Model: JAPMC-PL2300-E
Counter Module
Machine Controller MP2000 Series
CNTR-01 USER'S MANUAL
MANUAL NO. SIEP C880700 27B
CNTR-01
RUN
ERR
CH2
CH1
CN1
Page 1: ...Model JAPMC PL2300 E Counter Module Machine Controller MP2000 Series CNTR 01 USER S MANUAL MANUAL NO SIEP C880700 27B CNTR 01 CNTR 01 RUN RUN ERR ERR CH2 CH2 CH1 CH1 CN1 CN1 ...
Page 2: ... liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...
Page 3: ...ritten with a forward slash before the signal name as shown in the following example Notation Examples Copyrights This symbol is used to indicate important information that should be memorized or minor precautions such as precautions that will result in alarms if not heeded S ON S ON P CON P CON Microsoft Windows Windows NT and Internet Explorer are registered trademarks of the Microsoft Corporati...
Page 4: ...ons methods maintenance and inspection of the Σ II Series SERVOPACKs Σ III Series SGM S SGDS User s Manual SIEPS80000000 Describes the models capacities selection methods ratings characteristics diagrams cables peripheral devices wiring panel installation trial operation adjustment function application methods maintenance and inspection of the Σ III Series SERVOPACKs and Servomotors Σ III Series S...
Page 5: ...recautions that if not heeded could possibly result in loss of life serious injury or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury or property damage If not heeded even precautions classified under can lead to serious results depending on circumstances Indicates prohibited actions Specific prohibitions are indicated inside For example ...
Page 6: ...tional failure or burning of the MP2000 series Do not attempt to modify the MP2000 series in any way There is a risk of injury or device damage Do not approach the machine when there is a momentary interruption to the power supply When power is restored the machine controller and the connecting devices may start operation suddenly Provide suitable safety measures to protect people when operation r...
Page 7: ... fire Do not step on the MP2000 series or place heavy objects on the MP2000 series There is a risk of injury Do not allow foreign objects to enter the MP2000 series There is a risk of element deterioration inside an accident or fire Always mount the MP2000 series in the specified orientation There is a risk of an accident Do not subject the MP2000 series to strong shock There is a risk of an accid...
Page 8: ...power is being supplied There is a risk of electrical shock or injury Dispose of the MP2000 series as general industrial waste Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in ...
Page 9: ... product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that ...
Page 10: ...operty Systems that require a high degree of reliability such as systems that supply gas water or electricity or sys tems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the sys tem is designed to secure the required level of safety w...
Page 11: ...tions 21 2 2 Pulse Counting Methods 24 2 2 1 Sign Method 24 2 2 2 UP DOWN Method 24 2 2 3 Pulse A B Method 25 2 3 Counter Modes 26 2 3 1 Reversible Counter 26 2 3 2 Interval Counter 27 2 3 3 Frequency Measurement Counter 28 2 4 Counter Functions 29 2 4 1 Outline of Counter Function 29 2 4 2 Setting the Counter Fixed Parameters 30 2 4 3 Setting the I O Data 33 2 5 Counter Function Details 38 2 5 1 ...
Page 12: ... CNTR 01 Module Connections 49 3 1 CNTR 01 Module Connections 50 3 1 1 Specifications on Cable and Connector 50 3 1 2 Connector Pin Arrangement 51 3 2 CNTR 01 Connection Example 52 INDEX 53 Revision History ...
Page 13: ...0 series Machine Controller that can install the CNTR 01 Mod ule and mounting removing the optional modules 1 1 CNTR 01 Module Applicable Machine Controllers 14 1 2 Mounting Removing Option Modules on Machine Controller 14 1 2 1 Mounting Option Modules 14 1 2 2 Removing Optional Modules 17 ...
Page 14: ... written to the Machine Controller in the personal computer using MPE720 Right click the Counter Folder and select Transfer All Files Dump from the pop up menu Name Model Max No of Connectable Modules Applicable Version Remarks CPU Module MPE720 MP2300 JEPMC MP2300 E 2 modules Ver 2 44 or later Ver 5 33 Ver 6 01 Ver 7 10 or later MP2310 JEPMC MP2310 E 3 modules All versions MP2300S JEPMC MP2300S E...
Page 15: ...here the Option Module to be replaced is mounted Then remove the expansion rack and place it on a place with suffi cient space such as working table 2 Removing Optional Cover Use the following procedure if the optional cover is installed on the slot 1 Remove the battery cover Pull the notch on the side of the MP2000 series towards you to remove the battery cover 2 Remove the cover of Optional Modu...
Page 16: ...rted without following the guide rail 2 Mount on to the mounting base Once the Optional Module has been completely inserted place your hand on the front face of the Optional Module and push hard until the Optional Module has been inserted into the mounting base connectors The front face of the Optional Module and the hook will be aligned when the Optional Module has been installed properly 3 Insta...
Page 17: ...sufficient space such as working table b For MP2200 and MP2100M Turn OFF the power supply and disconnect all the cables from the expansion rack MP2200 base unit where the Option Module to be replaced is mounted Then remove the expansion rack and place it in a place with sufficient space such as working table 2 Removing Optional Modules 1 Remove the battery cover Pull the notch on the side of the M...
Page 18: ...nal Module Hold the center of the battery cover as shown in the following diagram Push the battery cover down and out rotating from the round knob to disconnect the Module and mounting base connectors and then pull the Optional Module forward 4 Pull out the Optional Module Hold the Module on the top and bottom and pull it out straight Hold the edges of the Module and avoid touching the parts on th...
Page 19: ...unter Modes 26 2 3 1 Reversible Counter 26 2 3 2 Interval Counter 27 2 3 3 Frequency Measurement Counter 28 2 4 Counter Functions 29 2 4 1 Outline of Counter Function 29 2 4 2 Setting the Counter Fixed Parameters 30 2 4 3 Setting the I O Data 33 2 5 Counter Function Details 38 2 5 1 A B Pulses Counting Mode 38 2 5 2 Mask of Calculation by C Pulse 38 2 5 3 Count Disable 38 2 5 4 Calculating Preset ...
Page 20: ...odules when CPU 01 is used or 31 modules when CPU 02 is used and to the MP2100M and MP2100MEX expansion lack when 3 lacks are connected with 24 modules 2 1 2 CNTR 01 Module Appearance and External Dimensions The following diagram shows the appearance of the CNTR 01 and the external dimensions when connecting the cable connector CN1 System bus Shared memory Pulse input processing Latch input Coinci...
Page 21: ... s2 10 sweeps each in X Y and Z directions sweep time 1 octave min Shock Resistance Conforming to JIS B 3502 Peak acceleration of 147 m s2 15 G twice for 11 ms each in the X Y and Z directions Electrical Operating Conditions Noise Resistance Conforming to EN 61000 6 2 EN 61000 6 4 EN 55011 Group 1 Class A Installation Requirements Ground Ground to 100 Ω max Cooling Method Natural cooling Item Spec...
Page 22: ...put Connector CN1 I O connector Indicators RUN green ERR red CH1 green CH2 green Current Consumption 600mA at 5 V Dimensions mm 125 95 H D Mass Approx 85 g Item Specifications Name Color Status when Lit Status when Unlit RUN Green Normally operating Being stopped ERR Red Malfunction occurs Normally operating CH1 Green CH1 counter count value increments or decrements No pulse input CH2 Green CH2 co...
Page 23: ...mber indicates the number of times blinking Hardware failure of the CNTR 01 Module occurred Replace the Module Software error 1 2 Watchdog time timeout error 3 Address error reading exception 4 Address error writing exception 6 General illegal instruction exception 7 Slot illegal instruction exception Number indicates the number of times blinking Software failure of the CNTR 01 Module occurred Rep...
Page 24: ...r to 2 3 3 Frequency Measurement Counter on page 28 The following table shows the pulse counting operations with different multiplications and polarities 2 2 2 UP DOWN Method The count is incremented ane decremented in the following way regardless of the polarity The count is incremented by the pulse A input Positive in the frequency measurement The count is decremented by the pulse B input Negati...
Page 25: ...remented when the phase of the pulse A input is lagged behing the pulse B 0 Negative in the frequency measurement The following table shows the pulse counting operations with difference multiplications and polatiries UP DOWN 2 Positive logic Negative logic Pulse Counting Mode Polarity UP Count Forward DOWN Count Reverse Pulse A Pulse B Fixed at LOW or HIGH Pulse A Pulse B Fixed at LOW or HIGH Puls...
Page 26: ...put The count value is stored in the input register Counter Value every high speed scan or low speed scan Refer to 2 4 3 3 Out Data Items on page 35 The diagram below illustrates an example of the reversible counter operation when the Counting Mask Using Pulse C function is enabled Explanation Counter value IL 4 Stores sequentially the count value every scan n1 to n7 in the above diagram Count pre...
Page 27: ...is input Inverval Latch The latched data is stored in the input register Interval Data every set scan The diagram below illustrates an example of the interval counter operation Explanation Counter value IL 4 Stores sequentially the count value n1 to n7 in the above diagram every scan Interval data IL 6 The count value m1 to m4 in the above diagram is latched and reset at the rising edge of the pul...
Page 28: ...of input pulse of every control cycle T Time between input pulses The measurement time minimum unit 4 MHz 0 25 μs MULT Frequency coeffecient set in the fixed parameter The above equation is applicable when more than one pulse is input within a measurement cycle If no pulse is input within a measurement cycle the frequency estimated from the previously calculated value is set as the result f5 in th...
Page 29: ...ce Interrupt Sends an interrupt signal to the CPU of the Machine Controller when the count value agrees with the preset value P 35 P 36 P 41 Mask of Calculation by C Pulse Stops counting while the phase C pulse is being input P 32 P 38 Count Disable Stops counting during the time specified in the output data P 35 P 38 Count Preset Resets the count value to the preset value P 35 P 36 P 39 Electroni...
Page 30: ...eters for the counter funcions in the Fixed Parameters Tab Page of the Counter Module Definition Window Use the following procedure to open the Counter Module Definition Window 1 Double click the Module Configuration under the Definition Folder in the File Manager Window The Engineering Manager will start and the Module Configuration Window will open 2 Point to CNTR 01 in Module Type row of the Co...
Page 31: ... Valid Specify whether to use or not to use the channel 0 Not use 1 Use 0 Not use 02 The First Register Number Valid Valid Valid Specify the leading register number to be used for the channel 03 A B Pulse Signal form Selection Valid Valid Valid Select the signal form of the phase A and B pulses 0 5 V differential input 1 12 V collector input 0 5 V differential input 04 C Pulse signal type Valid Va...
Page 32: ...cted frequency multiplied by the value set here will be written as the detected frequency 0 1 1 10 2 100 3 1000 0 1 12 Mask of Calculation by C Pulse Valid Invalid Invalid Set whether to prohibit or permit counting while the pulse C is being input 0 Enabled prohibits counting 1 Disabled permits counting 1 Disabled 1 P 38 13 Ring Counter function selection Valid Invalid Invalid Set whether to use o...
Page 33: ...e load axis rotates n times while the encoder axis rotates m times 1 P 44 18 Machine Gear Ratio Valid Valid Invalid Set the value n in the range between 1 and 65535 when the load axis rotates n times while the encoder axis rotates m times 1 P 44 19 Maximum value of Ring Counter POSMAX Valid Invalid Invalid When the fixed parameter No 13 Ring Counter func tion selection is set to 1 Use set the posi...
Page 34: ...gnal ON Module Ready F 1 ON Counter processing being executed No Data Name Register Number Range Unit Counter Mode Description Ref Page Reversible Interval Frequency Measurement 00 Status RUNSTS IW 00 Bit setting Valid Valid Valid Refer to a Status RUNSTS 01 Incremental Pulses PDV IL 02 2147483648 to 2147483647 pulse Valid Valid Valid Indicates the difference between the pulse count value at the p...
Page 35: ...icates the set value of the fixed param eter No 11 Frequency calculation selection P 26 10 Average Frequency FRQAVE IL 14 2147483648 to 2147483647 10 m Hz Invalid Invalid Valid Indicates the average of the detected fre quency values of the number of times speci fied in the output data No 10 Averaging count setting m indiates the value set in the fixed parameter No 11 Frequency calculation selectio...
Page 36: ...ection method 4 to 7 0 Invalid Valid Valid 0 Invalid 1 Zone output Valid Invalid Invalid P 47 2 Speed coincidence Valid Invalid Invalid P 48 3 Frequency coincidence Invalid Invalid Valid P 48 No Data Name Register Number Range Unit Counter Mode Details Ref Page Reversible Interval Frequency Measurement Operation Mode RUNMOD OW 00 Bit settings Refer to a Operation Mode on page 35 Set Function OW 01...
Page 37: ...and the Multi purpose Output Selection is set to speed coincidence P 48 08 Frequency coincidence detection setting OL 10 0 to 2147483647 Invalid Invalid Valid Set the detection frequency when the Multi pur pose Output Detection Request is set to 1 Detect and the Multi purpose Output Selection is set to Frequency Coincidence P 48 09 Frequency coincidence detection width OL 12 2147483648 to 21474836...
Page 38: ... by C Pulse is given in 2 3 1 Reversible Counter on page 26 2 5 3 Count Disable This function stops counting while the bit 0 Count Disable of the Operation Mode OW 00 of the Setting Output Data is ON This function can be used independently from the Mask of Calculation by C Pulse While the pulse counting is being stopped counting the following values is stopped Number of Incremental Pulses PDV IL 2...
Page 39: ...s ON An operation example of the Calculating Preset function is given in 2 3 1 Reversible Counter on page 26 When using the ring counter function set the calculating preset data to a value between 0 and the value POSMAX 1 The following diagram shows the count preset completion timing of the CNTR 01 Module Reversible Interval Frequency Measurement Calculating Preset Preset Count Completed m1 m2 m3 ...
Page 40: ...election is set to other than pulse the latch data converted into reference units is written in the input register PI Latch Value After Con verts Interval Data After Conversion At least 600 μs must elapse before accepting the ON signal after the signal turns OFF from ON INFO m1 m2 m3 m4 m1 m2 m3 m4 m2 Calculating Preset Count Preset Request OW Bit 1 Preset Count Completed IW Bit 2 Counter count re...
Page 41: ...e point and reception of the interrupt T0 Maximum time from when the Machine Controller receives an interrupt request signal until it starts interrupt processing 70 to 120 μs TI Time from when an interrupt request signal is received until the DWG I interrupt drawing execution starts Use the Coincidence Detection Signal of the Status to monitor the coincidence detection signal output Precautions Wh...
Page 42: ...he direction indicated with the arrow A is input the CNTR 01 executes coincidence detection at the timing the counter value m When the pulse to decrement the count in the direction indicated with the arrow B is input the current counter value after con version is equal to m when the counter value p1 1 p1 1 if p0 0 However the CNTR 01 Module does not execute the coincidence detection at this timing...
Page 43: ...every time the count value exceeds the ring counter reset position This function can be used for the machine configuration to be reset cyclicly without using a special application pro gram 2 5 8 Number of POSMAX Turns Preset This function forcibly resets the value of Number of POSMAX Turns PMAXTURN IL E to the value spec ified in Preset Data of POSMAX Turns of the Operation Mode TURNPRS OL 6 of th...
Page 44: ...ts Below Decimal Point When reference unit is 1 μm inputting 50 000 reference pulses moves the workpiece by 50000 1 μm 50 mm Reversible Interval Frequency Measurement When the Electronic Gear is Not Used If 13653 pulses are input the number of revolutions is 13653 8192 1 666 revolutions 1 revolution moves the workpiece 6mm therefore the travel amount by 1666 revolutions is 6 mm revolution 1 666 re...
Page 45: ...io m rotations No 18 Machine Gear Raio n rotations Setting range 1 to 65 535 rotations Setting Example For the configuration shown in the diagram Gear ratio n m 3 7 4 9 4 21 Therefore set the following values No 17 Encoder Gear Ratio 4 rotations No 18 Machine Gear Ratio 21 rotations Ball screw Round table Belt pully Load travel distance per load axis rotation reference unit Reference unit Travel d...
Page 46: ...ows Moving Amount per Machine Rotation 6mm 0 001mm 6000 No 17 Encoder Gear Ratio 7 rotations No 18 Machine Gear Ratio 5 rotations b Setting Example for Rotating Load In the above machine system if the reference unit 0 1 the setting of each parameter will be as follows Moving Amount per Machine Roration 360 0 1 3600 No 17 Encoder Gear Ratio 3 rotations No 18 Machine Gear Ratio 1 rotation m 7 rotati...
Page 47: ...ne Output and the counter value is in the range between the zone output minimum value and the zone output maximum value As the counter value is detected by software processing there will be a delay of maximum 500 μs Operation examples of the Zone Output is illustrated below When Zone Output Maximum Value Zone Output Minimum Value When Zone Output Maximum Value Zone Output Minimum Value Reversible ...
Page 48: ...the range Speed Coincidence Detection Width whose center point is the set value of the output register Speed Coincidence Detection Setting The software processing for detecting the counter count value cause a delay for 500 μs maximum 3 Frequency Coincidence Output The multi purpose output signal is output at the rising edge of Multipurpose Output signal when the output register Multipurpose Output...
Page 49: ...lains the detailed specifications and functions connection methods and settings of the CNTR 01 Module 3 1 CNTR 01 Module Connections 50 3 1 1 Specifications on Cable and Connector 50 3 1 2 Connector Pin Arrangement 51 3 2 CNTR 01 Connection Example 52 ...
Page 50: ...ternal I O Connector CN1 40 10240 52A3PL Connector 10140 6000EL Shell 10340 3210 006 or 10340 3210 000 One touch lock type 3M Japan Limited Cable Model Length Apprearance JEPMC W2063 E Cable for CNTR 01 Module JEPMC W2063 A5 E 0 5 m JEPMC W2063 01 E 1 m JEPMC W2063 03 E 3 m L Laminate tape Shielded wire 150 JEPMC W2063E 㧖㧖 3 M 10340 Terminal No Dot Mark Wire Color Dot Mark Terminal No 1 Orange Con...
Page 51: ...1 I 5V differential C1 pulse input 23 5PC1 I 5V differential C1 pulse input 4 SG Ground for pulse input 24 SG Ground for pulse input 5 5PA2 I 5V differential A2 pulse input 25 5PA2 I 5V differential A2 pulse input 6 5PB2 I 5V differential B2 pulse input 26 5PB2 I 5V differential B2 pulse input 7 5PC2 I 5V differential C2 pulse input 27 5PC2 I 5V differential C2 pulse input 8 28 9 12VA1 P Power sup...
Page 52: ...063 ڧڧ E 1 5PA1 21 5PA1 2 5PB1 5PB1 22 3 5PC1 23 5PC1 4 SG 9 12VA1 29 12PA1 10 12VB1 30 12PB1 11 12 24VC1 31 12PC1 32 24PC1 5 5PA2 25 5PA2 6 5PB2 5PB2 26 7 5PC2 27 5PC2 24 SG 13 12VA2 33 12PA2 14 12VB2 34 12PB2 15 35 12PC2 36 24PC2 17 COIN1 37 COIN2 18 OUT1 38 OUT2 39 24V 19 0V 24V 20 40 PIL1 PIL2 CH1 Latch input CH2 Latch input 100Ȑ 100Ȑ 100Ȑ 100Ȑ 100Ȑ 100Ȑ 1KȐ 1 5KȐ 1 5KȐ 680Ȑ 680Ȑ 1 5KȐ 1 5KȐ 1...
Page 53: ...34 D Detected Frequency 35 E Electronic Gear 29 electronic gear function 44 Encoder Gear Ratio 33 Encoder Resolution 33 Error Setting the Data 34 external I O connector 50 F Feedback Speed 35 Feedback speed moving average time constant 33 Fixed Parameter Error 34 Fixed Parameter Write 34 FREQ 35 FREQG 35 Frequency calculation selection 32 Frequency Coincidence 29 Frequency coincidence detection se...
Page 54: ...Turns 36 PRSDAT 36 pulse A B method 25 pulse counting methods 24 Pulse Counting Mode Selection 32 R Reference Unit Selection 32 removing optional cover 15 removing optional modules 17 reversible counter 26 Ring Counter 29 ring counter 43 Ring Counter function selection 32 RUNMOD 36 RUNSTS 34 S scale pitch 32 Set Function 36 set function 36 setting the counter fixed parameters 30 sign method 24 spe...
Page 55: ...ion of the user s manual SIEP C880700 27A 0 6 available on the Web December 2010 0 6 Front cover Revision Format 2 5 1 Addition Description of parameter setting Back cover Revision Address format May 2010 5 2 4 2 Revision Counter mode of feedback speed moving average time constant no 21 2 4 3 3 b Revision Bit no November 2009 4 3 1 1 3 Revision Dot mark s description Sequence number to Continuous ...
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