Σ-V Compatible Function And Settings; Setting The Communications Interface Compatibility Selection; Setting The Encoder Resolution Compatibility Selection - YASKAWA SGD7S-****20A Series Product Manual

Σ-V Compatible Function and Settings
5.19
The Σ-V compatible function allows you to easily replace a Σ-V-Series SERVOPACK with a Σ-7-
Series SERVOPACK in an existing servo system.
As long as MECHATROLINK communications are used to communicate with the SERVOPACK
from the host controller, the Σ-7-Series SERVOPACK can be used in the same way as the
replaced Σ-V-Series SERVOPACK.
If you replace a Σ-V-Series SERVOPACK with a Σ-7-Series SERVOPACK, you must also replace
the previous Servomotor with a Servomotor that is compatible with the Σ-7-Series SERVOPACK.
You cannot use a Σ-V-Series Servomotor even if you use the Σ-V compatible function.
Important
5.19.1 Setting the Communications Interface Compatibility
Selection
If you use MECHATROLINK communications to communicate with a Σ-7-Series SERVOPACK
as if it were a Σ-V-Series SERVOPACK, set Pn040 to n.1.
1. When you set Pn040 to n.1, you cannot use the following functions from the Sig-
maWin+.
• Mechanical Analysis
• Moment of Inertia Estimation
Important
2. If you set Pn040 to n.1, Pn040 will no longer be displayed on the SigmaWin+, so you will
not be able to change the setting. To change the setting of Pn040, use a Digital Operator or
initialize the parameters.
Refer to the following section for information on initializing parameters.
Parameter

n.
(default setting)
Pn040

n.
If Pn040 is set to n.1, the information read by the ID_RD command will be as follows:
• Device code: 02200000h
• Device version: 00FFh
• Minimum transmission cycle: 250000 (250 μs) [unit: 0.01 μs]
• Main device name for a Rotary Servomotor: SGDV-21A
• Main device name for a Linear Servomotor: SGDV-25A
Refer to the following manual for IR_RD command details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
5.19.2

Setting the Encoder Resolution Compatibility Selection

If an SGM7J, SGM7A, SGM7P, or SGM7G Servomotor is connected to a Σ-7-Series SERVO-
PACK and the encoder is set to operate at a resolution of 20 bits, set Pn040 to n.1.
Parameter

n.
(default setting)
Pn040

n.

5.19.1 Setting the Communications Interface Compatibility Selection

5.1.5 Initializing Parameter Settings on page 5-10
Description
0
Perform Σ-7 communications.
Perform Σ-V communications.
1
Description

0
Use the encoder resolution of the Ser-
vomotor.
Use a resolution of 20 bits when con-
nected to an SGM7J, SGM7A,

1
SGM7P, SGM7G, SGM7E, or SGM7F
Servomotor.
5.19 Σ-V Compatible Function and Settings
When Enabled Classification
After restart
When Enabled Classification
After restart
Setup
5
Setup
5-55