) (217IF - RS232/RS485/RS422, Memobus Protocol) (218IF - Ethernet Module, Memobus/Modbus Protocol) - SIEZ-C887-5.2 Devicenet Users Manual (260IF) MP930 - Modular Machine Controller - SIEZ-C887-1.1 MP930 Design and Maintenance Manual MP940 - Modular Machine Controller - SIEZ-C887-4.1 MP940 Design and Maintenance Manual - YEA-SIA-C887-4.1 MP940 Hardware Manual Other Useful Manuals: - SIE-C887-17.6 CAM Tool Operations Manual - SIE-C815-13.60E Memobus Descriptive Manual Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS100 Mechatrolink Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: MTN-5UYSRS Published Date: 10/20/2006 Share \| Rate Rate this article :	10/20/2006
	Is there a list of User's Manuals for the MP2000 Series Products? Posted Date: 03/18/2013 Answer: Many of these manuals can be ordered from Yaskawa Literature department. Most are available in PDF format for download from our Download Center <- Click Here MotionWorks Software Manuals - YEA-SIA-887-2.1 YEA LadderWorks Ladder Editor Programming Manual - YEA-SIA-887-2.3 YEA LadderWorks Ladder Editor Operation Manual - SIEZ-C887-1.2 Ladder Programming Users Manual for MP900/MP2000 - SIEZ-C887-1.3 Motion Programming Users Manual for MP900/MP2000 - SIEP C880700 05 MPE720 ver 5 Software Users Manual for MP900/MP2000 - SIEP C880700 30a MPE770 ver 6 Software Users Manual for MP2000 Mechatrolink Users Manuals - SIEZ-C887-5.1 Mechatrolink System Users Manual for MP900/2000 (for NS100/115 & Remote I/O Modules) MP2000 - Modular Machine Controller - SIEP C880700 03 MP2300 Basic Module User's Manual - SIEP C880700 14 MP2200 Basic Module User's Manual - SIEP C880700 04 MP2300 / MP2000 Communication Module User's Manual (215IF - High Speed Token-ring Network for Controller-to-Controller) (217IF - RS232/RS485/RS422, Memobus Protocol) (218IF - Ethernet Module, Memobus/Modbus Protocol) - SIEP C880700 16 MP2300 / MP2200 Motion Module User's Manual (SVB/SVA) - SIEP C880700 06 MP900/2000 Users Manual for Linear Servomotor Other Useful Manuals: - SIE-C887-18 CAM Tool Operations Manual - SIE-C815-13.60E Memobus Descriptive Manual - SIEZ-C872-16.2 MLink Network Analyzer User's Manual (JL-040 ASIC) Product Group/Line: Controllers, MotionWorks Software, MP2000 Series (MP2300-MP2200), MP2200, MP2300 Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MTN-6J8Q2E Published Date: 03/18/2013 Share \| Rate Rate this article :	03/18/2013
	Is there a list of technical recommendations for safe guarding an MP940 Servo Control System against overspeed conditions? Posted Date: 08/29/2005 Answer: Yes, below is an example written up for an MP940 Indexing System with a Direct Drive Motor, but can also be applied to various other applications: Product Description Ordering Part Number Direct Drive Motor: SGMCS-2ZN*** Sigma II Amplifier: SGDH-30AE MP940 Machine Controller: JEPMC-MC400 MotionWorks Software: MPE720 The Yaskawa 3kW Direct Drive Servo, SGDH Sigma II Servo Amplifier, MP940 Machine Controller, and MPE720 MotionWorks Software is a programmable system capable of operating the motor in various applications such as absolute rotary motion indexing. To insure that the system controls the motor in the way the machine designer expects, the system design specifics should be considered. Since the Yaskawa system is scalable, it allows the designer to add modules for increased ability and flexibility to suit the needs of various applications, including segmented variations of indexing applications. The description below describes some features of how each module monitors and handles speed concerns. 1) Motor: SGDH servo amplifier has a feature that will auto-id the SGMCS-2ZN direct drive motor through the serial encoder, and identify that it has a max speed of 250 rpm. If the encoder wire is unplugged, or if the serial communications data becomes compromised due to electrical noise, the system will automatically detect it, and fault out on an A.C* alarm. There is more information about these alarms in the manual or in our faq site, faq.yaskawa.com. 2) Amplifier: SGDH servo amplifier has a feature that will fault out on overspeed A.51 alarm if the motor exceeds 250 rpm by an amount. Alarm detection occurs within about 1msec of when the servo amplifier calculates that the speed has reached 20% above max speed. Once the alarm is detected, the amplifier faults out on overspeed, and annunciates the alarm. The motor will stop according to stop condition parameter settings (coast or dynamic brake, see Pn001). - The alarm output of the SGDH amplifier should be wired in series with the E-Stop circuit to insure main power gets dropped out in the event of a Servo Amplifier Alarm. Refer to section 5.5.2 in the MP940 Design and Maintenance Users Manual, SIEZ-C887-4.1. - The Servo Amplifier has a feature that allows the servo to be jogged regardless of the state of the controller, overriding the controller. This is available for startup and testing purposes, and ease of use. When the machine is commissioned for production, it is recommended that this feature as well as access to any parameter be locked out. SGDH Parameter access through the front panel can be locked out by setting Fn010=1. Refer to section 7.2.12 in Sigma II Servo User Manual, YEA-SIA-S800-32.2. 3) Controller: MP940 controls the servo amplifier via Dual Port Ram interface connection, and should be used to enable/disable the servo, as well as supply the control reference signal. This interface is completely digital, and handshakes communication on a watch dog timer. If the CPU faults out on a serious error it will cause a watch dog error, and the amplifier will automatically fault out on an A.E2 alarm, disabling the servo. - It is recommended that all low power control signals be wired to the MP940 I/O connector with exception to the following which wire to the 1CN connector: Positive and Negative over travels inputs, Home Latch or Motor Position Latch input, and Pulse Generator output. All 1CN inputs can be used as programmable inputs monitored via register IWC025. 4) Software Setup: MPE720 MotionWorks software programming environment is used to setup, program, and monitor the MP940 and servo system. Fixed parameters and setup parameters are available for flexibility and assurance of control. Proper setup of these parameters as recommended in the users manual will insure the direct drive servo positions accurately and as expected. It is recommended that all adjustments to the setup and parameters be made from this software. OWC004/OWC005 are also available parameters that can be set to limit speed (refer to manual section 11.3, SIEZ-C887-4.1 position mode preparation info when motion command is used, see control mode block diagram 11.21). - During software setup, its important to characterize a complete set of tuning gains for the mechanical system, first without the load, and finally with the load (Primarily parameters: Pn100, Pn101, Pn103, OWC010, OWC011, OWC035, and all low pass or notch filtering). See section 6.4.3 for a complete set of gain-related parameters. Taking measurements of torque and speed profile during a positioning move cycle, and recording this information is called 'servo gain baselining'. Documenting this is recommended for future reference when troubleshooting a system. Guidelines on Tuning can also be found in Example FAQs on faq.yaskawa.com: BFAR-5DHHXL, MTN-5WZJZ7. - Any constant or variable values that are considered default parameter settings for the machine installation, should be hard coded into the Startup A drawing, so that the A drawing will store the hard coded values into the register which is used in the application program. This insures that all default values are stored in the program in the event that an MP940 controller is swapped out. Parameter set changes during machine operation can be set by downloading recipes from an HMI, or tweaked from the HMI. 5) Software Programming: There are several ways to program the system because of the variety of applications, including indexing. If the chosen method to position is by setting the Motion Command Code to positioning (OWC020=1), then the final position command should be conditioned and checked, then sent to the Command Register (OWC012). Good practice for coding in ladder would also include interlocking code to protect the overall control of the system such as: servo ready/fault check, over travel check, safety I/O check, speed command verification and limit checking, actual speed calculation check, etc. - It is also recommended that a general purpose output be dedicated to interlock in series with the hardwired E-Stop circuit, preventing the E-Stop circuit from engaging main power until the MP940 code is running and controlling the output. If software safety check code detects abnormalities, it should set the output to off, causing dropout of E-Stop power. This is possible because the MP940 and SGDH amplifier control power is separate from the servomotor main power. - In instances where load will be changing, changing gains on the fly should be considered. If the system is rigid enough, it may be possible to linearly scale the gains using Pn103, otherwise, gain relationships may need to be adjusted. This can be determined through testing. - Software application code can be secured by password protecting through the user management section. Seven levels of read and write access protection are available. 6) Software Testing and Verification: Good practice for machine commissioning is to validate program functions through sign-off testing. This is often performed with the help of a checklist that shows columns for: Test item, verification test, acceptance criteria, and a place for the tester to sign and date. 7) Software Maintenance: Once the program and system has been tested, the application program should be baselined by assigning a production version, and should be backed up. In addition, the critical control software modules should be secured with password protection to support authorized changes only through an 'application software version control process'. 8) External Devices: HMI variable settings should be limited to insure the system does not operate as unexpected when the operator (or external device) enters set values outside of the expected range. If needed, an external speed monitor with independent circuitry could be connected, and hardwired to provide a final layer of independent overspeed protection. 9) System Level: Layered protection at each level (motor, amplifier, controller, setup, programming, testing, maintenance, external devices) will insure mitigation as well as contingency execution in the event that any particular safety element is compromised by mistake (example, if someone changes a programmable value accidentally, or by-passes a wired protection). Ultimately each application is different, and demands a varying level of protection against anomalies based on a balance of safety requirement and feasibility of cost. These are all at the discretion of the installer. It should also be recognized that the operators or users of this machine may alter the system at any point based on the ease of access to bypass functions or features. For this reason, it is also recommended that lock-out tag-out hardware be installed on the control enclosure, as well as a maintenance safety procedure be written to support that. In any of these cases, the Direct Drive motor, SGDH amplifier, MP940 controller, and MPE720 software is designed to operate together, and if wired, installed, setup, programmed, and maintained in accordance to the respective product users manual, and utilizing best practices, the motor will position as expected. Resources: - MPE720 Software Users Manual# SIEPC88070005A - MP940 Users Manual# SIEZ-C887-4.1 - Sigma II Users Manual# YEA-SIA-S800-32.2 - Sigma II Servo Tuning FAQ# BFAR-5DHHXL - Tuning Tips for Direct Drive Servo FAQ# MTN-5WZJZ7 Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Procedure - Policy Document Number: MTN-6FJT79 Published Date: 08/29/2005 Share \| Rate Rate this article :	08/29/2005
	Is there a list of Ladder Instructions that can be used in the MP900 series products? Posted Date: 03/08/2002 Answer: Attached is a help file for the MotionWorks ladder editor (LadderWorks). Attachments: 1.1MB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMKW Published Date: 03/08/2002 Share \| Rate Rate this article :	03/08/2002
	Is there a list of FAQs covering Sigma-5 CoE? Posted Date: 06/26/2013 Answer: This is a preliminary list of questions and answers developed by the training department. What is the Sigma-5 CoE? It is the Sigma-5 "option" style servo amplifier with the CoE option card factory installed. It communicates to a 3rd party master controller over EtherCAT using the CANopen protocol. It connects to this controller using Ethernet cables, possibly along with other EtherCAT devices At the amplifier level, tuning and configuration options are nearly identical to that of the Sigma-5 AP or ML servos. Yaskawa offers a complete in-house training program on Sigma-5 servo theory, configuration, tuning, and installation, all of which applies to the Sigma-5 CoE. Do I have to set any Pn or user units or anything in order to connect to the master? NO. But still consider the usual options to mask OT inputs and to reset absolute encoder or set Pn002 to use as incremental, holding brake configuration, etc. These configuration options apply to all Sigma-5 servos. Does the card change any parameters from default? Yes, EGR pns are set to 1. Position mode is set. What do I use to tune the motor? SigmaWin+ gives you access to the advanced autotuning functions. These functions are not available over the network. A hand-held digital operator may also be used. Can the EtherCAT controller set/read servo parameters? Yes, all parameters. Once the parameter set is established, these parameters may be stored and set by the controller, including tuning parameters (for servo replacement, etc). Can the EtherCAT controller execute Functions, such as Fn030 to force a power cycle? Only Abs Enc functions. Other functions are available only via external operator and SigmaWin, not over EtherCAT Can the controller access the built-in monitors "Un"? No, not by number, but there is a subset of monitors that are available such as motor toque, feedback speed, actual position, etc as defined by CANopen. What else do I need? Need a master controller, for example, TwinCat on a PC (beckoff), LabView for (National Instruments) "compact RIO". A standard PC may be used for testing purposes. Need the Sigma-5 XML file for device configuration (like EDS). From Yaskawa.com for the master. Need an ethernet cable for each Sigma-5 What functionality do I have/ don't have compared to AP and ML and controllers ? 26pin IO connector as ML Controller can command torque, speed, position, indexing, homing, camming, gearing, interpolation. Drive supports high-speed latch (continuous and single shot) For right now Sigma-5 CoE does not support home to "touch probe" How is motion programmed? Depends on the controller. Does not depend on the drive. Motion on the Sigma-5 will be programmed the same as any other vendor's CoE amplifier once it is connected. We do have some extra features such as servopack-controlled homing and Servopack IO that may not be fully integrated as controller commands and also may not be implemented by the competition. These features can be accessed directly through the controller by manipulating the "Control Word" at the CANopen protocol level. How can I get some hands-on with the Sigma-5 CoE? An existing demo kit can be retrofitted with the Sigma-5 CoE hardware. But the learning experience will be with the controller and not the amplifier for those already familiar with Sigma-5. A laptop PC can be used as the controller running Beckoff's "TwinCAT" software. Free 30-day trial is available online from the Beckoff website. Results may vary based on the ethernet adapter models supported by TwinCAT software. At the amplifier level, tuning and configuration options are nearly identical to that of the Sigma-5 AP or ML servos. Yaskawa offers a complete in-house training program on Sigma-5 servo theory, configuration, tuning, and installation, all of which applies to the Sigma-5 CoE. Product Group/Line: Servo Products, SGDV EtherCAT Topic/Sub Topic: Ask a Technical Question, Hardware, Instructions, Integration, Network Communications, Operation, Parameters, Start Up - Installation, Training Document Number: MTN-7TYPUT Published Date: 06/26/2013 Share \| Rate Rate this article :	06/26/2013
	Is there a guideline on how to use and allocate registers when programming the MP900 series controllers? Posted Date: 03/06/2002 Answer: There is a file attached as an example of how to allocate registers in an MP900 series product when using MotionWorks Ladder. Attachments: 11KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Programming Document Number: MNEN-5CJMKS Published Date: 03/06/2002 Share \| Rate Rate this article :	03/06/2002
	Is there a guideline for selecting a pre-engineered Sigma Trac Linear Motor? Posted Date: 06/24/2013 Answer: Yes. The attached document is a step by step procedure to guide proper Sigma Trac Linear Motor selection. The motor selection is based upon travel length and coil size. SigmaTrack selection step outine: First gather all application information on an Application Sheet (For more information on Application Sheets see FAQ # MNEN-5CJMJU) 1A: Select coil size from performance charts (positioning time vs Index distance) Coil Sizes: STF20-090, STF20-120, STF50-200, STF50-380 1B: Select coil size from desired peak and continuous force 1C: Evaluate bearing life factors 2: Select stroke length Stroke Lengths: 110mm to 2110mm (4.3" to 83") 3: Select Amplifier option (SGDH or SGDG) 4: Select Slide options (home sensor, cable management, encoder spec) Attachments: 61KB Product Group/Line: Servo Products, Sigma Trac Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Sizing Document Number: BFAR-5LVNUJ Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Is there a function to track your Compass program and your IEC program versions for future support? Posted Date: 05/21/2020 Answer: No, but we provide component version compatibility in the release notes and in the Implementation guide (Doc# AN.MPIEC.27). Product Group/Line: Yaskawa Compass, Controllers Topic/Sub Topic: Software, Ask a Technical Question Document Number: CNT-13X7FX Published Date: 05/21/2020 Share \| Rate Rate this article :	05/21/2020
	Is there a firmware release history for LEGEND-MC? Posted Date: 06/27/2013 Answer: The currently released firmware for the LEGEND-MC / SMC3010 is Revision 1.0c7. The LEGEND-MC firmware is attached below and available on Yaskawa's website in the Firmware download page under "Downloads" --> "Software" --> "Firmware". Upgrade Information: To upgrade, simply use Yaskawa's YTerm software. In the terminal window, right click, and select "Upgrade Firmware" from the menu. Product Release History: Rev 1.0c7 = (July 2003) Improved handling of Ethernet error 122 Rev 1.0c6 = (May 2003) Improved handling of Ethernet error 122 Rev 1.0c5 = minor bug fixes. Rev 1.0c3 = minor bug fixes. Rev 1.0c = (July 2002) Four threads, password application program, amplifier parameter setting, new Ethernet connection methods. KNOWN ISSUE: The "AS" (At Speed) command does not work for distributed control axes. Rev 1.0a = (November 2001) Dual Loop (DV) positioning feature added Rev 1.0 = (August 2001) Original release Attachments: 151KB Product Group/Line: Controllers, SMC-3010 LEGEND-MC Topic/Sub Topic: Ask a Technical Question, Upgrade (Software - Firmware), Upload - download software Document Number: MNEN-5CJMNW Published Date: 06/27/2013 Share \| Rate Rate this article :	06/27/2013
	Is there a firmware history for the SMC2000 product? Posted Date: 06/27/2013 Answer: Yes. There are two hardware types for the SMC2000. There is a 1600 gate array, and an 1800 gate array. Please see the attached to review additional specifications on the array. Attachments: 20KB Product Group/Line: Controllers, SMC-2000 Topic/Sub Topic: Ask a Technical Question, Upgrade (Software - Firmware) Document Number: KHUL-5KQQYA Published Date: 06/27/2013 Share \| Rate Rate this article :	06/27/2013

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SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!

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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