Sigma II Profibus Module - NS500
Contents
1. NOTES 2 S gt ap 22 oe 56 Sigma II Application Modules Dimensions in inches mm SGDH Servo Amplifier Application Modules e SGDH A3AE to 02AE 200V Single phase 30 to 200W and e SGDH A3BE to 01BE 100V Single phase 30 to 100W Approximate PartNumber SGDH Option Description Mass Ib kg Mechatrolink Indexer with DeviceNet 5 59 142 5 08 129 0 44 0 2 Indexer with DeviceNet 5 67 144 5 24 133 0 7 0 32 Profibus Indexer Full Closed Loop Single Axis Control f Option card only Add 0 75in 19mm to front end of card for micro connector ee Add approx 0 75in 19mm for optional back up battery 5 59 142 5 08 129 75 Sigma II Application Modules e SGDH 04AE 200V Single phase 400W e SGDH 02BE 100V Single phase 200W and e SGDH 04FE 100V Single phase 400W SGDH EREERIA O crc Y rover sainpo w o amp 3 D 6 30 160 A Mi _ p250 o i 2 95 75 5 12 130 Mounting Hole Diagram 5 pa m 2 x M4 screw holes Approximate Part Number SGDH Option Description Mass Ib kg Mecticl iol 5 59 142 5 08 129 0 44 0 2 Indexer with DeviceNet Indexer with DeviceNet 5 67 144 Profibus Indexer Full Closed Loop 5 59 142 5 08 129 Single Axis Control 1 22 31 bs Option card only Add 0 75in 19mm to front end of card for mic2. e Parameters determine e External positioning distance e External positioning velocity Velocity External positioning movement distance A 1 C_STRT Input bZ EXTP Time 43 Sigma II Profibus Module NS500 Multi Stage Velocity Positioning How it works C_STRT e C_STRT bit Refer to the Move Command message format byte 0 bit 0 Use the same procedure as simple positioning except the positioning command code is 0100 During axis movement after reaching the parameter s initial target position the axis switches to the next speed and moves to the position specified in the next step A maximum of 16 steps are available Parameters set The number of steps e Reference velocity e Acceleration deceleration Station Number Positioning STN bit Refer to the Move Command message format byte 2 bit 5 44 How it works The system will index to the prescribed station number when the STN command bit is turned ON The target station is defined with command data in the move command message refer to page 36 Define by parameter up to 32 767 equidistant stations per rotation Set the direction of rotation with the DIR bit or set the system by a parameter to automatically select the shortest distance Set acceleration and deceleration with parameters Accommodate rotary systems with gearing or belt ratios with parameters for electronic gear ratios Sigma II Profibus
3. Pn0105 2nd Speed Loop Integral Time Con 2000 0 01ms Pn0106 2nd Position Loop Gain 40 1s Pn0107 Bias 0 nmin Pn0108 Bias Width Addition 7 reference Pn0109 Feed forward 0 Pn010A Feed forward Filter Time Constant 0 0 01ms Pn0108 Gain related Application Switches 0000 Pno10c Mode Switch Torque Reference 200 Pn0100 Mode Switch Speed Reference 0 nmin Panine Marte Suite h Areeleratian t1friminter n Pn0404 parameter data reading from NSXXX Edit Cancel AHLACANEANENNN NN 46 Sigma II Profibus Module NS500 Overtravel Configuration id NSXXX Setup Tool _ ol x File E Operate R Signal Q PointTable T Parameter P Monitor System S Help H ParameterNo Name Tata Units Pn0812 Coordinate Type 0000 Pn0813 One Machine RotationiCommand 8192 reference p Pn0814 Backlash compensation value 0 H Pn0815 Backlash compensation direction 0000 Pn0816 Positive Software Limit 50500000 0 001mm Pn0817 Negative Software Limit 99999999 0 001mm Pn0818 Machine Function Selection 0000 Pn0819 Hardware Limit Function Selection 0003 Pn081A Hardware Limit Action 0000 Pn081B Emergency Input Function Selection 0000 Pn0821 Feed Speed for Positioning 24000 mm min Pnos22 AccelDecel Time Constan SSS E DnnoII Dacaloaration Timna annta Parameter No Pn0816 Parameter name Positive Sofware Limit 50500000 0 001 mm OK Cancel Ready Servo OFF Main power ON NS Homing Setup P U E
4. Stepping Operation How it works e When the STEP bit turns ON the axis moves in the specified direction DIR bit e Use command data to select one of four preset SBEN parameters that define the step distance Moves can be N ae Tine incremental or absolute e e When the STEP bit turns OFF during movement step bigs 2 te movement is cancelled Additional parameters to help define the stepping opera Velocity STEP bit Refer to the Move Command tion are preset to determine message format byte 2 bit 4 f l e Approach velocity v and acceleration DIR bit Refer to the Move Command k 7 message format byte 3 bit 1 deceleration type eight types are available including S curve e Acceleration deceleration values Feed Operation How it works While the FEED bit is ON the axis jogs in the direction specified e Use command data during movement to set or override the preset velocity feed i 1 1 FEED Lo T L E Ae Parameters are preset to determine FEED bit Refer to the Move Command Feed velocity v i ee e Acceleration deceleration type e Acceleration deceleration rate 42 Sigma II Profibus Module NS500 Point Table Positioning How it works e Use command data to select point table number and then the PTN bit to initiate positioning e Fifty positioning points are available e Point table parameters are preset to determine e Target position Positioni
5. 20 micron linear scale pitch 115 Vac single phase 30 to 200W 230 Vac single phase 30W to 1 5kW 230 Vac three phase 500W to 15kW 480 Vac three phase 500W to 15kW Environmental Ambient Storage Temperature 0 to 55 C 20 to 85 C Global Safety Certifications UL CUL CE TUV JOxapu OOSSN dsnr Motor feedback resolution standard Motor feedback resolution optional Choice of Amplifier sizes 50 Sigma II Profibus Module NS500 Selecting Your Sigma II Indexer System Specify part number JUSP NS500 the indexer add on application module Use the tables beginning on the following page to specify choice of indexer interface cables mating connectors only set up and monitoring tools and software System Configuration Setup and mounting software NSXXX 7 ENN GSD Software File o Power Components E Additional regeneration resistor capacity if necessary optional DC reactor etc C Pre wired power and B SGDH Amplifier Sigma Il Application Module e11CN setup software mating connector or cable eProfibus network connector e1CN I O cable or connector e4CN I O cable or connector A Sigma II servomotor linear motor or direct drive motor feedback cables or D Connector kits for local cable assembly Specify a technical manual if it is needed on your s
6. Il Responses to Move Commands Response Messages Response Message Format e Reports the status of the current positioning move i e in position near 0 position home overtravel alarm etc I Command code e Move data can be collected in the Se response See the response type table at the right e The data requirements in the response message are specified in the command message byte 1 bits 4 through 7 as Response Tyee Reference Unis RU shown on the Command Message a Format table on the previous page sooviga SIE C718 8 for a detailed e Response codes are returned in the Leman ee E AN E response message byte 1 bits 4 through Sari 7 along with the data Sigma Il Set Read Commands and Command Codes Set Read messages enable user friendly network Command Message Format routines that can reconfigure machine positioning variables initialize setup routines enable auto tuning source alarm and warning data etc These functions are available to any master on the network Uses of Set Read Messages Commandaumber e Set up and configuration data e Edit parameters Comand message e Set edit preprogrammed point tables of index moves e Report alarm codes To operation e Use with data transfer I O communication Tie pro Defining Set Read Messages versus move Tor command messages reek e Set by byte
7. Mounting hardware requirements one ground strap mounting screw See supplementary information on the next page Sigma II Add on Indexer Application Module JUSP NS500 Stock Use the Sigma II Application Module Mounting Dimensions on pages 75 to 82 for determining overall indexer panel space requirements For 480VAC large capacity amplifiers 22 55kW refer to the Sigma II catalog for amp dimensions Indexer I O Interface Cable Selection Component Description E Part Number Comments Item Class Input Output 1CN Cable iti ye 35mm DIN rail mountable the See Ine HES TSS cable length is 0 5m Use the following key to specify required cable length last digit of Input Output 1CN Cable 5 the part number with Pigtail Leads JZSP CKI01 O A 4 4m standard 2 2m 3 3m Use the following key to specify required cable length last two Input Output 4CN Cable CKI NS300 00 digits of the part number 01 1m standard 02 2m 03 3m with Pigtail Leads 52 Sigma II Profibus Module NS500 Input Output 1CN Cable Cable with Female D Sub output Connec tor JZSP CKIOD O0 Use the following key to specify required cable length last two digits of the part number D50 0 5m 01 1m standard 02 2m 03 3m Input Output 1CN 4CN Cable with Female D Sub output Connec tor Applicable only for SGDH 1E 15 kW and below CKI NS300D O00 for use with N
8. Speed coincidence orr ABS ii si3 CN1 Input signal 0 Close 1 Open SoN tgon Servomotor rotating orr 4 Stop sid CN1 Input signal 0 Close 1 Open OFF s rdy Servo ready on Feed speed x sib CN1 Input signal 0 Close 1 Open orr cit Torque limiting orr e si6 CN1 input signal 0 Close 1 Open s OFF vit Speed limitting ofr 1000 00 7 mm min Reserved Gon bk Brake output Son Target position NSXKX FE ee raya eas a TEN 1000 00 bd exst External start OFF Reserve oFF mm exsp External stop orr Reserve gt orr esp Emergency stop orr Reserve Borr T Continuos operation A or B phase broken on Reserve orr C phase broken Gon Reserve orr Interval DeviceNet communication power ON Reserve OFF 1000 Reserved OFF Reserve OFF msec Reserved OFF Reserve or Point Table Positioning Setup pint table list Edit point table x Target positon Potable No m 1 15 000 3000 000 E T 2 30 000 5000 000 anal z ke 3 20 000 18000 000 Feed speed o 4 15 000 19000 000 5 000 Fiia zs a 5 30 000 25000 000 a 6 45 000 50000 000 Setting position 2 7 5 000 64000 000 i 8 15 000 75000 000 C Current position g 45 000 90000 000 10 30 000 50000 000 9 5000 000 Imm 11 15 000 20000 000 12 5 000 5000 000 Servo parameter list x Pn0102 Position Loop Gain 40 t s Pn0103 Inertia Ratio 0 Pn0104 2nd Speed Loop Gain 40 Hz
9. _ ol x File E Operate R Signal Q PointTable T Parameter P Monitor M System S Help H Option parameter list x ParameterNo Name Tata Units Pnosoo Homing Mode 0001 Pn0801 Homing Function Selection 0001 Pn0802 Feed Speed for Homing 10000 mm min Pn0803 Approach Speed for Homing 1000 mm min Pn0804 Creep Speed for Homing 500 mm min Pn0805 Final Travel Distance for Homing QO 0 001mm Pn0806 Home Position Output Width 100 reference Pn0809 Offset for Home Position QO reference Pn080A AccelDecel piggies tanii ee Pn0810 Electric Gear ILA UM Sees eataan couele xl Pn0811 Electric Gear g Pn0812 Coordinate Ty Parame CNG ae Dnno49 Ana rachina PnO800 Parameter name Homing Mode Select value Use PC 7 Ready Servo OFF Main power ON 7 47 a 5 gt a P F E Sigma II Profibus Module NS500 KOREA Example of I O Signal Connector CN1 Main Power Optical encoder Alarm code maximum output Operating voltage 30V ALOS Operating punrent 20m an Backup battery 2 8 to 4 5V When using an absolute encoder COIN F sean completed l _ ON when positioning has COIN been completed 5 g BK Brake output 3 f BK 24V SK y Brake released when ON External positioning move function SE T S RDY Servo ready Positive overtravel ETa T f S RDY ON when ready Forward run prohibited when OFF BUTI Negative overtravel ZE A if ALM Servo alarm
10. f Rio Ol9 20_ 113 94 100 0 020 0 5 0 20 5 Mounting pitch 5 Approximate SGDH Option Description Mass Ib kg Mechatrolink Indexer with DeviceNer gt 99 142 5 08 129 0 44 0 2 Indexer with DeviceNet 5 67 144 5 24 133 0 7 0 32 Profibus 0 79 20 Indexer 0 44 0 2 Full Closed Loop 5 59 142 5 08 129 Single Axis Control 1 22 31 0 89 0 40 bs Option card only be Add 0 75in 19mm to front end of card for micro connector ek Add approx 0 75in 19mm for optional back up battery 78 Sigma II Application Modules e SGDH 20AE 30AE 200V Three phase 2 0kW 3 0kW e SGDH 15AE S 200V Single phase 1 5 kW e SGDH 20DE 30DE 400V Three phase 2 0kW 3 0kW 2 0 24 6 holes Sigma Il N ES Ej 9 84 250 E P e n I 4 33 110 Mounting Hole Diagram qe 4x M5 screw holes V S id I fay I g I g n I I TE ale Hes Rt 100 clee TA y S Tlg RAHI a KOU AIA 0 20 _ 3 94 100 _ 0 20 ol 57 0 020 0 5 Ie Mounting pitch Approximate PartNumber SGDHG Option Description Mass Ib kg Mechatrolink Indexer with DeviceNer 9 09 142 3 9 99 5 08 129 0 44 0 2 Indexer with DeviceNet 5 67 144 3 86 98 5 24 133 0 7 0 32 Profibus 0 79 20 Indexer 0 44 0 2 Full Closed Loop 3 99 4142
11. output Reverse run prohibited when OFF 7 Sa OFF with an alarm Optional Home position near 4 gt Photocoupler maximum output f ao Operating voltage 30Vpc Home position signal sk x Operating current 50mApc sh igma Win S Used for data tracing and ighly accurate auto tuning only CN10 Dual Port RAM Sigma II Indexer JUSP NS500 fP Indicates twisted wire pairs 48 Sigma II Profibus Module NS500 Sigma II Indexer Application Module I O CN4 Sigma II Indexer JUSP NS500 SGDH Servo Amplifier 24Vpc sinking or sourcing EmSTOP Notch 1 Notch 1 Optional External PG Notch 2 Notch 2 Photocoupler maximum output Operating voltage 30Vpc Operating current 50mMApc Use for Full Closed Loop function alternative position loop feedback Refer to the User s Manual for details Sigma II Indexer with Profibus JUSP NS500 Pin Number Signal Description Pin Number Signal Description 1 PGOV signal ground 11 24V A T A tor 2 PGOV signal ground 12 NOTCH1 Notch output 1 3 PGOV signal ground 13 NOTCH1 4 14 PC Phase C input 5 15 PC 6 16 PA Phase B input 7 _ 17 PA 8 18 PB Phase A input 9 EMSTOP 19 PB 10 NOTCH2 20 NOTCH2 Notch output 2 49 Sigma II Profibus Module NS500 Indexer Ratings and Specifications The JUSP NS500 application module uses Profibus Standard network connector LED sta
12. 0 bit 7 1 e It is not necessary to specify response type for Set Read commands _Response Mes age For paar oe Loe oe ok a ALRM NWARN SVON_P oa Command Codes e Set No Operation to prevent execution andei of commands Command number e Out of range parameters generate a setting error WARN bit response data 41 Sigma II Profibus Module NS500 Sigma II Profibus Functional Features and Capabilities a i gt aP F E So Sigma II Profibus acts as a servo position or velocity controller slave to a master controller For application flexibility use a data transfer connection from the applications software to dynamically load incremental or absolute point to point positioning data For these applications use Simple positioning Simple positioning with notch outputs External input positioning e Multistage velocity positioning For precise velocity control only use Feed operation For applications where the parameters of the positioning moves can be preset use Stepping operation Point table positioning Station number positioning rotary table operation Note Establish or change parameters of a preset move with an GSD file configuration Yaskawa s Windows NSXXX software utility ora dynamic Sigma Il data transfer of Set Read Commands For more permanent settings recycle the power or issue a unit reset command to move the parameters into non volatile memory
13. 3 299 5 08 129 Single Axis Control 1 22 31 0 89 0 40 x Option card only Add 0 75in 19mm to front end of card for micro connector eee Add approx 0 75in 19mm for optional back up battery Rating 200 to 230V 10 5 79 Sigma II Application Modules SGDH 50AE 200V Three phase 5 0kW SGDH 50DE 400V Three phase 5 0kW to 1 5kW 2 00 24 6 hole DHSOAE ELE EGE O Oo o amp 3 D sainpo w 9 84 250 31 1 5 31 135 2 95 75 9 06 230 Mounting Hole Diagram 4x M5 screw holes NG 6e Saco T gt E Ii J io eel HE ool RHE i oo As ae a P i 0 20 0 20 E N lt 5 Approximate Part Number Description A B C D Mass Ib kg Mechatrolink Indexer with DeviceNer 5 09 142 3 9 99 5 08 129 0 44 0 2 Indexer with DeviceNet 5 67 144 3 86 98 5 24 133 0 7 0 32 Profibus Indexer Full Closed Loop Single Axis Control big Option card only k Add 0 75in 19mm to front end of card for micro connector ek Add approx 0 75in 19mm for optional back up battery 5 59 142 3 9 99 5 08 129 80 maxinum 13 78 350 ve PT x OF LMY OS LL maximum 9 06 230 A View A Mounting Hole Diagram R y 4x M5 screw holes 13 19 335 25 Mounting pitch SGDH Option Description Mechatrolink Indexer w
14. Module NS500 Homing Homing type 0 Velocity approach speed creep speed How it works When the HOME bit turns ON the system returns to the home position at the programmed speed and direction After reaching home the position of the Sigma II Profibus resets to zero e If the HOME bit turns OFF during the procedure the rest of the homing operation is cancelled e Homing methods e Type 0 DEC and Encoder Phase C e Type 1 Zero Input e Type 2 DEC and Zero Input e Type 3 Encoder Phase C e Use parameters to set e Homing direction e Homing approach and creep speed e Acceleration deceleration velocity e Acceleration deceleration type e Home offset zero point return final travel distance Encoder Phase C 45 Sigma II Profibus Module NS500 Sigma II Profibus Software Utility The Electronic Data Sheet GSD file is the recommended setup utility to configure Sigma II Profibus from the network software manager Use Yaskawa s NSXXX software for local setup of the Sigma II Profibus via personal computer The following are examples of this software and the utilities available through the GSD file Monitoring Setup Software i Positioning Setup C gt E SGDH sid CN1 Inputsignal O Close 1 Open OFF alm Alarm orr Pasitioning kind sil CN1 Input signal 0 Close 1 Open orr coin Positioning completed Son c e si2 CN1 Input signal 0 Close 1 Open orr y cmp
15. Profibus FDL Frame Overview Profibus FDL Frame Format Position Speed Acceleration Deceleratio using the Eight Byte Data Field sD Dasa Fe DATA res ep Sigma II with Profibus accepts two types of ah messages in the Data Unit Field for positioning 2 FDL Telegram applications l Move commands monitor and control Where a at ender Data Link pR Tostnanon aaa maa commands setup and ti BATA UNIT Dats Eala Length FES Ea chee troubleshooting ED End Diameter Sequence CRC Cyclic Redundancy Code Sigma II Move Commands Using move command messages Initiate positioning or speed control moves Command Message Format Communicate positioning move variables e Activate point tables of index moves Activate homing alarm reset emergency stop feed Bit2 0 Response type hold and servo amplifier functions seh l l Example of Command Execution Set the positioning command code and data Command data gt Change the Command Start C Start byte 0 bit 0 om 0 to 1 Refer to the Profibus Interface Unit User s Manual SIE C7 18 8 for a detailed description of the command bits No operation Simple positioning External positioning Positioning with notch signal outputs Multi speed positioning 40 Sigma II Profibus Module NS500 Sigma
16. S500 Indexer Use the following key to specify required cable length last two digits of the part number D50 0 5m 01 1m standard 02 2m 03 3m The A at the end of the cable part number indicates the revision level Revision level may be subject to change prior to this catalog reprinting 50 Pin Female D Sub output connector mates to customer Suppiisd third pory terminal block e 9 oO a ae 289 449 Weidmuller 919658 Phoenix 2283647 Amp ers enol Sine 20 51039 and many Mating Connector Selection Component Description E 1CN Mating Connector JZSP CKI9 Comments for SGDH I O 50 pin 4CN Mating Connector DE 9406973 Solder type with cover 3CN Peripheral Mating Connector YSC 1 CN11 Setup Software Mating Connector Profibus Mating Connector DE9404559 Strongly advised YS 16 cable next page Standard 9 pin male D Sub connector Note termination resistors are required for the end of the network Item Class 53 Sigma II Profibus Module NS500 Supplementary Information For grounding connect the ground wire of the Sigma II Indexer application module to the point marked G on the SGDH servo amplifier Refer to the following table for the proper screw size Servo Amplifier G Screw Comments M3 x 10 SGDH A3 02BE at F F TAAT round head phillips with split lock One supplied with NS500 SGDH A3 10AE washer and flat wa
17. Sigma II Profibus Module NS500 SIGMA II Profibus DP Connectivity for Single Axis Positioning Used for a wide variety of applications including e Point to Point Positioning e Precise Velocity Control e Conditional Profile Execution in response to an external input For Additional Information Profibus DP Communication Functional Features and Capabilities Software Utility I O Connections Indexer Ratings and Specifications Indexer Selection Ordering Information Indexer Application Module Dimensions S igma II Servo System Product Catalog Supplement G M1 99001x Sigma II For more information about Profibus visit www profibus com Design Features 1 Simplified Control System e Conformance Tested Profibus DP EN50170 Device type Generic I O e Supports Profibus cyclic data transfer e Baud Rates Autobaud detect sets the application module speed to 9600bps to 12Mbps 2 Easy to Set Up and Use e Just snap the JUSP NS500 application module onto any Sigma II SGDH servo amplifier e No programming required Configure with Profibus conformance tested GSD file 3 Various Motion Control Functions e Point table positioning e Edit up to 50 positions and corresponding speeds to the NS500 s set of parameters via either Profibus or Yaskawa s NSXXX pc setup utility e External input positioning e Station number input indexing a rotary table e Positioning moves with up to 16 stages of speed changes e Ho
18. ervo system purchase order Profibus Interface Unit Users Manual SIE C718 8 Linear Motor Users Manual YEA SIA S800 39 11 Manual provided at no charge with a purchase order but must be requested Power Components motor amplifier and connections for power and feedback Select the required power components servomotor power and feedback connectors or pre wired cables amplifier regenerative packs etc from the following catalog pages Use this table or the Yaskawa publications referenced below to determine which catalog section describes the best servomotor for the application Application Requirements Maximum Number System Voltage and Sigma II Servomotor Series Rated Torque oz in lb in Peak Torque oz in lb in of Motor 100Va Single phase 200V ac Single phase 200Va Three phase 480V 3 Three phase Selection Guide for Power Components Page Number Yaskawa publication Sigma Il Servo System Product Catalog Supp ement G M1 99001x Sigma ll Linear Motor Catalog KAE S800 39 10 Direct Drive Motor Catalog YEA KAA DDM 1 51 a i gt aP T 3o Sigma II Profibus Module NS500 Sigma II Indexer Selection Use the servomotor and amplifier selection of this catalog for specification and selection of Sigma II servomotor and servo amplifier Component Description Part Number Item Class
19. ith DeviceNet eee A 0 38 7 09 180 ed j 5 59 142 4 5 114 5 Indexer with DeviceNet 5 67 144 4 47 113 5 Profibus Indexer Full Closed Loop Single Axis Control Option card only 5 59 142 4 5 114 5 Add 0 75in 19mm to front end of card for micro connector Add approx 0 75in 19mm for optional back up battery SGDH 60AE SGDH 75AE 200V Three phase 6 0kW 7 5kW e SGDH 60DE SGDH 75DE 400V Three phase 6 0kW 7 5kW TU z J SERVOPACK 200V SGDH B Ver E o apm A A ag O 0 79 20 5 08 129 Sigma II Application Modules Sigma Il N ES Ej 5 71 145 3 54 90 Approximate Mass lb kg 0 44 0 2 5 24 133 0 7 0 32 1 22 B17 5 08 129 81 Sigma II Application Modules e SGDH 1AAE SGDH 1EAE 200V Three phase 11 0kW 15 0kW e SGDH 1ADE SGDH 1EDE 400V Three phase 11 0kW 15 0kW Cooling fan Pair flow sainpo w o amp 3 D maxinum 17 72 450 View A ounting Hole Diagram l j 000000000 Mh My val 17 13 435 Approximate Mass PartNumber SGDH Option Description lb kg Mecnatrolink 5 59 142 4 5 114 5 5 08 129 0 44 0 2 Indexer with DeviceNet Indexer with DeviceNet 5 67 144 4 47 113 5 5 24 133 Profibus OEP Ae Indexer Fu
20. ll Closed Loop 5 59 142 4 5 114 5 5 08 129 Single Axis Control 1 22 31 t Option card only k Add 0 75in 19mm to front end of card for micro connector Add approx 0 75in 19mm for optional back up battery 0 7 0 32 0 44 0 2 0 89 0 40 82 YASKAWA A World of Automation Solutions Yaskawa A World of Automation Solutions Yaskawa Electric America Inc Yaskawa Electric Europe Yaskawa Electric Corporation Chicago Corporate Headquarters Am Kronberger Hang 2 65824 New Pier Takeshiba 2121 Norman Drive South Schwalbach Germany South Tower 1 16 1 Kaigan Waukegan Illinois 60085 49 6196 569 300 Minatoku Tokyo 105 Japan 1 800 YASKAWA 81 3 5402 4511 http www yaskawa de http www yaskawa com http www yaskawa co jp Yaskawa Electric America Inc November 2003 G MI 00008F Printed In U S A
21. ming choice of four styles 4 Applications e Semiconductor fabrication test and assembly equipment e Food processing and packaging e Pharmaceutical packaging and test equipment e Automotive assembly and test equipment e Material handling pick and place linear motor e Machine tool tool changers sheet feeders etc 5 Certified International Standards e UL cUL recognized File E165827 CE compliance Indexer LO ia a D 39 Sigma II Profibus Module NS500 Sigma II Profibus Communication The Sigma II Indexer is a compact cost effective solution for the needs of both the machine OEM and the end user All servo loops and positioning functions are included in a self contained servo amplifier indexer package Machine controller to servo axis interfacing simplifies to Profibus DP communications and wiring Control System Architecture a Protocol O FIELDBUS Master Module PLC or PC Ea The Profibus DP specification divides network iia II aua transmissions into three phases Position e Parameterization specifies DP services e Configuration the master transfers application setup files to each node Data transfer cyclic data exchange Data transfer communication messages are suitable for time critical control oriented data e The Sigma II messages are eight bytes long embedded within the data unit of the Profibus FDL Servo amplifier slave Inverter Frame Format
22. ng velocity PTN PTN bit Refer to the Move Command message format byte 2 bit 6 How it works e Use simple positioning to receive target position data from a Profibus master controller s application software e When the C_STRT bit turns ON the system moves from the current position to the target position e Communicate target positions with a move command message using the positioning command code set to 0001 and command data set with the target position e Velocity acceleration type and acceleration rate work the same way as in stepping operation Refer to the Move Command Message Format on page 40 Simple Positioning Velocity Movement distance y Time 1 coal _ C STRT bit Refer to the Move Command message format byte 0 bit 0 Positioning with Notch Zone PLS Outputs How it works e Use the same procedure as simple positioning except the positioning command code is to 0011 e Two settable notch signal outputs are available e Notch signal output ON and OFF positions can be incremental or absolute Velocity Notch signa Time output position 1 C_STRT 1 1 Output NOTCH Output p NOTCH2 External Input Positioning How it works e Use the same procedure as simple positioning except the positioning command code is 0010 e When the EXTP external input signal is activated during a move the system will perform the final positioning
23. ro connector ee Add approx 0 75in 19mm for optional back up battery 5 24 133 0 7 0 32 0 79 20 76 Sigma II Application Modules e SGDH 05AE to 10AE 200V Three phase 0 5 to 1 0kW e SGDH 08AE S 200V Single phase 750W 2 0 20 5 holes g fs Es Do ns anaes A 6 30 160 2 x M4 screw holes emm ji pa cl 17 0 67 Mounting pitch al 2 48 63 Approximate SGDH Option Description Mass lb kg JUSP NS100 Mechatrolink JUSP NS300 Indexer with DeviceNet eed A142 0 35 9 5 08 129 0 44 0 2 JUSP NS310 indexer with DeviceNet 5 67 144 0 32 8 0 79 20 5 24 133 0 7 0 32 JUSP NS500 Profibus JUSP NS600 Indexer 0 44 0 2 JUSP FC100 Full Closed Loop 9199 1142 I 0 3519 9 08 129 MP940 Single Axis Control 1 22 31 0 89 0 40 f Option card only xk Add 0 75in 19mm to front end of card for micro connector ek Add approx 0 75in 19mm for optional back up battery Rating 200 to 230V 10 5 77 Sigma II Application Modules e SGDH 15AE 200V Three phase 1 5kW e SGDH 05DE 400V Three phase 0 5kW to 1 5kW sainpo w o amp 3 D 6 30 160 Mounting Hole Diagram 2 x M4 screw holes Qe oft OT TTTTnT o i 1 fay I Sle O L JEE IE i MIS 4 S S 1 Sociinata ant g 1 a MS ATALA AEE
24. sher M4 x 10 SGDH 15 50AE Ha Er round head phillips with split lock One supplied with NS500 SGDH 15 50DE washer and flat washer One supplied with NS500 Use front panel side screw hole M4 x8 SGDH 60 1EAE round head phillips with split lock washer and flat washer SGDH 60 1EDE GROUND WIRE G Y YASKAWAservopack L SGDH HL Q000 v Ookt Power O Example For SGDH 30W to 5 0kW a 5 gt aP T E 54 Sigma II Profibus Module NS500 Peripheral Device Selection Component Description E Comments Item Class Hand held Digital cbs Portable unit with 1m adapter cable Operator Panel i M2 and Cvs JZSP CMS00 1 for Sigma II Indexer G JUSP OP02A 1 Stock Absolute Encoder Battery Eoi JZSP BA01 3 6V 1000mAh lithium battery Setup Software Interface YS 16 Pre wired 1 5m cable with Cable for CN10 9 pin connector RS232 for NSXXX software Sigma II Network Tools and Documentation Component Description E faeces Comments Item Class Includes e Yaskawa s NSXXX monitor ing and set up software for 4 Windows 95 Windows 98 Fieldbus Tools and E ott and Windows NT documentauon e Electronic Data Sheet GSD software for Profibus con figuration software manager e NS500 User s Manual pdf Available by request Contact literature yaskawa com 55 Sigma II Profibus Module NS500
25. tus indi cators and address and baud rate settable switches Rotary switches two Station Addresses 0 126 CN11 Setting up commissioning and monitoring port LEDs Module Status ERR e Network Status COMM Profibus network port Local node I O CN1 Refer to connections on previous page CN4 Two optically isolated notch outputs Profibus Application Module Specifications JUSP NS500 Power Supply Method Supplied from the SGDH power supply Power Consumption 1 3W Consumption Current 250mA Extera DIMENSIONS iN d 0 79 x 5 59 x 5 04 20 x 142 x 128 inches mm Approximate Mass in Ib kg 0 441 0 2 Local Node Inputs and Outputs Combined with the Amplifier s I O Six optically isolated 24Vp inputs Emergency Stop E Stop latch Digital Inputs home near DEC switch forward overtravel reverse overtravel and inputs for an optional full closed loop feedback Ten optically isolated 24Vpc outputs alarm out servo ready servo Digital Outputs warning holding brake in position 3 alarm codes and 2 notch setta ble outputs Also included a scalable encoder position output Servo System Specifications 13 bit incremental encoder 8 192PPR for motors below 1hp 17 bit incremental encoder 16 384PPR for motors above 1hp 16 bit absolute encoder for motors below 1hp 17 bit incremental absolute for motors above 1hp Linear motor feedback resolution standard 0 078 micron using
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