TECHNICAL Publication No. Classification No.

YASKAWA INFORMATION TI-5014 DI-SGD

MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 1 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

1. Purpose: To change user constants with personal computer.

Using a 3CN connector (for digital operator), by connecting Σ series AC servopack SGDA model
to a personal computer’s serial communication port, the personal computer can be used to display
and set user constants and to monitor the status of the servopack.

2. Communication Specifications
(1) Transmission Speed 9600 B/S

(2) Bit Composition Start 1 bit

Data 7 bit (JIS 7 bit code)
Stop 1 bit
Even Number Parity1 bit

(3) Synchronizing Method Asynchronous Method

Start B0 B1 B2 B3 B4 B5 B6 P Stop

(4) XON/XOFF Control None

(5) Shift Control None

(6) Communication Half-Duplex Transmission

3. Hardware Specifications
(1) Transmission Distance Maximum of 30m (total extension of communication line)

(2) Transmission Method RS422A (non-insulated type)

(3) Circuit

l
+5V
3CN-3 3CN-1 TXD
RXD l l
¡
3CN-2 *TXD
220Ω

3CN-4 0V 0V 3CN-9 GND

*RXD l l l ¡

3CN-6 SN75ALS1177 0V
*RXD

0V 0V
3CN-7
RT
Servopack

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 2 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

4. Connection
• Single axis communication mode <IBM PC (RS422A Port)>
IBM PC SGM Servopack 3CN
RXD 1 TXD Cable length MAX 30m
*RXD 2 *TXD
TXD 3 RXD
*TXD 4 *RXD

shield 6 *RXD
7 RT
0V 9 0V
ž Case FG

• Multi axes communication mode <IBM PC (RS422A Port)>

IBM PC SGD Servopack 3CN
l +5V
* Cable length MAX 30m
RXD l 1 TXD
*RXD l 2 *TXD
*
0V
TXD 3 RXD
*TXD 4 *RXD
shield 6 *RXD Pin 6-7 should only be shorted with
7 RT
farthest axis.
0V 9 0V
ž Case FG
* resistor value 1kΩ ∼ 10kΩ

• The shield should be connected to the frame ground on the Servopack side through the
connector case.
• The arrows indicate twisted pair wires.
• If the cable length is shorter than 2m, it is possible to directly connect it to RS232C port
according to the connection below. (Single axis only)
IBM PC (RS232C Port) SGD Servopack 3CN
2 *TXD
Cable length MAX 2m
RXD 2
TXD 3 4 *RXD
SG 5 9 0V
DTR 4
DSR 6
RTS 7
CTS 8
CD 1 l Case FG

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 3 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

5. Communication Connector Specification

(1) Servopack 3CN Functions of individual pins.
Pin # Signal Name Signal Circuit Name Signal Direction
1 TXD Transmitting data (non-inverting side) PßS
2 * TXD Transmitting data (inverting side) PßS
3 RXD Receiving data (non-inverting side) PàS
4 * RXD Receiving data (inverting side) PàS
5 OPH --- #
6 * RXD If 6 pin and 7 pin is shorted, 220Ω terminator is connected
7 RT between RXD and *RXD.
8 5VPP --- #
9 GND Signal ground ---
P = Personal Computer S = Servopack # = Do not wire

(2) Connector
D-SUB 9 pins

Servopack side (male) 17LE-13090-27 (D2BC)

Mfg. by DDK or equivalent
Cable side (female) 17JE-23090-02 (D8B)
Mfg. by DDK or equivalent

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 4 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

6. Communication Method
Use 14 letter JIS code with the letter “W” at the beginning, followed by 12 numbers and [CR].
([CR] is a carriage return code for Japanese Industrial Standard (JIS).)

(1) Command (PC à Servopack)

Data read command Wn0aaaa0000ss [CR]
Data setting command Wn1aaaaddddss [CR]
Multiple read command Wn2aaaabbbbss [CR]

(2) Answer (Servopack à PC)

Wneaaaaddddss [CR]
Wn2aaaabbbbssdddd ⋅ ⋅ ⋅ ⋅ dddd [CR]
(3) Address (aaaa / 4 digit hexadecimal in JIS-code)
Refer to section 8. for Address, User Constants Application Table.

(4) Data (dddd / 4 digit hexadecimal in JIS-code)

The contents of user constants and display conditions are shown in hexadecimal.

(5) No. of Bytes (bbbb / 4 digit hexadecimal in JIS-code)

The number of bytes to read in hexadecimal.

(6) Check Sum (ss / 2 digit hexadecimal in JIS-code)

When commands or answers is:
Wn1c1a1a2a3a4d1d2d3d4s1s2 [CR]
it adds in hexadecimal and the lower 2 bytes of:
n1c1+a1a2+a3a4+d1d2+d3d4+S1S2 becomes 00H.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 5 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

(7) Condition of Answer (e / 1 digit hexadecimal in JIS-code)

command e / 1 digit hexadecimal condition

0 normal
Read command 8 address abnormal
4 data abnormal
1 normal
Setting command 9 address abnormal
5 data abnormal
2 normal
Multiple command A address abnormal
6 data abnormal

(8) Axis Address (n / 1 digit hexadecimal in JIS-code)

When Cn-29 (axis address) equals 0:
It is in single-axis communication mode and transmission is always enabled.
Sends command setting n=0.
When Cn-29 (axis address) is not equal to 0:
It is in multiple-axes communication mode. Transmission is only enabled when
transmitting an answer. Executes command and sends back answer only when
Cn-29 setting corresponds to command’s axis address.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 6 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

7. Example
• Reading Cn-04. Cn-04 = 80 (0050H)
Command W0001080000F7 [CR]
Answer W0001080050A7 [CR]
‚ Setting Cn-11=1024 (0400H)
Command W0101220400D8 [CR]
Answer W0101220400D8 [CR]
ƒ When reading erroneous address 1122H
Command W0011220000CD [CR]
Answer W0811220000C5 [CR]
„ When set to erroneous address 1122H
Command W0111220400C8 [CR]
Answer W0911220400C0 [CR]
… When date was erroneously set with reading command
Command W0001080001F6 [CR]
Answer W0401080001F2 [CR]
† When Cn-04 was erroneously set to 10000 (2710H) when setting command
(data is over maximum setting value of 2000H.)
Command W0101082710BF [CR]
Answer W0501082710BB [CR]

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 7 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

8. (1) Address, User Constants Application Table

Address User Constant Abbreviation Name
0102 Cn-01 --- memory switch 1
0104 Cn-02 --- memory switch 2
(S) 0106 Cn-03 VREFGN speed command adjustment gain
0108 Cn-04 LOOPHZ speed loop gain
010A Cn-05 PITIME speed loop integration time
010C Cn-06 EMGTRQ emergency stop torque
010E Cn-07 SFSACC soft start accelerating time
0110 Cn-08 TLMTF forward running torque limit
0112 Cn-09 TLMTR reverse running torque limit
0114 Cn-0A PGRAT PG dividing ratio
0116 Cn-0B TGONLV zero speed level
0118 Cn-0C TRQMSW mode switch torque command
011A Cn-0D REFMSW mode switch speed command
011C Cn-0E ACCMSW mode switch acceleration speed
(S) 011E Cn-0F ZCLVL zero clamp level
(P) ERPMSW mode switch positioning deviation
0120 Cn-10 JOGSPD JOG speed
0122 Cn-11 PULSNO quantity of pulses
0124 Cn-12 BRKTIM braking time
(S) 0126 Cn-13 TCRFGN torque command gain
(S) 0128 Cn-14 TCRLMT speed limit (torque control I)
012A Cn-15 BRKSPD braking rpm
012C Cn-16 BRKWAI braking time
012E Cn-17 TRQFIL torque command filter
0130 Cn-18 CLMIF outside current limit on forward running side
0132 Cn-19 CLMIR outside current limit on reverse running side
0134 Cn-1A POSGN positioning loop gain
(P) 0136 Cn-1B COINLV positioning completion range
(P) 0138 Cn-1C BIASLV bias
(P) 013A Cn-1D FFGN feed forward
(P) 013C Cn-1E OVERLV overflow
013E Cn-1F SPEED1 speed #1
0140 Cn-20 SPEED2 speed #2
0142 Cn-21 SPEED3 speed #3
(S) 0144 Cn-22 VCMPLV speed consistency signal output range
0146 Cn-23 SFSDEC soft start deceleration time
(P) 0148 Cn-24 RATB electronic gear ratio (numerator)
(P) 014A Cn-25 RATA electronic gear ratio (denominator)
(P) 014C Cn-26 ACCTME command filter
(P) 014E Cn-27 FFFILT feed forward filter
0150 Cn-28 DTIME speed loop derivative time constant
0152 Cn-29 AXISNO axis address

• Refer to the Technical Manual for further details on user constants.

• The data for Cn-01, 02 should convert from bit data to 4 digit hexadecimal.
ie:) When bit # 2, 3, and 8 are only set to 1 and all others are set to 0, it becomes 010C.
• (S) speed control (P) positioning control

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 8 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

(2) Address, Monitor No. Application Table (Read only)

Address Monitor No. Type of Monitor
0802 Status bit data run / forward, reverse OT, etc.
0804 Alarm content of current alarm
0820 Un-00 speed for feedback (rpm)
(S) 0822 Un-01 speed command (rpm)
0824 Un-02 torque command (%)
0826 Un-03 # of pulses from U phase edge (x 4 pulses)
0828 Un-04 electrical angle (deg)
082A Un-05 internal status 1
082C Un-06 internal status 2
(P) 082E Un-07 speed of command pulse (rpm)
(P) 0830 Un-08 position error (x100) (command unit)
0832 Un-09 command pulse counter value (command unit)
(S) 0806 00-03A speed command zero offset
0808 00-04F motor parameter
080A 00-04Y Y specification number
080C 00-06 software version
0840 0 - A. alarm traceback data alarm occurrence no. = 0
0842 1 - A. alarm occurrence no. = 1
0844 2 - A. alarm occurrence no. = 2
0846 3 - A. alarm occurrence no. = 3
0848 4 - A. alarm occurrence no. = 4
084A 5 - A. alarm occurrence no. = 5
084C 6 - A. alarm occurrence no. = 6
084E 7 - A. alarm occurrence no. = 7
0850 8 - A. alarm occurrence no. = 8
0852 9 - A. alarm occurrence no. = 9
• Data on address in above table cannot be set.
• (S) speed control (P) position control
• Un-00, 01, 02, 03, 04, 07, 08, 09,00 - 03A, 04F, 04Y data is sent by 4 digit hexadecimal.
ie:) When Un-00 is 3000 rpm, data becomes 0 B B 8
• 00-04 (motor parameter) data, is as follows:
XXXX

motor capacity 9E: 30W

B2: 50W
01: 100W
02: 200W
03: 300W
04: 400W
08: 800W
motor type 00: SGM 200V 02: SGMP 200V
41: SGM 100V 43: SGMP 100V
(exp.) when the corresponding motor is SGM 200V, 200W, data becomes 0002.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 9 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER
• *00-06 (software version) data, will become as follows:
XXXX

software version number

type A: for speed control
D: for position control

ie:) with the servopack for speed control, and the software version is #5, the data becomes A005.

• Status, Un-05, and 06 data is converted to 4 digit hexadecimal and sent.

bit # Status Un-05 Un-06
0 base block SVALM PCON
1 Run DBON P-OT
2 forward OT DIR N-OT
3 reverse OT TGON/CLT SEN (S)
V-CMP (S)/ PUL (P)
4 alarm
COIN (P)
5 not used MSON SIGN (P)
6 not used P-CL CLR (P)
7 not used N-CL BK
8 power on B-ON ALMRST
9 V-CMP (S)/COIN (P) PA AL01
A TGON/CLT PB AL02
inputting speed/positioning com-
B PC AL03
mand
C inputting torque command (S) PU not used
D not used PV not used
E not used PW not used
F not used SVON not used
• (S) speed control (P) position control

Each signal is active when set to 1.

PA - PW is at high level when set to 1.

ie:) When status is [run], [power on], [V-CMP], [TGON], or [inputting speed command],
data becomes 0F02.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 10 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

Alarm Table
The following table is a summary of data responses to alarm traceback data.
Data Alarm Contents
(A) 0000 absolute error
0002 parameter breakdown
0004 abnormal parameter setting
0010 overcurrent detected
(P) 0031 excessive following error
0040 overvoltage detected
0051 overspeed detected
0052 excessive command input
0071 overload detected (instantaneous overload)
0072 overload detected (continuous overload)
(A) 0080 alarm fault
(A) 0081 encoder backup error
(A) 0082 encoder check sum error
(A) 0083 encoder battery error
(A) 0084 encoder absolute position error
(A) 0085 encoder overspeed
(S) 00B1 error reading command input
00C1 overrun detection
00C2 erroneous phase detected
00C3 disconnected PA, PB phase
00C4 disconnected PC phase
00F3 instantaneous power off
0099 alarm reset, power on/off, no alarm

• (S) for speed control (P) for position control, and (A) when absolute encoder is used.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 11 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

9. Address, Operation Table

Address Operation
0880 Set/confirm mode
0882 Operation command (only setting, cannot monitor)
0884 Machine rigidity - set/confirm (auto tuning)
• Data for set/confirm mode is a follows:
000X

Mode 0: standard mode

1: JOG mode
2: command offset auto adjustment mode (S)
3: mode for clearing alarm traceback data
4: speed command input offset manual adjustment mode (S)
5: auto tuning mode
6: alarm reset
7: 12 bit absolute encoder setup (a)
D: data trace mode
• Data for setting/confirming machine rigidity is as follows:
000X

Machine rigidity selection: 1 (low response) ~ 7 (high response)

• Data for operating command is as follows:

000X

0: stop
1: start
2: UP (forward running)
3: DOWN (reverse running)
4: JOGSVON, etc.
• User constants can be written only in standard mode.
• In the offset automatic adjustment, clear trace/alarm reset, and absolute encoder setup modes,
by setting to 1 (execute), the mode executed and setting will automatically return to 0. After
the execute command is sent, communication is shut down for 2 seconds. Further, in the
absolute encoder setup mode, by setting it to 4 the SEN signal can be switched between
“mask” and “no mask”.
• In the offset manual adjustment mode, by setting to 2 (up) or 3 (down) it adjusts offset value
and records offset value into memory when stop command is executed.
• In Jog and auto tuning mode, by setting to 4 (JOGSVON), it switches between “servo on” and
“servo off”, and by setting to 2 (forward running) or 3 (reverse running) it starts turning for
one second. By setting it to 0 (stop) the motor stops. It continues running if command 2 or 3
is repeatedly sent within one second. Further, in the auto tuning mode, upon completion of
tuning mode, it will return to 0. The mode also returns to 0 when there is an alarm or when an
alarm is reset.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 12 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

10. Data Trace Function

The user can monitor the servo’s responses, etc. The servopack can store data in its memory with
certain sampling time set.

(1) Addresses Relative to Data Trace Function

Address Abbreviation Contents
sampling interval; even if setting is “0”,
6302 (R/W) SMPTMS <0001-0FFF)
sampling interval is defined as “1”.
6304 (R/W) PTRGNO number of pre-trigger data <0000-03E7)
6308 (R/W) TRGC1 trigger condition
630A (R/W) TRGC2 trigger level
6326 (R) TRGADR trigger address <0000-07FE)
6320 (R) MAXTRQC torque when data is 15000 (%)
6322 (R) OSVELCC speed when data is 15000 (r / min)
6324 (R) CYCLEC unit of trace sampling time (µs)
0880 (R/W) (mode setting) Sets 000D. Cancels at 0000 setting.
0882 (W) (execution) Sets 0001.
2000 (R) torque/reference torque (*MAXTRQC / 15000%)
~ 27FE pulse speed data reference pulse speed (P) (/32 reference unit/CYCLEC)
2800 (R) speed/position speed (*OSVELCC/15000 r/min)
~ 2FFE error data position error (reference unit)
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
6800 (R) bit data
SEN /N-CL /PCL /N-OT /P-OT /ALRST /P-CON /S-ON
~ I/O PUT
bitF bitE bitD bitC bitB bitA bit9 bit8
6FFE signal
/ALM AL03 AL02 AL01 /TGON (*) /BK ALM

• (*) /V-CMP for speed control, /COIN for position control.

• In the address column about (R)=read, (W)=write, (R/W)=read/write.

(2) Execution
• Selecting Trace Data (for position control only)
Tracing data is selected by setting the following user constants.
Cn-02 bit6=0: torque data
1: reference pulse speed data
Cn-02 bit7=0: speed data
1: position error data
‚ Setting Sampling Time
Set ST/CYCLEC to SMPTMS when the sampling time is selected to ST(µs). Data will be
saved at each SMPTMS x CYCLEC (µs).
ƒ Setting of Pre-Trigger Data
1000 data are saved in the memory. The number of data which is stored before the trigger
is set in PTRGNO. (not applicable when trigger is not selected)

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 13 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

„ Setting Trigger Condition

TRGC1 data are defined as follows.
bit1,0 . . . . . . 0: no trigger
(trigger selection) 1: torque or reference pulse speed data is trigger
2: speed or position error data is trigger
3: bit data is trigger
bit2 . . . . . . 0: ineffective
(rising edge trigger)1: effective
bit3 . . . . . . 0: ineffective
(falling edge trigger)1: effective
There is no trigger when bit 2 and 3 are both 0.
When trigger is other than bit data, in TRGC2 set trigger level with sign. The unit is con-
verted using MAXTRQC, OSVELCC.
When trigger is bit data, in TRGC2 only the bit data used for the trigger should be set to 1,
and all other data should be set to 0. (There is only one signal which can be applied to a
trigger.)
(Example)
To use trigger (OSVELCC = 1356H), change speed from < -1000r/min
to ≥ -1000r/min
TRIGC1 ß 0006 (falling edge trigger is effective, trigger selection = speed)
TRIGC2 ß F42A (= -1000 *1356H/15000)
To use trigger to change /COIN signal
TRIGC1 ß 000F (falling or rising trigger is effective,
trigger selection = bit)
TRIGC2 ß 0400 (/COIN signal (bitA) = 1)
… Starting Trace
Trace is started by setting [0880] ß 000D and [0882] ß 0001.
It can tell when trace is completed by reading [0880] since [0880] is 000D when execut-
ing, and [0880] becomes 0000 when finished.
The trace can be cancelled by setting [0880] ß 0000.
Note: The analog monitor is not effective while trace is executing (voltage will be uncertain).
† Monitoring Traced Data
By reading TRGADR it knows the address where trigger occurred. In this, the pre-trigger
data refers to (TRGADR - 2*PTRGNO) & 07FEH ~ (TRGADR - 2) & 07FE, and the
post-trigger data refers to TRGADR ~ (TRGADR + 07CEH - 2*PTRGNO) & 07FEH.
(The actual address for: torque/reference pulse speed is +2000H, speed/position error is
+2800H, and bit data is +6800H)
The unit is converted by MAXTRQC (torque), OSVELCC (speed).
Note: Since the trigger detection is scanned to every 5ms (approx.), if the sampling time is shorter, there
may be instances in which value of TRGADR becomes 10 to 20 address after the actual trigger.
The trigger in short time, may be missed.

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 TECHNICAL Publication No. Classification No.
YASKAWA INFORMATION TI-5014 DI-SGD
MOTION CONTROLS Date Issued: 3/22/95 Rev.: A-0 Page: 14 of 14
SGDA SETTING OF USER CONSTANTS USING PERSONAL COMPUTER

‡ Multiple Data Read Command

It is convenient to use the multiple data read command since there are many words used in
the data trace.
Note: If mode [0880] is other than 0, abnormal address error occurs. Only the address of the trace data can
be used. You must consider your PC’s capability and your buffer size and decide on the number of
byte per command since there is no XON/XOFF control. If the transmission takes more than 0.2 sec-
ond, a communication error may occur.
(Example)
When [2800]=0987H, [2802]=1234H, [2804]=5736:
command W0228000006D6 [CR]
answer W0228000006D6098712345736 [CR]

11. Communication Procedure

• Servopack answers within 0.2 seconds.
• Servopack will not respond in the following conditions:
1. When a parity error or framing error occurs.
2. When the number of characters in a command is other than 14.
3. When the command does not start with “W00”, “W01”, or “W02”.
4. When there is no [CR] at the end of a command
5. When correct data format is not used
6. When check sum error is detected

• After a command is sent from the PC it should wait for an answer before sending the next
command. After answer is returned, send the next commands (half-duplex type).
If an answer does not come back within 0.2 seconds after sending a command, resend the
command.

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