YASKAWA SIGMA-7 Series User Manual

3.1 Outline
3.1.1 Position Correction Table Block Diagram
3
Position Correction Table
3-3
This function is enabled after either of the following operations is performed during position
control.
• When using an absolute encoder
The SENS_ON (Turn Sensor ON: 23h) command is sent from the host controller.
• When using an incremental encoder
• The ZRET (Zero Point Return: 3Ah) command is sent from the host controller.
• The reference point is set (REFE = 1) using the POS_SET (Set Coordinate System: 20h)
command from the host controller.
3.1.1 Position Correction Table Block Diagram
With each control cycle in the Servo (less than or equal to the communications cycle), the posi-
tion of IPOS (Internal Reference Position) is corrected by the Position Correction Table.
• The PSET and NEAR signals are output based on the corrected position.
• The software limit function uses the uncorrected position.
• This product assumes a system that issues commands for the same target position to the
master axis and slave axis.
To use this product for any other application, contact your Yaskawa representative.
If there is a deviation in the position of the origin, a deviation will occur in the values set in the
Position Correction Table, and the function may not work effectively. Configure the system so that
the position of the origin does not deviate.
Information
Important
SERVOPACK (master)
INTERPOLATE
/POSING
Servo-
motor
TPOS
APOS
Servo
control
IPOS
SERVOPACK (slave)
TPOS
APOS
IPOS’
Servo
control
+
+
IPOS
Δd
INTERPOLATE
/POSING
IPOS
IPOS
Position
Correction
Table
+
+
Host controller
Δd
Servo-
motor
Position
Correction
Table

YASKAWA SIGMA-7 Series Specifications

General

Encoder Resolution	24-bit absolute encoder
Pollution Degree	2
Cooling Method	Natural cooling or forced air cooling
Control Method	Vector control
Communication Protocols	EtherCAT, MECHATROLINK-III
Input Voltage	AC 200 V, AC 400 V
Rated Output	Varies by model
Safety Function	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SLS (Safely Limited Speed), SBC (Safe Brake Control)
Power Supply Voltage	AC 200 V, AC 400 V
Rated Output Current	Varies by model
Protection Functions	Overload, overvoltage, undervoltage, overheat, short circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Vibration Resistance	5.9 m/s² at 10 Hz to 55 Hz
Ambient Humidity	5% to 95% RH (non-condensing)
Altitude	Up to 1000 m
Installation	Panel mounted