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TB295 – Yaskawa Sigma I and II with Centroid CNC11/12 based CNC controls
updated 8 1 25 rev 9
Overview Excellent cnc machine tool motion can be achieved with the Centroid OAK CNC control board or
MPU11/GPIO4/Opticdirect based systems running older Yaskawa Sigma I or Sigma II servo drives and motors Centroid
CNC12 supports Yaskawa Sigma I and II drives and motors in Position mode With Autotuning in the Yaskawa drive and Auto
delay calculation in CNC12 this configuration yields excellent results while being simple to setup and get running well in a short
period of time Running the Yaskawas in position mode as described in this Tech Bulletin is highly recommended over the
alternative velocity mode setup
CNC11/12 with Sigma I and II Setup Procedure
1 Connect to Yaskawa drive using SigmaWin software and a serial cable with USB to serial adapter
2 Program the Drive parameters for Position Mode
3 Configure CNC11 parameters for Yaskawa Sigma I or II position mode
4 Use Yaskawa Autotune to tune the axes
5 Set Timing Delay using Centroid Autotune
Wire system according to the Oak or MPU11/GPIO4 system yaskawa schematics
Here is a photo of an Oak board installed in a 15 year old control cabinet with Yaskawa Sigma I drives Ready to for the drives
and CNC11 to be configured The Centroid Yaskawa cable Centroid part number #13134 works with Sigma I II V drives
directly connects the Oak board to the Yaskawa Servo drives with two way digital drive communication with encoder feed back
and drive load output load meters No extra encoder cables going back to the cnc cpu are necessary
Items needed for the steps in this Tech Bulletin are Laptop running SigmaWin+ software Serial Cable and USB to serial
converter USB stick Centroid system schematic Latest Centroid CNC11 software and for Sigma I only a Yaskawa JUSP
OP02A1 E programming/operator module
1 Connect to Yaskawa drive using SigmaWin software and a serial cable with USB to serial adapter
a Build or buy a yaskawa serial cable communication cable Buy Yaskawa part #YS 11 A Build Follow instructions in
Appendix A of this Tech Bulletin to build your own cable
b Buy a Serial to USB converter We used a Manhattan USB to Serial Converter with success Many other brands are
available reports have come in that some other brands work and some do not
c Install Yaskawa SigmaWinplus 5 70A which was the latest version as of this writing on your laptop
d Connect cable to Yaskawa and PC with drive power on and Estop depressed
e Connect to the servo drive thru the SigmaWin software make sure the “online tab” is selected and click on the “search”
box select the drive type you are connected to and the USB tab and the little Search box is checked and then click on Search
at the bottom of the window
f If the search was successful the servo drive name will appear highlight it and click the “Connect” Box
If the servo drive does not appear you may have to try a different tab in step #4 in figure 2 above Sometimes depending on
your computer even though you are connected thru a USB port a Tab will appear in the SigmaWin software labeled RS232 or
RS422 select this new tab and run the search again
g Once connected it is advisable to make a backup of the servo drives existing parameters Click “Parameters U ” and select
“Edit Parameters” from the drop down menu Click on the Floppy disk icon and save the USR file to your laptop USR file is
the extension given to the yaskawa servo drive parameter backup file Note Give the USR file a name that indicates that it is
the initial/original backup of that particular drive and axis
2 Program the Servo Drive parameters for Position Mode
a In SigmaWin use the “Edit Parameters” menu and check the box beside the parameter you need to edit and click the Edit
box Edit the parameter value and click OK Do this for all parameters in the chart below
Yaskawa
Sigma I
Param # Sigma I
Change
value to Sigma I parameter description Yaskawa
Sigma II
Param # Sigma II
Change
value to Sigma II parameter description
Cn 01 000C Position Mode Pn000 0010H Position control
Cn 02 0020 Position Mode Pn002 0100H Absolute encoder as incremental
Cn 11 8192 Number of encoder pulses Pn102 80 120 Gain adjust by trial and error Start
with 90 machine dependent
Cn 2B 1 Control Method Selection Position Mode Pn110 0 Autotuning 1=ON 0=OFF
Cn 1A 50 to 70
are typical
values* Gain adjust by trial and error Start with
60 Value is machine dependent Pn200 0004H Input signal A phase B phase X4
Cn 0A 8192 PG dividing ration Pn201 8192 PG divider Needed if Pn207 is 16
bit
Cn 24 1 Electronic Gear Ratio Numerator Pn202 4 Electronic gear ratio Numerator
Cn 25 1 Electronic gear ratio Denominator Pn203 1 Electronic gear ratio Denominator
Cn 1B 7 Positioning completion range Pn207 0100H 17 bit output Not on Early sigma 2
Pn212 8192 Divider
Pn500 7 7 Position completed width
Pn50A 8100H Over travel off
Pn50B 6548H Over travel off
Pn50E 3200H Servo ready
Once editing is complete click on “Write” to write the new values to the servo drive Once written the servo drive will need to be
rebooted power off the servo drive power wait 30 seconds and power back up At this point its a good idea to double check
the parameter values Using SigmaWin reconnect to the servo drive and click edit parameters and review that the proper
values are being displayed
3 Configure CNC11/12 parameters for Yaskawa Sigma I or II position mode
a Follow the CNC11/12 configuration instructions in its entirety using the Installation manual for the system you are using
OAK board installation manual or the MPU11/GPIO4/Optic Direct manuals as usual Then proceed
b In CNC11/12 set the Encoder Counts per Rev to 32768
Review TB267 on the limits of encoder count maximums for MPU11 based systems
c In CNC11/12 Set PID values as follows
Kp Ki Kd Limit Kg Kv1 Ka Accel
0 0 0 2560000 0 0 0 375
c Set parameter 256 = 2 which enables Precision/Position Mode
d Release estop with machine in middle of travels slow jog axes to test basic control of motion
4 Use Yaskawa Autotune to tune the axes
Sigma I Follow Sigma I Autotune procedure found in the Y askawa Sigma I users manual A plug in programming module is
required to Autotune a Sigma I drive We have successfully used the Yaskawa JUSP OP02A1 E also known as a
DAPSX3000 operator module to Autotune Sigma I drives These are available new and used ebay Unlike other yaskawa
drives you can not use the SigmaWin+ software to Autotune a Sigma I the plug in module JUSP OP02A1 E is required for this
step
a In order to properly use the Yaskawa Sigma I Autotune feature the Moment of Inertia of the axis being tuned needs to be
set in the drive before running Autotune Axis Moment of inertia can be estimated using a beam style torque wrench Attach
the torque wrench to the ballscrew turn the screw and watch the needle as you turn it Convert the reading to N m Using the
motor rating turn this into a percentage of the motor capacity and record it into the drive parameters parameter s needed
b Using a JUSP OP02A1 E follow the Sigma I User's Manual section 4 2 3 and Autotune the drive
c Move the machine at all the speeds and listen for noise or bad characteristics Adjust GAIN CN 1a as necessary to
achieve smooth sounding nice action motion and then re Autotune once you have the gain set for satisfactory motion
Sigma II Follow Yaskawa Sigma II User's Manual and follow the Autotune instructions in Chapter 6 starting on page 24 You
can use SigmaWin+ software to Auotune a Sigma II drive
a Start the tuning process by setting the Moment of Inertia using the instructions for the Sigma I drives above
b Once the Moment of Inertia has been determined use the Yaskawa Sigma II User's Manual Section 6 3 Adjust the “Rigidity”
setting Fn0001 using the keypad on the drive face A good starting point is to set Fn0001 to 6 for a mill
c Set the Autotuning Parameter Pn110 to 1 1= Autotune ON Move with CNC11 the axis at rapids typical cutting feedrates
and at slow speeds to see how it responds if the axis is noisy or sluggish use Fn0001 to adjust the rigidity Need more
description of process here and what about gain setting for sigma II?
d After the drive is tuned set Parameter Pn110 to 0 Pn110=0 Autotune OFF Pn110=1 Autotune ON
5 Measure and Set Timing Delay Parameter Automatically with Centroid's Autotune
Position each axis in middle of travel and run “Autotune” in the Centroid PID menu Centroid's Autotune will automatically
calculate and set the delay timing parameter for that axis Perform the Centroid Autotune procedure on each axis one axis at
a time
Typically Timing Delays are Sigma I 10 – 20 milliseconds and Sigma II 5 10 milliseconds If the Delay times are longer
than these typical values then the gain is set too low increase gain check for good axis motion at various speeds reautotune
on servo drive and then reset the Delay Timing using the Centroid Autotune Note Each time you adjust the Gain settings in
the Yaskawa drive or Run Autotune in the Yaskawa be sure to re autotune on the Centroid side to calculate a new Timing
Delay
f Once satisfied with the motion backup good the good USR files for each drive Backup CNC11 parameters by making a
“report” file Email the files to support@centroidcnc com and they will be filed with the Centroid cnc system folder for safe
keeping and future reference
Notes
1 Useful links
Oak board Installation Manual
Yaskawa Sigma II User's Manual
Yaskawa Sigma I User's Manual
MPU11/GPIO4D with Opticdirect and Yaskawa User's manual
Latest Schematics Oak Sigma I and II MPU11/GPIO4D/OpticDirect Sigma I and II
Latest CNC12 Software download
Yaskawa SigmaWinplus 5 70A download
TB267 Yaskawa Sigma 5 setup with CNC11 for reference First and Last page applies to Sigma I and II as well
Manhattan USB to Serial Converter
Example Position Mode Yaskawa “ USR” files Download this Zip file which contains both a sigma I and sigma II working
Position Mode USR files for your reference
Note These can be opened in SigmaWin+ in the Offline Mode and reviewed without being connected to a servo drive
2 The Yaskawa JUSP OP02A1 E programming/operator module required for Autotuning a Sigma I drive can be purchased
new from Yaskawa for around $220 and on ebay used for around $75 $100 It plugs into the same 3CN connector on the drive
as the serial cable
3 DRO Flicker and Load Meter Bounce control Sometimes on a light load axis like a Z axis on a knee mill the DRO and
Load Meters will flicker or bounce around since there is not a lot of mechanical damping on that axis and the servo motor is
hunting around trying to hold 0001” With CNC11 Version 3 14+ the Load Meters and DRO Flicker can be dampened in the
CNC11 software with Parameters 137 load meter and 138 DRO Typical value for P137 is 2 or 4 Typical value for P138 2
or 4 Leave both set to 0 for an axis that is not flickering
4 Load Meters CNC11 Load meters receive a low voltage signal feedback from the 5CN connector on the Yaskawa servo
drive The Centroid Yaskawa interface cable has a small two wire connector pig tail that comes off the Servo drive end of the
Cable Simply plug this small 4 lug two wire connector into the 5CN connector on the Yaskawa see image below and
configure CNC11 for Load Meter display Set Parameter # 143 to 1 Load meters ON or 3 Load meters ON with outline or 11
for all on with mini DRO See Centroid Operator Manual s