Sigma SD Servo Spindle Drive Mini Manual

Sigma V - Spindle Drive

Critical information:

• Server Location: M:\Production\Products\Spindles\Spindle Drives\Yaskawa Sigma-V
• Programming
  • Get the correct software from the local server or Yaskawa's website
    • SigmaWin+ Ver. 5.75 or above must be installed (\\svr1.machmotion.local\MachMotion\Production\Products\Spindles\Spindle Drives\Yaskawa Sigma-V\Software\SigmaWinPlus575) 
    • Sigma-5-SD Component installer (SWFVSD100_SetupE.exe) downloaded from Yaskawa website. (\\svr1.machmotion.local\MachMotion\Production\Products\Spindles\Spindle Drives\Yaskawa Sigma-V\Software) 
      
  • Ethercat: Must use SigmaWin_SD MT software version (used for all versions?)
  • Use a USB Mini Cable for communication into port CN4.
• Motor Data Files: https://www.yaskawa.com/products/motion/spindle-products/motor-data-files
  • Select "Sigma SD Spindle Motor Data Files (Doc# PD.SIGMASD.01)" and download the compressed folder.
• More information: https://www.yaskawa.com/products/motion/spindle-products/spindle-drives/sigma-sd-spindle-drive
  • Main user manual: https://www.yaskawa.com/delegate/getAttachment?documentId=SIEPS80000139&cmd=documents&documentName=Sigma_SD_Analog_Expanded_Functions_sieps80000139b_1.pdf 
• Example System for Schematics: M:\Production\Customer Backups\Hydratight_OEM\19457_2000 series upgrade\Electrical Documentation\19457 - Electrical Drawings - As Built
  
• If it is a Hydratight system install the Hydratight Yaskawa Spindle Drive.usr parameter set.

Programing the Drive

Load the Motor Config file.

You will need to load your particular motor file from PD.SIGMASD.01.zip.

Until you load the Motor config file, you may see the A.052 Alarm.

After loading the motor config file, then copy in the main drive parameters file.

The parameters file must be loaded AFTER the motor config file or else you may see the A.910 Alarm.

Additional Notes:

Parameter	Default	Changed to
PN800	100	10
PN802	100	10
PN82b.0	0	1
PN82c.0	0	1

ESP = the safety relay circuit to reduce the speed when stopping in estop circuit. 

Spindle Drive Example - Analog Pulse

Motor Wiring Example:

Wiring Overview - Motor to Drive

Ethercat capable drives

Parameters between ethercat and non-ethercat have been noticed to be different

When setting up if there is no drive parameter file to pull from then these will be the necessary ones to have to set:

Parameter	Default	Changed to	Purpose
Pn01E	0000H	0003H	The type of motor has to be selected
Pn406	800	25	Emergency stop torque
Pn541	65535	7000	Max speed of the motor goes here
Pn543	1000	10	Speed detection level
Pn544	100	5	Speed detection hysterisis
Pn630	0	1	Emergency stop execution delay time

These are the ones for tuning:

Parameter	Default	Changed to	Purpose
Pn100	400	200	Speed loop gain
Pn101	2000	4000	Speed loop integral time constant
Pn103	100	10	Moment of inertia ratio