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	Question	Posted Date
	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, 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, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic, Network-Comm-EtherCAT, Network-Comm-MECHATROLINK-II, Network-Comm-Options 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
	Is there a driver available to communicate between an Exor HMI and a Yaskawa Sigma ServoPack? Posted Date: 07/13/2004 Answer: Yes, the driver and an example Designer project can be found in the attached EXOR_sigma2driver.zip file. The Exor driver included in the attached file is version: Yaskawa SGDx - FW Drv Ver. 3.01 - DLL Ver.5.01 It will allow communication to all Yaskawa Sigma ServoPacks, including, but not limited to the following models: SGD, SGDA, SGDB, SGDC, SGDH This driver also allows communication to multiple ServoPacks. Attachments: 54KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Integration Document Number: MMIR-5GKK9L Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a detailed procedure on how to read/write parameters from/to fieldbus NS-300/500 modules? Posted Date: 06/25/2013 Answer: Yes, attached are flowcharts of the parameter read/write sequence and ladder logic code for both operations. The basic read operation sequence is as follows: 1. Set Mode bit to 1 2. Verify mode selection 3. Set parameter number 4. Set read command code [08h] and command start bit 5. Verify response commands and parameter number 6. Read response data 7. Set Mode bit to 0 The basic write operation sequence is as follows: 1. Set Mode bit to 1 2. Verify mode selection 3. Set parameter number & value 4. Set read command code [09h] and command start bit 5. Verify response commands, parameter number and value 6. Set Mode bit to 0 The ladder logic code provided is for an MP-XXXX controller with DeviceNet, acting as Master. The following register allocation was used: IB00000: Executes the parameter read operation IB00001: Executes the parameter write operation IW0110-IW0113: allocated for NS-300/500 module input bytes OW0100-OW0103: allocated for NS-300/500 module output bytes MW05000: to set the parameter number ML05002: parameter read data ML05004: parameter write data Attachments: 45KB 56KB Product Group/Line: Controllers, MotionWorks Software, MP2000 Series (MP2300-MP2200), MP2300, MP920 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Applications, Integration, Parameters, Programming Document Number: MTN-6CKSX4 Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	Is there a detailed description of the behavior of the IEC functions when EN / ENO are used? Posted Date: 10/09/2015 Answer: Basic logic and math functions are supplied with the MotionWorks IEC programming editor. See the attached .PDF file for further information. Attachments: 103KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec Topic/Sub Topic: Ask a Technical Question, Instructions, Troubleshooting Document Number: MTN-7PCQK4 Published Date: 10/09/2015 Share \| Rate Rate this article :	10/09/2015
	Is there a demo program available for the SMC-4000 Demo Hardware Unit? Posted Date: 02/18/2009 Answer: Yes. The attached program is designed to work with the SMC-4000 Demo Unit from Yaskawa (Part Number DEMO4000). The program demonstrates homing, indexing, limit switch handling, jogging, physical input/output control, special labels, and messaging to the terminal. It also demonstrates camming and interpolated motion. If the demo is properly equipped, Ethernet Modbus/TCP communication to Yaskawa's V7 inverter drive can also be demonstrated. Attachments: 16KB 402KB Product Group/Line: Controllers, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Product Demo Document Number: MTN-65JSKQ Published Date: 02/18/2009 Share \| Rate Rate this article :	02/18/2009
	Is there a cross reference for Omron/Yaskawa servos? Posted Date: 06/15/2010 Answer: Yes. Your local Yaskawa sales and application representatives are prepared to provide you with exact or nearest available substitutes .... mechanical, electrical, and environmental ratings. Both Omron and Yaskawa provide global support for servos with shortest lead time and local stock supporting their own regional customer preferences for connecting, mounting, coupling, etc. Call your local Yasksawa sales or application representatives for assistance and an exact or nearest recommended substitute from Yaskawa America, Inc. - Drives & Motion Division standard products. Click here to search for the nearest local distributor and sales/service location. Product Group/Line: Servo Products, SGMAH Sigma II Topic/Sub Topic: Ask a Technical Question, Parts or Replacement Document Number: MTN-6C4HX3 Published Date: 06/15/2010 Share \| Rate Rate this article :	06/15/2010
	Is there a compiled list of Sigma II alarms? Posted Date: 07/13/2004 Answer: Attached is one file that describes all Sigma II (Sigma2) and option card alarms. For further detailed information, please see the Sigma II users manual. This file includes descriptions and possible causes/solutions for the following alarms: Sigma2_Alarms_CompleteList.pdf Standard Sigma Alarms: A.02, A.03, A.04, A.10. A.30, A.32, A.40, A.41, A.51, A.71, A.72, A.73, A.74, A.7A, A.80, A.81, A.82, A.83, A.84, A.85, A.86, A.b1, A.b2, A.bF, A.C1, A.C8, A.CA, A.Cb, A.CC, A.d0, A.E7, A.F1, CPF00, CPF01, A.91, A.92 S2_Add_Alarms.pdf Extended Sigma and Linear Alarms: A.08, A.09, A.0A, A.33, A.55, A.76, A.90, A.b1, A.b3, A.C2, A.C5, A.C5, A.F5, A.F6 Alarms when combined with Option Cards: A.D1, A.E0, A.E1, A.E2, A.E5, A.E6, A.E7 Alarms Generated from Option Cards: A.94, A.95, A.9F, A.B6, A.E9, A.EA, A.Eb, A.EC, A.Ed Attachments: 122KB 98KB Product Group/Line: Servo Products, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Document Clarification, Troubleshooting Document Number: MNEN-5CJMGY Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is there a communication driver available for the SMC controllers? Posted Date: 06/25/2013 Answer: Yes, Yaskawa created SMCComm.ocx for use when developing windows applications in VB or C++. The ocx file is used in Yaskawa's YTerm software. It is the blue terminal window at the bottom of the programming screen. (The terminal window does not need to be visible in an application.) The driver provides the following features: - Serial or Ethernet (TELNET) connectivity. - Read and write variables, arrays, and commands. - Upload and download programs and arrays. - Upgrade the controller firmware (serial port only.) - Data logging to file. OCX files are very powerful tools that can be implemented in many ways. Word and Excel can also use an OCX file, eliminating the need for a compiled program. The driver part number is SMCOCX1. The driver comes on CD with documentation and two visual basic examples. The driver and examples were created in Visual Basic 6. Product Group/Line: Controllers, SMC-2000, SMC-3010 LEGEND-MC, SMC-4000 Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-65BS4K Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	Is the P1000 the same physical size as P7? Posted Date: 06/29/2012 Answer: On average, P1000 is 30% smaller than P7 with minimal difference on small ratings and significant differences on larger ratings. Your specific ratings of interest must be compared. P1000 can also be mounted side-by-side, further reducing panel space. Product Group/Line: Inverter Drives, P1000 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: DRV-8VQKVB Published Date: 06/29/2012 Share \| Rate Rate this article :	06/29/2012
	Is the MP-940 capable of operating Yaskawa linear motors? Posted Date: 01/14/2005 Answer: Yes, it is possible when using MotionWorks. The only difference between using a rotary motor and a linear motor with the MP-940 is to select Linear Type vs Rotary Type in the SVA section of Module Configuration. By doing this, the additional parameters for Linear Motors are displayed in the "ServoPack" tab. There are three, however, that will require immediate attention to allow motion to occur. Please reference the users manuals for information regarding all other parameters. SGDH Parameter Settings: 1) Pn280: Linear Scale Pitch (micrometers), the ServoPack will remain in an alarm state until this is set. 2) Pn483: Forward Force Limit (% of rated), factory default is 30% (for safety), set appropriately for application. 2) Pn484: Reverse Force Limit (% of rated), factory default is 30% (for safety), set appropriately for application. Minimum firmware & software versions required: MP940: B01 or higher SGDH: xx214 or higher MotionWorks: 4.20 or higher Attachments: 61KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II, SGLF Series, SGLG Series, SGLT Series Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation Document Number: MNEN-5CJMRC Published Date: 01/14/2005 Share \| Rate Rate this article :	01/14/2005
	Is the GA500 conformal coated? Posted Date: 09/30/2019 Answer: Yes, the GA500 is conformal coated to meet IEC60721-3-3, 3C2, 3S2. Product Group/Line: Inverter Drives, GA500 Drive Topic/Sub Topic: Ask a Technical Question, Product Launch Document Number: INV-9134IS Published Date: 09/30/2019 Share \| Rate Rate this article :	09/30/2019
	Is the FP605 conformal coated? Posted Date: 03/30/2022 Answer: Yes, the FP605 is conformal coated to meet IEC60721-3-3, 3C2, 3S2. Product Group/Line: Inverter Drives, FP605 Topic/Sub Topic: Ask a Technical Question, Product Launch, Specifications Document Number: INV-PV4H27 Published Date: 03/30/2022 Share \| Rate Rate this article :	03/30/2022
	Is the design life of the V1000 is twice that of the V7 Posted Date: 07/27/2007 Answer: Yes. Product Group/Line: Inverter Drives, V1000 Drive Topic/Sub Topic: Ask a Technical Question, Reliability Document Number: DRV-75FSHF Published Date: 07/27/2007 Share \| Rate Rate this article :	07/27/2007
	Is the C-phase marker pulse visible though EtherCAT on the SGDV EtherCAT amplifier? Posted Date: 01/03/2020 Answer: Please refer to Sigma-5 user manual with EtherCAT (CoE) Network Module, Yaskawa.com document number SIEPC72082904 in order to follow this FAQ. The C-phase marker on the Yaskawa drive is not visible through the EtherCAT network. There are 2 options for C-phase homing: 1. Use EtherCAT CoE's "drive-based homing" functionality. Refer to the following sections for details: Section 7.4 for the available homing modes, including the C-channel; Section 8.6 for utilization; and Section 8.8 for additional details. 2. Use the Touch Probe Fucntion (60B8h) to latch the C-phase, and then read the Touch Probe Position value that was captured. Refer to the Yaskawa.com document number SIEPC72082904 for usage details. Due to EtherCAT network delays, it is not possible to report the C-Phase marker pulse and the Position Actual Value over the network in a way that allows accurate registration of the position to the pulse. The only way to guarantee that the Position Actual Value reported corresponds to the exact C-Phase marker pulse is to perform the drive based homing function that utilizes the C-Phase, or use Touch Probe to capture the C-phase position. Yaskawa prefers the homing to be drive-based (items 1 and 2 above are considered drive-based) in order to guarantee an accurate Position Actual Value that corresponds to the C-Phase marker pulse. Product Group/Line: Servo Products, Network-Comm-Options Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-98ML99 Published Date: 01/03/2020 Share \| Rate Rate this article :	01/03/2020
	Is the Copy function available with the standard LED keypad on the V1000 and V1000-4X drives? Posted Date: 06/21/2010 Answer: No, but the optional LCD Remote keypad and the Y-stick option can both perform this function. Product Group/Line: Inverter Drives, V1000-4X Drive, V1000 Drive Topic/Sub Topic: Ask a Technical Question, Options Document Number: DRV-86MQA6 Published Date: 06/21/2010 Share \| Rate Rate this article :	06/21/2010
	Is the Copy function available with the standard LED keypad on the J1000 Drive? Posted Date: 08/01/2008 Answer: No, but the optional LED Remote keypad and the USB Copy Unit (Y-stick) option can both perform this function. Product Group/Line: Inverter Drives, J1000 Drive Topic/Sub Topic: Ask a Technical Question, Keypad-Operator Document Number: DRV-7H3TDG Published Date: 08/01/2008 Share \| Rate Rate this article :	08/01/2008
	Is the A1000 the same physical size as F7? Posted Date: 01/04/2011 Answer: On average, A1000 is 30% smaller than F7 with minimal difference on small ratings and significant differences on larger ratings. Your specific ratings of interest must be compared. A1000 can also be mounted side-by-side, further reducing panel space. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Drive Size Document Number: DRV-8CDJUP Published Date: 01/04/2011 Share \| Rate Rate this article :	01/04/2011
	Is the A1000 dual rated? Posted Date: 01/04/2011 Answer: Yes, it has both a Normal Duty rating with an overload capacity of 120% for 60 seconds for fans and pumps, and a Heavy Duty rating for 150% for 60 seconds. Product Group/Line: Inverter Drives, A1000 Drive Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: DRV-8CCTWM Published Date: 01/04/2011 Share \| Rate Rate this article :	01/04/2011
	Is Sigma Trac II a drop-in replacement for SGT Sigma Trac? Posted Date: 08/23/2019 Answer: No, Sigma Trac II is a completely new design using the latest generation (SGLF2) linear motor coils and magnets. These new components offer better performance in a smaller package than the previous generation Sigma Trac. Product Group/Line: Sigma Trac II, Servo Products Topic/Sub Topic: Product Launch, Ask a Technical Question Document Number: SRV-S553FC Published Date: 08/23/2019 Share \| Rate Rate this article :	08/23/2019
	Is PID available on the J7 Drive? Posted Date: 10/27/2005 Answer: No, Yaskawa recommends using the V7 Drive for PID applications. Note: Earlier versions of the J7 Drive were named GPD 305/J7, GPD 305 or VS Mini J7. Product Group/Line: Inverter Drives, J7 Drive Topic/Sub Topic: Ask a Technical Question, PID Application, Specifications Document Number: DRV-5FLLK6 Published Date: 10/27/2005 Share \| Rate Rate this article :	10/27/2005
	Is MotionWorks MPE720 ver 5.13 compatible with Microsoft XP SP2? Posted Date: 07/25/2013 Answer: Upgrading Windows XP to service pack 2 will cause MW ver 5.13 not to function. Please note that version 5.31b and greater is XP SP2 compatible. See FAQ#: MNEN-5CJMJL Here is how to make version 5.13 XP SP2 compatible: Current solution to installing MW is to first uninstall service pack2. This can be done by going to Control Panel , Add / Remove Programs and Un-Installing service pack2. If your PC was recieved with ServicePack2, see the following support page from Microsoft on removing it: http://support.microsoft.com/default.aspx?kbid=875350 Product Group/Line: Controllers, MotionWorks Software Topic/Sub Topic: Ask a Technical Question, Software, Troubleshooting, Upgrade (Software - Firmware) Document Number: MTN-667P2B Published Date: 07/25/2013 Share \| Rate Rate this article :	07/25/2013
	Is it possible to wire an HMI to Multiple NS600 Indexer modules? Posted Date: 11/20/2001 Answer: Yes, the attached PDF shows the system block diagram for an HMI/NS600 system, a diagram showing RS422 4 wire connection, and a diagram showing RS485 2 wire connection. Attachments: 69KB Product Group/Line: Controllers, NS600 Indexer Topic/Sub Topic: Ask a Technical Question, Integration, Network Communications, Wiring Document Number: MNEN-5CJMJG Published Date: 11/20/2001 Share \| Rate Rate this article :	11/20/2001
	Is it possible to verify if an axis is present on the system via the MotionWorks IEC application program? Posted Date: 10/15/2010 Answer: Yes, there are a couple ways. An ErrorID of 4625 (invalid axis) will be output if a PLCopen function block is executed with an AXIS_REF axis which is not defined or not present on a system. The example in the attached pdf shows logic to indicate that an axis is not present on the system. Another method, available in firmware version 2.0 and higher, is to read parameter 1330, which indicates the Mechatrolink communication status of the specified axis. Attachments: 25KB Product Group/Line: Controllers, MotionWorks IEC, MP2000iec Series, MP2300Siec, MP2310iec, MP2600iec Topic/Sub Topic: Ask a Technical Question, Instructions, Programming, Start Up - Installation, Troubleshooting Document Number: MTN-7N9NFW Published Date: 10/15/2010 Share \| Rate Rate this article :	10/15/2010
	Is it possible to use the second Ethernet port, CN11B, on the MP2600iec as a separate, independent network connection? Posted Date: 03/18/2013 Answer: Yes it is possible. The same protocols are supported on both ports. However, CN11B can only be configured through the web interface and is not supported by the Hardware Configuration software to setup individual addressing of Modbus and Ethernet variables. If your network configuration does not allow a PC connection, use CN11A as the main network connection to an HMI, or other external Ethernet/Modbus devices and CN11B as the programming port for MotionWorks IEC. The default IP address for this port is 192.168.2.1 NOTE: The ethernet ports must be on different subnets to operate properly. Product Group/Line: Controllers, MotionWorks IEC, MP2600iec Topic/Sub Topic: Ask a Technical Question, Applications, Hardware, Instructions, Integration, Network Communications, Options, Programming, Software, Specifications, Start Up - Installation, Training, Troubleshooting Document Number: MTN-89HRDG Published Date: 03/18/2013 Share \| Rate Rate this article :	03/18/2013
	Is it possible to use the Legend amplifiers with an SVA module, and if so, with what control method? Posted Date: 07/25/2005 Answer: The Legend amplifier is a torque amplifier with a current control interface (+/- 10 volt.) In Torque mode, the SVA-02 module provides only an open loop torque reference output. It does not close a speed or position loop in this mode. This mode is ideal for web tensioning applications that never need to position. For other applications requiring torque and positioning, Yaskawa recommends and SVA / SVB interface to a Sigma II or a Torque control application module such as the SMC-3010 with the Legend amplifier. Please refer to the Legend Digital Torque Amplifier User Manual and MP920 or MP2300 User's Manual Motion Module. Product Group/Line: Controllers, MP2000 Series (MP2300-MP2200), MP2300 Topic/Sub Topic: Ask a Technical Question, Applications, Hardware Document Number: MTN-64EQ4Q Published Date: 07/25/2005 Share \| Rate Rate this article :	07/25/2005
	Is it possible to use auto-tuning without rotating the motor? Posted Date: 07/13/2004 Answer: Yes. In addition to their past rotational auto-tunings, both the F7 and G7 have been set up to allow for auto-tuning at stop. Auto-tuning is possible with the load attached. The inverters are designed to allow for simple auto-tuning when working with only phase-to-phase resistance. Primary resistance auto-tuning allows the drive to compensate for long lead lengths. The settings in the T1 parameters will allow for the settings of these three modes. Product Group/Line: Inverter Drives, F7 Drive, G7 Drive Topic/Sub Topic: Ask a Technical Question, Programming, Start Up, Tuning Document Number: DRV-5NZK9Q Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Is it possible to troubleshoot fieldbus modules that won't respond to PLC commands? Posted Date: 09/21/2004 Answer: Case #1: Fieldbus communication has been established, the PLC has turned on the SVON bit, but the servo drive does not enable. A. Make sure that main power is on (PWRON bit), and the NS module is ready to communicate (READY bit). B. Make sure the e-stop bit (ESTP_R) is off. The ESTP_R bit reflects hardware and software e-stop conditions combined. If ESTP_R bit is on, check the status of the EMSTOP wiring and PN81B parameter. The physical EMSTOP input is on the CN4 connector. This input is default to Normally Closed (PN81B bit 1). To disable software e-stop, set ESTP bit ON. Both the EMSTOP input AND the ESTP bit in the command message need to be set in order for the drive to be out of disabled condition. The EMSTOP input and the ESTP bit will have no effect if PN81B, bit 0 is set to xxx0. This may be useful in unloaded bench-top testing. C. Make sure the SVON bit has been toggled from 0 to 1. The SVON enable command is edge sensitive. D. Make sure there are no alarms (ALRM bit). If there is an alarm, clear it by toggling alarm reset bit (ALRST). E. The SVON bit should be turned on after the ESTP_R = 0. The SVON bit and the ESTP bit cannot be set simultaneously. Case #2: The drive is enabled and the SVON_R is 1 in the response message, but the motor won't move. A. Check if a warning is being generated when the command is issued, e.g. the setup value is out of range (A.94), or command reception conditions are not met (A.95). B. Check the status of the POT and NOT input and Pn819. POT or NOT are never displayed on the LED readout of the SGDH amplifier when used with the NS modules. The inputs are on the CN1 connector. They are set to Normally Closed as default. The status of the POT and NOT input can be read in the response message byte 3, bit 6 and 7. The POT and NOT will have no effect if Pn819 is set to xxx0, which may be useful in unloaded bench-top testing. C. Make sure starting motion command bit must be toggled from 0 to 1. C_START, FEED, STEP, PTBL, STN, HOME commands are edge sensitive. D. Make sure the commanded position is different form the actual position. If the INC bit is set to 0, target position is commanded in absolute terms. In this case, if the motor is at position 5000 and a Simple Positioning of 5000 is commanded, the motor should not move. E. Check the MOD_R bit. If this is 1, the message format for the command response is SET/READ (commonly used for reading/writing parameters). The MOD bit in the command message should be set to 0. This problem is often accompanied by the A.95 alarm, Command Error. Product Group/Line: Controllers, NS300 DeviceNet, NS500 Profibus Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: MTN-5WKNHE Published Date: 09/21/2004 Share \| Rate Rate this article :	09/21/2004

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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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