Sigma II DeviceNet Module - NS300

Sigma II DeviceNet Communication

The Sigma II Indexer is a compact, cost-effective solution for the needs of both the machine OEM
and the end user. All servo loops and positioning functions are included in a self-contained servo
amplifier/indexer package. Machine controller to servo axis interfacing simplifies to DeviceNet¥
communications and wiring.

Control System Architecture

I/O FIELDBUS Master Module

PLC or PC
DeviceNet Protocol
Actual
• By general industry agreement, the ODVA
Position,
Speed
DeviceNet specification established a
Predefined Master/Slave Connection Set.
Position, Polled I/O connection • Polled I/O command/response communication
Speed,
Acceleration, messages are suitable for time-critical, control-
Deceleration
SGDH-
YASKAWA
oriented data.
• The Sigma II messages are eight bytes long,
embedded within the data field of the
JUSP-NS300

DeviceNet¥ Data Frame.

Indexer

Servo amplifier slave Inverter

DeviceNet¥ Data Frame Overview and Protocol

DeviceNet¥ Data Frame Overview Using the Eight-Byte Data Field
• Sigma II with DeviceNet¥ accepts two types of
S MESSAGE C A E
IDENTIFIER C D polled I/O messages in the Data Field for
O L FIELD R C O
(11 bits) F positioning applications:
F C (up to 8 bytes) C K F
• Move commands (monitor and control)
Arbitration Data
Field Field • Set/Read commands (setup and trouble-
Where: shooting)
SOF= Start of frameCRC = Cyclic redundancy code
CF = Control fieldACK = Acknowledgment • Also supports explicit messaging and EDS file
DLC = Data length codeEOF= End of field
transfer
Sigma II Move Commands
Using move command messages
• Initiate positioning or speed control moves
Command Message Format • Communicate positioning move variables
• Activate point tables of index moves
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
• Activate homing, alarm reset, emergency stop,
0 0 0 ALRST ESTP 0 0 SVON C_STRT
1 Response type Command code feed hold, and servo amplifier functions
2 HOME PTBL STN STEP FEED 0 HOLD CANCEL
3 0 0 0 0 0 0 DIR INC
Example of Command Execution:
4 • Set the positioning command code and data
5
6
Command data • Change the Command Start(C-Start), byte 0, bit
7 0, from 0 to 1
Refer to the DeviceNet¥ Interface Unit User’s Manual
(SIE-C718-6) for a detailed description of the command Positioning Command Codes Operation

bits. 0000 No operation

0001 Simple positioning
0010 External positioning
0011 Positioning with notch signal outputs
0100 Multi-speed positioning

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 Sigma II DeviceNet Module - NS300

Sigma II Responses to Move Commands

Response Messages Response Message Format
• Reports the status of the current
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
positioning move , i.e., in position, near 0 0 READY PWRON ESTP_R ALRM WARN SVON_R C_STRT_R
position, home, overtravel,, alarm, etc. 1 Response type Command code
2 HOME_R PTBL_R STN_R STEP_R FEED_R 0 HOLD_R PRGS
• Move data can be collected in the 3 POT NOT INPOS NEAR HOME_P 0 DIR_R INC_R
response. See the response type table at 4
5
the right. Response data
6
• The data requirements in the response 7

message are specified in the command

Response Data
message, byte 1, bits 4 through 7, (as Response Type
Reference Units (RU)
0000 Command position (RU)
shown on the Command Message 0001 Current position (RU)
Refer to the DeviceNet¥
Interface Unit User’s Manual
0010 Following error (RU)
Format table on the previous page). 0011 Command speed (1000RU/min)
(SIE-C718-6) for a detailed
0100 Current speed (1000RU/min) description of the status bits.
• Response codes are returned in the 0101 Torque (%)
1010 Station number
response message (byte 1, bits 4 through 1011 Point table number

7) along with the data.

JUSP-NS300
Indexer
Sigma II Set/Read Commands and Command Codes
Set/Read messages enable user friendly network Command Message Format
routines that can reconfigure machine positioning
variables, initialize setup routines, enable auto- Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
tuning, source alarm and warning data, etc. These 0 1 0 ALRST ESTP 0 0 SVON C_STRT
1 0 Command code
functions are available to any master on the network. 2
Command number
Uses of Set/Read Messages 3
• Set up and configuration data 4
5
• Edit parameters Command message
6
• Set/edit preprogrammed point tables of 7
index moves Command Code Operation
• Report alarm codes 0000 No operation
1000 Read parameter
• Used with polled I/O messaging 1001 Write parameter
1010 Set current position
Defining Set/Read Messages (versus move 1011 Set zero point
1100 Read alarm
command messages) 1110 Reset Unit

• Set by byte 0, bit 7 = 1

• It is not necessary to specify response
type for Set/Read commands
Response Message Format
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command Codes 0 1 READY PWRON ESTP_R ALRM WARN SVON_R C_STRT_R
• Set "No Operation" to prevent execution 1 0 Command code
2
of commands. 3
Command number
• Out-of-range parameters generate a 4
5
setting error (WARN bit) 6
response data
7

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 Sigma II DeviceNet Module - NS300

Sigma II DeviceNet¥ Functional Features and Capabilities

Sigma II DeviceNet¥acts as a servo position or velocity controller slave to a master controller. For
application flexibility, use polled I/O messages from the applications software to dynamically load
incremental or absolute point-to-point positioning data. For these applications use:
• Simple positioning
• Simple positioning with notch outputs
• External input positioning
• Multistage velocity positioning
For precise velocity control only, use Feed operation. For applications where the parameters of the
positioning moves can be preset, use:
• Stepping operation
• Point-table positioning
• Station number positioning (rotary table operation)
Note: Establish or change parameters of a preset move with an EDS file configuration, Yaskawa’s Windows NSXXX software utility, or
a dynamic Sigma II polled I/O Set/Read Commands. For more permanent settings, recycle the power or issue a unit reset com-
mand (to move the parameters into non-volatile memory).

Stepping Operation
JUSP-NS300
Indexer

How it works:
• When the STEP bit turns ON, the axis moves in the
specified direction (DIR bit).
Velocity
• Use command data to select one of four preset
v
Step
distance
parameters that define the step distance. Moves can be
Step
distance
Time incremental or absolute.
STEP
• When the STEP bit turns OFF during movement, step
DIR
movement is cancelled.
• Additional parameters to help define the stepping opera-
STEP bit: Refer to the Move Command tion are preset to determine:
message format, byte 2, bit 4.
• Approach velocity (v) and acceleration/
DIR bit: Refer to the Move Command
message format, byte 3, bit 1. deceleration type (eight types are available,
including S-curve)
• Acceleration/deceleration values

Feed Operation
How it works:
Velocity
• While the FEED bit is ON, the axis jogs in the direction
v
specified.
Time • Use command data during movement to set or override
FEED
the preset velocity feed.
DIR
• Parameters are preset to determine:
FEED bit: Refer to the Move Command • Feed velocity (v)
message format, byte 3, bit 3.
• Acceleration/deceleration type
• Acceleration/deceleration rate

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 Sigma II DeviceNet Module - NS300

Point Table Positioning

PRESET INDEX MOVES

How it works: POINT TABLE

NUMBER
TARGET POSITION POSITIONING VELOCITY

• Use command data to select point table number and 1

:
X1
—
V1
—
then the PTN bit to initiate positioning. 50 X50 V50

• Fifty positioning points are available. Velocity

• Point table parameters are preset to determine:

• Target position Time

• Positioning velocity
PTN

PTN bit: Refer to the Move Command

message format, byte 2, bit 6.

Simple Positioning
How it works:
• Use simple positioning to receive target position data from Velocity

a DeviceNet¥ master controller’s application software.

JUSP-NS300
Movement
• When the C_STRT bit turns ON, the system moves from distance

Indexer
Time
the current position to the target position.
• Communicate target positions with a move command C_STRT
C-STRT bit: Refer to the Move Command
message* using the positioning command code (set to message format, byte 0, bit 0.
0001) and command data set with the target position.
• Velocity, acceleration type, and acceleration rate work the
same way as in stepping operation.
* Refer to the Move Command Message Format on page 22.

Positioning with Notch/Zone (PLS) Outputs

How it works: Velocity

• Use the same procedure as simple positioning, except the

positioning command code is to 0011. Notch signal Time
output position
• Two settable notch signal outputs are available. C_STRT
• Notch signal output ON and OFF positions can be Output

incremental or absolute. NOTCH1

Output
NOTCH2

External Input Positioning

How it works: Velocity
• Use the same procedure as simple positioning, except the
positioning command code is 0010.
• When the EXTP (external input signal) is activated during External positioning
movement distance
Time

a move, the system will perform the final positioning. C_STRT

• Parameters determine: Input

EXTP
• External positioning distance
• External positioning velocity
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 Sigma II DeviceNet Module - NS300

Multi-Stage Velocity Positioning

How it works:
• Use the same procedure as simple positioning, except the
positioning command code is 0100.
Velocity • During axis movement, after reaching the parameter’s
Step2
initial target position, the axis switches to the next speed
Step1
and moves to the position specified in the next step.
Time
• A maximum of 16 steps are available.
C_STRT • Parameters set:
• The number of steps
C_STRT bit: Refer to the Move Command
message format, byte 0, bit 0. • Reference velocity
• Acceleration/deceleration

Station Number Positioning

JUSP-NS300
Indexer

1
2 8

3 7
How it works:
4 6 • The system will index to the prescribed station number
5 when the STN command bit is turned ON. The target
station is defined with command data in the move
command message (refer to page 22).
• Define (by parameter) up to 32,767 equidistant stations
per rotation.
• Set the direction of rotation with the DIR bit or set the
Velocity
system (by a parameter) to automatically select the
shortest distance.
• Set acceleration and deceleration with parameters.
Time
• Accommodate rotary systems with gearing or belt ratios
with parameters for electronic gear ratios.
STN

DIR

STN bit: Refer to the Move Command

message format, byte 2, bit 5.

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 Sigma II DeviceNet Module - NS300

Homing
Homing type 0
Velocity

approach speed
creep speed

Time

HOME

Encoder
Phase C
DEC

Homing type 1

Velocity How it works:

approach speed When the HOME bit turns ON, the system returns to the home
creep speed
position at the programmed speed and direction. After
Time
reaching home, the position of the Sigma II DeviceNet¥resets

JUSP-NS300
HOME
to zero.

Indexer
Zero
Input
• If the HOME bit turns OFF during the procedure, the rest
of the homing operation is cancelled.
• Homing methods:
• Type 0: DEC and Encoder Phase C
Homing type 2 • Type 1: Zero Input
• Type 2: DEC and Zero Input
• Type 3: Encoder Phase C
Velocity
• Use parameters to set:
approach speed
creep speed
• Homing direction
Time
• Homing approach and creep speed
• Acceleration/deceleration velocity
HOME
Zero
Input
• Acceleration/deceleration type
DEC • Home offset (zero-point return final travel distance).

Homing type 3

Velocity

approach speed
creep speed

Time

HOME

Encoder
Phase C