APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
Application Overview
The following document describes how to setup a SigmaTrac system with Sigma7 drive
from factory default. It also can be used as a general procedure to startup all linear motors
with Sigma7 drive.
Table of Contents
1. HARDWARE USED & MODEL NUMBERS: 1
2. SOFTWARE SETUP PROCEDURE: 3
3. BEFORE TUNING: 6
4. OTHER RELATED ALARMS/PARAMETERS: 6
5. LINEAR SERIAL CONVERTER OPTIONS: 9
1. HARDWARE USED & MODEL NUMBERS:
Component Product and Part Number
ServoPack SGD7S-2R1F
Linear Motor SGLFW-35A120AP
Serial Converter JZDP-D008-019
Linear Encoder Renishaw RGH22B30L00
Renishaw Linear Encoder Information:
RGH22B30L00 (B: 1Vpp differential) (L: 15 pin D type plug)
Revision 1 February 14, 2019 Page 1 of 11
APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
Important: Make sure the linear encoder LED is blowing green throughout the linear
span. If the LED is glowing red or amber, the spacing of the linear encoder reading
head may need to be adjusted.
SYSTEM WIRING:
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
2. SOFTWARE SETUP PROCEDURE:
a. From the main Menu, select and initialize the ServoPack .
:
b. When power is up, an A.080 alarm will occurs, because the linear encoder scale
pitch was not set:
Per Renishaw Linear Encoder output signal graph, above, the linear pitch of the
encoder is 20um; therefore, set Pn282 (0.01um Unit) to 2000 for 20um, then execute
“Software Reset” from the main menu.
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
The D00x serial converter provides 8 bit interpolation, which provides 256 pulses per
20um linear scale pitch, i.e. 1 cm = 128000 pulses.
Manually move the Moving Coil from one end to the other of the stroke and confirm
that the Pulse Counter Feedback is increasing as the motor moves in the positive
direction and vice versa. For more information on the motor/encoder direction setup
refer to “Motor Phase Sequence Setting” section below.
To monitor the encoder position feedback, select from the main menu to
check position feedback (please note that the screen data update can be slow, be
patient):
c. From the main Menu, select “Jog” in Operations to enable and move axis. Warning:
During Jog operations, travel limits are ignored.
d. For Program JOG Operation (indexing moves):
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
1. Disable the positive and negative over-travel limits by setting Pn50A.3 & Pn50B.0
to 8:
2. In order to use the full encoder resolution, set Pn20E to 1:
3. Write “Edited Parameters” , then execute “Software Reset”
.
4. After reset, monitor encoder pulse feedback from the monitor list and confirm that
only the correct number of feedback pulses is returned for a certain measured
distance.
5. From the main Menu, select “Program JOG Operation” in Operations to go
through index move setup.
For 10cm move set Pn531: Program Jogging Travel Distance to 1280000, then
“Apply” & “Run”:
Revision 1 February 14, 2019 Page 5 of 11
APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
3. BEFORE TUNING:
Before tuning increase the force limit, widen the position complete window, and disable
control mode switching:
• For safety, the default Forward/Reverse Force Limits (Pn483/Pn484) are set to a
low value of 30% of the motor rated force. Change the setting to 300% before
tuning in order to use the full motor Force.
• The default Positioning Completed Width is set to a narrow window of 7 pulses.
Change the setting to 128000 (1cm), which can be reduced to more appropriate
value after tuning is completed.
• The mode switching (PI to P control) cannot be used during Autotuning
(with/without host reference) and when estimating the moment of inertia;
therefore, set Pn10B.0 to 4:
4. OTHER RELATED ALARMS/PARAMETERS:
a. If a rotary type motor was connected to the ServoPack before connecting a linear
type motor, an A.070 alarm (Motor Type Change Detected) would appear. To clear
alarm, select from the main menu, and then press Reset:
b. A maximum speed setting error (A.550 alarm) may appear on power-up if the setting
of Pn385 (Maximum Motor Speed) is greater than the maximum motor speed:
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
The error can be reset for normal operations, but to resolve the error, set Pn385 to
the right maximum motor speed specification then execute “Software Reset”
.
c. If an A.041 alarm (Encoder Output Pulse Setting Error) appears, the setting of
Pn281 (Encoder Output Resolution) is outside of the setting range or does not
satisfy the setting conditions. Pn281 Sets the encoder output resolution for the
encoder pulse output signals (PAO, /PAO, PBO, and /PBO) from the SERVOPACK
to the host controller. The default setting is 20, i.e. 20 pulses per pitch (20um):
The number of feedback pulses per linear encoder pitch is divided by the setting of
Pn281 (after multiplication by 4) inside the SERVOPACK and then the resulting
number of pulses is output. Set the parameter according to the system specifications
of the machine or host controller.
The setting range depends on the Servomotor’s maximum speed (Pn385) and the
Linear Encoder Scale Pitch (Pn282). Use the following formula to calculate the upper
limit of Pn281 setting:
d. Motor Phase Sequence Setting:
Revision 1 February 14, 2019 Page 7 of 11
APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
Manually move the Moving Coil in the direction of the cable and check the value of
the feedback pulse counter in to confirm that it is counting up. If the pulses
are counted up, the forward direction of the Linear Servomotor is the same as the
countup direction of the linear encoder.
If the feedback pulse counter counts down, set a phase-B lead as a phase sequence
of U, V, and W (Pn080 = n.□□1□) then execute “Software Reset” .
If necessary, return Pn000 (Direction Selection) to its original setting.
e. Polarity Sensor Setting:
Detecting the polarity means that the position of the electrical phase angle on the
electrical angle coordinates of the Servomotor is detected. The SERVOPACK cannot
control the Servomotor correctly unless it accurately knows the position of the
electrical angle coordinate of the Servomotor. If you use a Linear Servomotor that
does not have a polarity sensor, then you must detect the polarity.
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
If a polarity sensor is used, it can detect the polarity of the Servomotor. Specify
whether there is a polarity sensor in Pn080 = n.□□□x (Polarity Sensor Selection).
f. Using an external brake:
Assign (Pn50F.2) /BK Brake Output Signal to an appropriate output terminal that is
not used by any other functions:
For example, if brake output is wired to CN1-25 (-25 output terminals) set Pn50F.2 to
3, and set the other Output Selection Parameters in Pn50E, Pn50F & Pn510 to 0, 1
or 2.
5. LINEAR SERIAL CONVERTER OPTIONS:
Model Designation:
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
Notes:
Code D00x and H00x for 8 bit interpolation (256 counts per encoder linear pitch).
Code G00x and J00x for 12 bit interpolation (4096 counts per encoder linear
pitch).
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APPLICATION NOTE
Title: SGLFW SigmaTrac Setup with Sigma7 Drive
Product(s): SGLFW, Sigma7, SigmaWin Doc. No. AN.Sigma-7.02
Revision 1 February 14, 2019 Page 11 of 11
