YASKAWA JEPMC-MP2300 User Manual Download Page 249

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C.3

SERVOPACK

A-17

Appendices

App

C.3

SERVOPACK



Refer to the following manuals for information on

-I SERVOPACKS.

Series SGM



/SGD User’s Manual (Manual No.:SIE-S800-26.3)

Series SGM



/SGDB High-speed Field Network MECHATROLINK-compatible AC Servo Driver User’s Manual

(Manual No.: SIE-S800-26.4)

( 1 ) Initializing a 12-bit Absolute Encoder

Use the following procedure to initialize a 12-bit absolute encoder.

Properly connect the SERVOPACK, Servomotor, and MP2300.

Disconnect the connector on the encoder end and short-circuit pins 13 and 14 on the encoder end con-
nector for 2 seconds or more.

Remove the short piece and insert the connector securely in its original position.

Connect the cables using normal wiring and make sure the encoder battery is connected.

Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system has been success-
fully initialized.

13 14

Summary of Contents for JEPMC-MP2300

Page 1: ...verview of the MP2300 Module Specifications Mounting and Connections System Startup and Sample Programs Outline of Motion Control Systems Maintenance and Inspection Appendices 1 2 3 4 5 6 App MP2300 RDY ALM TX RUN ERR BAT BATTERY SW1 OFF ON M I II CPU I O POWER DC24V DC 0V STOP SUP INIT CNFG MON TEST ...

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: ...orque is commonly used when describing rotary servomotors and force or thrust are used when describing linear servomotors this manual uses torque when describing both excluding parameters MP2300 MP2300 Machine Controller PC Programmable Logic Controller PP Programming Panel MPE720 The Programming Device Software or a Programming Device i e a personal computer running the Programming Device Softwar...

Page 4: ...n Modules 218IF 01 218IF 02 217IF 01 260IF 01 261IF 01 215IF 01 Machine Controller MP2000 Series I O Module User s Manual SIEP C880700 34 Describes the functions specifications and application methods of the I O Module for the MP2000 Series Machine Controller MP2000 Series Analog Input Analog Output Module AI 01 AO 01 User s Manual SIEP C880700 26 Describes the functions specifications and applica...

Page 5: ...on wiring trial operation function applications methods maintenance and inspection of the Σ II Series SERVOPACKs Σ III Series SGM H SGDS User s Manual SIEP S800000 00 Describes the models specifications wiring trial operation adjustment function application methods maintenance and inspection of the Σ III Series SERVOPACKs and Servomotors Σ III Series SGM S SGDS Digital Operator Operating Instructi...

Page 6: ...13 2 Describes the operating methods of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System SIEZ C887 5 1 Describes MECHATROLINK distributed I O for MP900 MP2000 Series Machine Controllers cont d Manual Name Manual Number Contents EtherNet IP and DeviceNet is a registered trademark of the ODVA Open ...

Page 7: ...autions 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 ind...

Page 8: ...e machine or even cause accidents resulting in injury or death There is a risk of electrical shock Do not remove the front cover cables connector or options while power is being supplied There is a risk of electrical shock Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical shock operational failure or burning of the MP2300 Do not att...

Page 9: ... is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fum...

Page 10: ...necting the battery connect the polarity correctly There is a risk of battery damage or explosion Only qualified safety trained personnel should replace the battery If the battery is replaced incorrectly machine malfunction or damage electric shock or injury may result When replacing the battery do not touch the electrodes Static electricity may damage the electrodes Consider the following items w...

Page 11: ...e damage Dispose of the MP2300 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 accordance with the manual The drawings presented in this manual are...

Page 12: ...d 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 ship ment 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 tha...

Page 13: ...r property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems 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 system is designed to secure the required level of safety...

Page 14: ...ories and Optionals and Software 1 9 1 5 1 Cables 1 9 1 5 2 Accessories and Options 1 11 1 5 3 Software Programming Tool Options 1 11 2 Module Specifications 2 1 MP2300 Basic Module Specifications 2 2 2 1 1 Hardware Specifications 2 2 2 1 2 Environmental Conditions 2 3 2 1 3 Function Specifications 2 4 2 2 MP2300 Basic Module Functions 2 6 2 2 1 External Appearance LED Indicators and Switch Settin...

Page 15: ...ing Sample Program Files 4 13 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 17 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 4 21 4 3 Starting Sample Program MPE720 Ver 5 4 23 4 3 1 Starting MPE720 Ver 5 and Creating Folders 4 24 4 3 2 Reading Sample Programs and Setting and Saving Parameters 4 28 4 3...

Page 16: ... Methods 5 27 5 4 Self configuration 5 28 5 4 1 Self configuration Processing Procedure 5 29 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 30 5 4 3 Execution Procedure for Self configuration Using MPE720 5 32 5 4 4 Definition Data Refreshed by Self configuration 5 36 5 5 Precautions When Using the MP2300 5 38 5 5 1 Precautions when Setting or Changing User Definition File...

Page 17: ...rrections 6 31 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 36 Appendices A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity Name A 4 B Current Values and Set Values Input Data in the SVB Definition Window A 5 B 1 Operations and Parameter Data Flow A 5 B 2 Precaution...

Page 18: ... Basic Module Appearance 1 3 1 2 2 MP2300 Modules 1 4 1 3 System Configuration Example 1 5 1 4 Devices Connectable to MECHATROLINK 1 6 1 4 1 Devices Connectable to MECHATROLINK I II 1 6 1 4 2 Devices Connectable to MECHATROLINK III 1 8 1 5 Cables Accessories and Optionals and Software 1 9 1 5 1 Cables 1 9 1 5 2 Accessories and Options 1 11 1 5 3 Software Programming Tool Options 1 11 ...

Page 19: ...peed MECHATROLINK II baud rate 2 5 times faster CPU processing speed 1 4 times faster than MP930 MECHATROLINK II enables position control speed control and torque control and makes precise synchronous control possible The control mode can also be changed while online facilitating complicated machine opera tions Select the appropriate Communication Module to use the following open networks Ethernet...

Page 20: ...onal Modules 1 2 1 Basic Module Appearance The following figure shows the external appearance of the Basic Module MP2300 RDY ALM TX RUN ERR BAT BATTERY SW1 OFFࠉࠉࠉ ON M I II CPUࠉ I O POWER DC24V DC 0V STOP SUP INIT CNFG MON TEST Option Option Option LED indicators Battery holder Switches MECHATROLINK connector Power supply connector I O connector ...

Page 21: ...nalog input 8 channels Analog Output Module AO 01 JAPMC AN2310 E Analog output 4 channels Output Module DO 01 JAPMC DO2300 E JAPMC DO2300 64 outputs sink mode output Counter Module CNTR 01 JAPMC PL2300 E Reversible counter 2 channels Communica tion Modules Ethernet Communica tion Module 218IF 01 JAPMC CM2300 E JAPMC CM2300 RS 232C and 10Base T Ethernet communi cation 218IF 02 JAPMC CM2302 E JAPMC ...

Page 22: ... make the set tings for MECHATROLINK Ι The user must supply the 24 VDC power supply When connecting SERVOPACKs via MECHATROLINK connect the overtravel zero point return deceleration limit switch and external latch signals to the SERVOPACKs For connection refer to the SERVOPACK s man ual 24 VDC power supply I O Modules for MECHATROLINK SGDS M IO2310 PL2900 PL2910 Optional Modules NS115 SGDH M MP230...

Page 23: ...face Yes Yes CIMR F7A SI T Varispeed F7 Inverter with MECHATROLINK interface Yes Yes CIMR V7AA SI T V7 VSmini V7 Inverter with MECHATROLINK interface Yes Yes CIMR A SI T3 High Performance Vector Control Drive A1000 MECHATROLINK II Option Card Yes Yes CIMR V SI T3 V Compact Vector Control Drive V1000 MECHATROLINK II Option Unit Yes Yes Model Number Details MECHATROLINK I MECHATROLINK II JEPMC IO350...

Page 24: ...utputs 10 to 10 V 2 channels Yes Yes JAMSC IO2900 E DC Input Module 24 VDC 16 inputs Yes Yes JAMSC IO2910 E DC Output Module 24 VDC 16 outputs Yes Yes JAMSC IO2920 E 8 point I O Module 24 VDC 8 inputs 8 outputs Yes Yes JAPMC IO2950 E Relay Module Wide voltage range relay contacts 8 contact outputs Yes Yes AB023 M1 MECHATROLINK Bit decentralization I O ter minal by Anywire Corporation Yes Yes JAPMC...

Page 25: ...munications Refer ences SGD7W 20 SGD7W SERVOPACKs with MECHATROLINK III Communications Refer ences Model Number Details CIMR A SI ET3 High Performance Vector Control Drive A1000 MECHATROLINK III Option Card CIMR V SI ET3 V Compact Vector Control Drive V1000 MECHATROLINK III Option Unit Model Number Details JAPMC MC2320 E SVC 01 Motion Module JEPMC MTD2310 E 64 point I O Module 24 VDC 64 inputs 64 ...

Page 26: ...both ends Used between the devices listed below SVC 01 and MECHATROLINK III compatible device JEPMC W6013 E with MECHATROLINK III connectors on both ends with ferrite core JEPMC W6014 E with a MECHATROLINK III connector and loose wires SVA 01 CH1 CH2 Cable for analog reference input SERVOPACK JEPMC W2040 Used between the devices listed below SVA 01 and Analog reference input SERVOPACK MPU 01 M III...

Page 27: ...ted Shell 10314 52A0 008 manufactured by 3M Japan Limited PORT RS 232C communication cable JEPMC W5310 Used between RS 232C port and 25 pin male D sub connector JEPMC W5311 Used between RS 232C port and DOS V 260IF 01 DeviceNet DeviceNet communication cable Use a commercially avail able cable Module side connector MSTB2 5 5 GF 5 08AU manufactured by Phoenix Contact K K PORT RS 232C communication c...

Page 28: ...C W6022 Terminator CP 215 CP 215 communication cable Provided by the customers Refer to the communication module manual Manual No SIEPC88070004 Name Accessory Optional Model Remarks Battery Accessory JZSP BA01 ER3VC exclusive use connector BA000517 Power Supply Connector Accessory 721 203 026 Cable side DIN Rail Mounting Parts Optional JEPMC OP300 2 parts for 1 set Option Slot Cover Optional JEPMC...

Page 29: ...ecifications 2 2 2 1 2 Environmental Conditions 2 3 2 1 3 Function Specifications 2 4 2 2 MP2300 Basic Module Functions 2 6 2 2 1 External Appearance LED Indicators and Switch Settings 2 6 2 2 2 Module Configuration Definitions 2 8 2 2 3 CPU I O Built in I O Module 2 10 2 2 4 Built in SVB Modules 2 12 2 2 5 Setting SVB Module 2 16 2 2 6 Built in SVB Specifications 2 24 2 2 7 SVR Virtual Motion Mod...

Page 30: ...1 A max during input output rating Inrush Current 40 A max full discharge state during output rating or the secondary output of the external 24 V power supply is turned ON Allowable Power Loss Time 2 ms Rated Voltage 5 0 V Rated Current 4 0 A Output Current Range 0 0 to 4 0 A Constant Voltage Precision 5 max including input voltage and output load fluctuations Battery Battery for memory retention ...

Page 31: ...tible or corrosive gas Operating Altitude 2 000 m above sea level or lower Mechanical Operating Conditions Vibration Resistance Conforming to JIS B 3502 10 to 57 Hz with single amplitude of 0 075 mm 57 to 150 Hz with fixed acceleration of 9 8 m 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...

Page 32: ... D registers Drawing constant registers Input I registers Output O registers Constant C registers 64 Kwords 8 Kwords Up to 16 Kwords per drawing Up to 16 Kwords per drawing 32 Kwords including internal input registers 32 Kwords including internal output registers 16 Kwords Trace Memory Data trace 128 Kwords 32 Kwords 4 groups 16 points defined Memory Backup Program memory Flash memory 8 MBytes Use...

Page 33: ... mm inch deg pulse or μm Reference Unit Minimum Setting 1 0 1 0 01 0 001 0 0001 0 00001 Maximum Programmable Value 2147483648 to 2147483647 signed 32 bit value Speed Reference Unit Reference unit s designation mm s inch s deg s pulse s μm s Reference unit min designation mm min inch min deg min pulse min μm min Percentage designation Percentage of rated speed Acceleration Deceleration Type Linear ...

Page 34: ...r machine An outline of the Basic Module functions is shown in the following diagram 2 2 1 External Appearance LED Indicators and Switch Settings 1 External Appearance Output processing Input processing Input port CPU IO System bus Interrupt input Output port 8 points 4 points MECHATROLINK I II Application execution processing Motion control processing Ladder DWG H Ladder DWG L Started at fixed in...

Page 35: ...ion of MECHATROLINK I II data BAT Red Lit during battery alarm RDY ALM TX RUN ERR BAT SW1 OFF ޓޓޓ ON STOP SUP INIT CNFG MON TEST 1 2 3 4 5 6 No Name Setting Operating Mode Default Setting Details 6 STOP ON User program stopped OFF Stops the user program execution Enabled only when the power is turned ON OFF User program running 5 SUP ON System use OFF Always leave set to OFF OFF Normal operation 4...

Page 36: ...e Basic Module Configuration of the SVR Virtual Motion Module built in the Basic Module Information on Basic Module Information on the mounted Optional Modules Item Description Modification Slot Number Slot number Not possible Module Type Module detected in the slot Possible Controller Number Fixed to 01 Not possible Circuit Number Module circuit number Possible I O Start Register I O start regist...

Page 37: ... file and SVB definition file Additionally module definition data can be automatically refreshed by executing the self configuration function when starting the MP2300 or anytime thereafter For information on how to execute the self configuration function refer to 5 4 2 Execution Procedure for Self config uration Using the DIP Switch on page 5 30 and 5 4 3 Execution Procedure for Self configuration...

Page 38: ...Module Details For CPU I O Module details including specifications refer to 3 2 4 CPU I O Built in I O Connectors on page 3 16 2 Settings for CPU I O Module Local I O definition Window Select MP2300 in the Module Type column of the Controller section in the Module Configuration Window and then double click the Slot Number cell of IO The message box will appear and ask for confirmation to create a ...

Page 39: ...he register number allocated to the inputs or outputs It cannot be changed Word Displays the word size of the register data It cannot be changed SCAN Select the speed from HIGH LOW or NA none specified for the scan that processes the inputs or outputs Current Value The current value of the register will be displayed in binary when online It will not be displayed when offline The outputs to externa...

Page 40: ...tional SVB is one of the optional modules for the Machine Controller The SVB 01 Module is an Optional SVB that can be mounted on MP2300 1 Features Up to 21 slave stations can be connected to a single SVB Module the SERVOPACKs can be connected up to 16 axes MP2300 Up to 2 SVB 01 Modules can be mounted in optional slots Including the built in SVB a total of 48 axes can be controlled Synchronization ...

Page 41: ...ns When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel homing deceleration switch and external latch to the servo Refer to the relevant SERVOPACK manual for details on the connections When connecting II series SERVOPACKs SGDH NS100 or SGDH NS115 do not connect a hand held type digital operator and SigmaWin If connected alarms A 95 command warning and A ED e...

Page 42: ...ycle processing and simplifies distribution processing for interpolation commands b Conditions Under Which Synchronization Is Possible The following table shows the combinations of high speed scan times and MECHATROLINK communication cycles that allow synchronization between modules in the synchronization mode c Timing At Which Modules Are Synchronized Modules are automatically synchronized when t...

Page 43: ...tion is possible for the high speed scan and communication cycle combination When a change is made save the settings to flash memory and then turn the power supply OFF and ON Changing the MECHATROLINK Communication Cycle of the SVB 01 Module Operation will be automatically synchronized when a change is made if synchronization is possible for the high speed scan and communication cycle combination ...

Page 44: ...ission Definition a How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration Window select the SVB Module in the Controller field and double click the MECHATROLINK cell in the Details field The MECHATROLINK Transmission Definition Window will open To check or set the built in SVB Module select slot number 00 in the Controller field If several SVB Modules are mounted ...

Page 45: ...tation address Displays the local station address set by using the rotary switches For Master station fixed to 0 For slave stations set a number between 1 and the number of slave stations Transmission Speed Displays the transmission speed MECHATROLINK II 32 byte mode 10 Mbps MECHATROLINK II 17 byte mode 10 Mbps MECHATROLINK I 4 Mbps Cannot be set Transmission Bytes Hidden for MECHATROLINK I Displa...

Page 46: ...es Number of Slaves Displays the number of slave stations that can be connected Determined by communication type communication cycle use of SigmaWin and number of attempts to retry transmission to slaves Cannot be set Wait for Monitor Data Update Hidden for built in SVB Modules Displays whether or not to suspend CPU processing for the scan delay time of monitoring parameters of an optional SVB Mod...

Page 47: ...scan processing however will be longer because the CPU s application execution start time is suspended until the SVB 01 Module motion processing is completed SVB Module Type Built in SVB Optional SVB MECHATROLINK II Communication Mode 32 byte mode 17 byte mode 32 byte mode 17 byte mode Communication Cycle That Can be Set 1 ms 1 5 ms or 2 ms Fixed to 1 ms 0 5 ms 1 ms 1 5 ms or 2 ms 0 5 ms or 1 ms D...

Page 48: ...scription Options and Precautions on Settings ST Station number The station number set here must be the same as the number set using rotary switches TYPE Slave device connected at the station Select the device type from the pull down list D I O register s enable disable status Enabled Disabled Click the button to switch the status INPUT SIZE The leading input register number INPUT and the number o...

Page 49: ...isplayed settings cannot be changed The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS STS In online mode MECHATROLINK transmission status information is displayed in hexadecimal In offline mode nothing will be displayed The meaning of each bit is shown below Type code 01H Inverter 02H Servo 03H I O Reserved F E D C B A 9 8 7 6 5 4 3 2 1 0 F Transmiss...

Page 50: ...B Definition Window Open the SVB Definition Window by the following procedure 1 Double click the slot number cell of the SVB Module in the Module Details field in the Module Configuration Window refer to 2 2 2 1 Module Configuration Window Components on page 2 8 The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVB Definition Window 2 Select the a...

Page 51: ...eries Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for details Fig 2 1 Fixed Parameters Tab Fig 2 2 Setup Parameters Tab Fig 2 3 SERVOPACK Parameters Tab Refer to the relevant SERVOPACK user s manual for information on SERVOPACK parameters When using a SERVOPACK parameter Window to save excluding when the SERVOPACK is replaced make sure to select Edit SERVOPACK Current v...

Page 52: ... bus Electric bus Transmission Distance 50 m Can be extended up to 100m by connecting repeaters 50 m Can be extended up to 100m by connecting repeaters Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 1 ms 2 ms Maximum Number of Connectable Stations 14 21 Communication Control Method Cyclic Cyclic Media Access Control Method 1 N 1 N 2 N when using SigmaWin Communication Mode Control communication...

Page 53: ...ing parameters and can be accessed from application programs using I O registers Refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for detailed information on SVR motion parameters and motion commands The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle In the MP2300 Basic Module slot 4 in the defa...

Page 54: ...ctronic cam or shaft operation can be achieved by using the SVR for the virtual master axis 2 Multi axis synchronous control Multi axis synchronous control can be achieved by controlling the SVR from a motion program and then using the ladder program to copy position commands of the SVR to other axes 3 Sine curve commands If the motion program is used to perform circular interpolation with the SVR...

Page 55: ... axes 1 to 16 when Run Mode fixed parameter 0 is set to Normal Running 0 The formula listed above do not apply when the number of axes is 0 Differences from SVB Simulation Mode Simulation mode does not have a positioning function so the position data is refreshed in one scan to the final target position The SVR has its own positioning function that performs distribution so like a real module posit...

Page 56: ...ecifications for the Basic Module 3 1 Mounting the MP2300 3 2 3 1 1 Basic Module Dimensional Drawings 3 2 3 1 2 Mounting the MP2300 3 3 3 1 3 Replacing and Adding Optional Modules 3 6 3 2 Basic Module Connections Specifications 3 9 3 2 1 Connectors 3 9 3 2 2 Power Supply Connector 3 10 3 2 3 MECHATROLINK Connectors 3 12 3 2 4 CPU I O Built in I O Connectors 3 16 ...

Page 57: ...for details Accessesory Operation lever type 231 131 The operation lever is used when connecting wires to the cable connector 218IF 01 ERR COL RX RUN STRX TX INIT TEST OFF ON PORT 10Base T LIO 01 LD5 LD6 LD7 LD8 LD4 LD3 LD2 LD1 MODE I O LIO 01 LD5 LD6 LD7 LD8 LD4 LD3 LD2 LD1 MODE I O RUN ERR BAT SW1 OFF RDY ALM TX STOP SUP INIT CNFG MON TEST ON BATTERY CPU I O POWER DC 0V DC24V 4 5 130 121 4 5 18 ...

Page 58: ...spacer on the rear of the MP2300 near the bot tom to protect the MP2300 from vibration and shock The parts for mounting the MP2300 to the DIN rail are sold separately Purchase the following product when using DIN rail Product name DIN Rail Mounting Parts Model No JEPMC OP300 Mounting screw M4 Phillips screw Use a screwdriver with a blade length of 10 cm or more Note Mount the MP2300 vertically on ...

Page 59: ...the mounting clips so that they are in the positions shown with a dotted line in the previous figure The figure below shows the front and back of a mounting clip Insert each clip so that its front faces outward 2 Pull the DIN rail mounting clips down to release them MP2300 Rear Side DIN rail mounting parts inserted DIN rail mounting parts Insert the parts in these positions Front Back Clip DC24V D...

Page 60: ...hem in place 5 Place end plates on either side of the MP2300 to secure it to the DIN rail This completes the installation procedure b a Clip DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O Option M I II End plate DIN rail DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTER...

Page 61: ...ove all the cables connected to the MP2300 Next remove the MP2300 from the panel or rack and place them where there is sufficient space such as on a work table 2 Removing Optional Modules 1 Remove the Battery Cover Insert a hard thin metal object such as a coin into the notch on the side of the battery cover and open the cover forward to remove the battery cover 2 Remove the Option Panel Hold the ...

Page 62: ...e Hold the battery cover as shown in the following figure and use it to gently pull back on the Module rotating it indicated by the arrows to disconnect the Module from the Mounting Base The Module will move towards you 4 Pull out the Optional Module Hold onto the top and bottom of the Module with your fingers and pull the Module straight out Be sure to hold onto the edges of the Module Do not tou...

Page 63: ...ot may be damaged 2 Connect to the Mounting Base Connector After inserting the Module all the way to the back press the Module firmly until it connects securely to the Mounting Base connected If the Module is connected securely the front of the Module should approximately align with the hooks 3 Mount the Option Panel Insert the hole on the bottom of the option panel into the bottom hook and then s...

Page 64: ...ctions Specifications 3 2 1 Connectors The following illustration shows the connectors for the Basic Module MECHATROLINK connector Power supply connector I O connector DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O Option M I II ...

Page 65: ... supply switch on the AC side If the switch is attached on the 24 VDC side there will be an inrush current of approximately 40 A when the power is turned ON Name Connector Name No of Pins Connector Model Cable Model Module Cable Manufacturer Power Supply Connector POWER 3 721 863 721 203 026 WAGO Pin No Signal Name Description 3 24V 24 VDC input 2 0V 0 V input 1 FG Frame ground Ground to 100 Ω or ...

Page 66: ...and fully insert the core wire into the wire inlet 3 Fasten the clamp Release the lever or remove the screwdriver to fasten the clamp so that the core wire will remain securely in the plug 6 5 mm Install the lever Insert the hooked end of the lever into the square hole on the plug Press down on the lever until the protrusion enters the hole on top of the plug housing 1 2 2 1 Cable Lever Cable Scre...

Page 67: ...th MECHATROLINK Cable MECHATROLINK Connector MECHATROLINK Connector JEPMC W6002 A5 0 5 m JEPMC W6002 01 1 m JEPMC W6002 03 3 m JEPMC W6002 05 5 m JEPMC W6002 10 10 m JEPMC W6002 20 20 m JEPMC W6002 30 30 m JEPMC W6002 40 40 m JEPMC W6002 50 50 m MECHATROLINKCable MECHATROLINK Connector MECHATROLINK Connector with Ferrite Core JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 m JEPMC W6003 03 3 m JEPMC W6003 0...

Page 68: ...the MP2300 and I O units or SERVOPACKs Except for SGD N and SGDB AN SERVOPACKs 1 The connection diagram using MECHATROLINK cable JEPMC W6002 or JEPMC W6003 2 is shown below 1 Use MECHATROLINK cable JEPMC W6011 when connecting SERVOPACK SGD N or SGDB AN 2 The JEPMC W6003 cable has a ferrite core 1 2 3 4 1 2 3 4 Shell Shell Pin number Signal Name NC DATA DATA SH Shield Shield Signal Name NC DATA DAT...

Page 69: ...am is recommended when using the MP2300 in combination with a SVB 01 Module Prepare the cables according to MECHATROLINK Ι specifications Connections that do not meet the specifi cations will prevent normal communication due to the influence of reflected waves or other factors MECHATROLINK Ι Specifications Total network length 50 m max Maximum number of slave stations 14 stations max Minimum dista...

Page 70: ...ASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 CN1 IN1 OUT1 IN2 OUT2 A1 A1 A1 A1 B1 B1 B1 B1 YASKAWA JEPMC IO2310 MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O DC24V DC 0V M I II YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 YASKAWA SER...

Page 71: ...r Model Module Cable Manufacturer I O Connector CPU I O 20 10220 52A2JL 10120 3000PE Connector 10320 52F0 008 Shell Sumitomo 3M Name Model Number Length I O Cable loose wires JEPMC W2060 A5 0 5 m JEPMC W2060 01 1 m JEPMC W2060 03 3 m Pin Number Signal Name I O Remarks Pin Number Signal Name I O Remarks 1 DI_COM P Input common 11 DI_COM P Input common 2 DI_00 I Input 00 12 DI_04 I Input 04 3 DI_01 ...

Page 72: ...gital Input Circuit Sink Mode Input Item Specifications Inputs 8 points DI 00 General purpose input shared with interrupts DI 01 to DI 07 General purpose input Input Format Sink mode source mode input Isolation Method Photocoupler Input Voltage 24 VDC 20 Input Current 4 1 mA TYP ON Voltage Current 15 VDC min 2 0 mA min OFF Voltage Current 5 VDC max 1 0 mA max ON Time OFF Time ON 1 ms max OFF 1 ms ...

Page 73: ...pen collector sink mode output Isolation Method Photocoupler Output Voltage 24 VDC 20 Output Current 100 mA max Leakage Current When OFF 0 1 mA max ON Time OFF Time ON 1 ms max OFF 1 ms max Number of Commons 1 4 points common Protection Circuit Fuse The fuse is not however for circuit protection It is for protecting against fire at output shorts Attach a fuse externally to each output if circuit p...

Page 74: ... connected load shorts or overloads could result in fire destruction of the load device or damage to the output element The pins 1 and 11 and the pins 8 and 18 are internally connected Connect them externally as well Digital input Digital output External input signals 24 VDC 24 VDC External ouput signals 11 Fuse Fuse L L L L DI_00 DI_01 DI_02 DI_03 DI_04 DI_05 DI_06 DI_07 DO_24V DO_00 DO_01 DO_02 ...

Page 75: ...Servo Control 4 17 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 4 21 4 3 Starting Sample Program MPE720 Ver 5 4 23 4 3 1 Starting MPE720 Ver 5 and Creating Folders 4 24 4 3 2 Reading Sample Programs and Setting and Saving Parameters 4 28 4 3 3 Other Operations 4 42 4 4 Checking Sample Program Operation 4 44 4 4 1 How to Open the Tuning Pa...

Page 76: ...e communication process on each port 4 1 4 Setting and Saving Communication Process Communication Manager on page 4 6 6 MP2300 Self configuration The connected devices are automatically confirmed 4 1 5 MP2300 Self configuration on page 4 12 7 Reading Sample Programs and Starting MPE720 Ver 6 Read the sample program from the installed disk to start on MPE720 Ver 6 4 2 1 Copying and Transferring Sam...

Page 77: ... B2 U V W C N 6 SERVOPACK see 3 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 MECHATROLINK cable see 1 Servomotor see 3 Servomotor see 3 24 VDC power see 4 Terminator see 1 200 VAC DC24V DC 0V MP2300 YASKAWA TEST ޓ ޓ ޓ Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O M I II 218IF 01 ERR COL RX RUN STRX...

Page 78: ...OFF Pin 4 OFF When making SERVOPACK settings the Digital Operator is connected to the SERVOPACK for which settings are to be made 4 Other Required Equipment Name Model Quantity MPE720 CPMC MPE720 version 4 41A or later CPMC MPE770 version 6 0 or later 1 PP Cable for RS 232C connection JEPMC W5311 03 1 PP Cable for Ethernet connection Commercially available cross cable 1 Computer Commercially avail...

Page 79: ...o display the Auxiliary Function Mode main menu and use the Keys to select Fn005 5 Press the Key to switch to the Fn005 parameter initialization execution display If the display does not change and NO OP is displayed on the status display a Write Prohibited password has been set using Fn010 and the user settings cannot be initialized Clear the write protection and execute the operation again 6 Pre...

Page 80: ...E_Applications Folder Or Click Start All Programs YE_Applications Communication Manager to start the Communication Manager The Communication Process Icon appears on the task tray at the bottom right of the screen version 5 30 or later 2 Double click the Communication Process Icon on the task tray to open the Communication Process Window In this section Logical PT number 1 is assigned for RS 232C c...

Page 81: ...ppears 5 Match the settings under Physical Port to the computer s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK Button to close the Logial Port Setting Dialog Box 6 The Logical Port Setting Window appears Click the OK Button again The screen will return to the Communication Process Window Check that Serial has...

Page 82: ...ies Window appears 8 Click Connection Tab to display the page Click LAN settngs The Local Area Network LAN Settings Dialog Box appears 9 Check if the Automatically detect the settings Check Box is cleared and click the OK Button to close the dialog box 10 For a computer running Windows 2000 OS click the Start Button and select Settings Control Panel Network and dial up connection For a computer ru...

Page 83: ...f this connection in the Network Task field Windows 2000 running computer Windows XP running computer The Property for Local area connection Dialog Box appears 12 Select Internet Protocol TCP IP and click the Properties Button The Internet protocol TCP IP Properties Dialog Box appears 13 Click the Use the following IP address Option Button and enter 192 168 1 2 under IP Address and 255 255 255 0 u...

Page 84: ...ind in the Logical Port Setting Dialog Box and click the Detail Button The CP 218 Port Setting Dialog Box appears 16 Enter the IP address of computer and click OFF for Default Leave the other items on their default settings Click the OK Button to close the dialog box 17 Click the OK Button in the Logical Port Setting Dialog Box to return to the Communication Process Window Check to see if the CP 2...

Page 85: ...These settings will be used as the communication port information whenever the communication process is started 19 Exit the Communication Process Window and restart to validate the settings Select File Exit to close the Communication Process Window The confirmation message will be displayed Click the Yes Button to close the Communication Process Window 20 Double click the Communication Manager Ico...

Page 86: ...d RAM data Clear If the INIT switch on the DIP switch on the Basic Module is ON and the power is turned ON RAM data will be cleared Also flash memory data will be read and RAM data will be overwritten when the INIT switch is OFF and the power is turned ON In either case the RAM data will be cleared by turning the power ON Therefore always save data to the MP2300 flash memory before turning OFF the...

Page 87: ...lick the Cancel Button to cancel the autorun 2 Open the My Computer folder and then right click the MPE720V6 disk drive Click Open in the pop up menu that appears The root directory of the installation disk will be displayed 1 Copy the sample program file onto the hard disk of your computer from the installation disk contained in the CD ROM 4 2 1 1 Copying the Sample Program File on page 4 13 2 St...

Page 88: ... file 2300SMPL_E YMW and paste it in a folder in the hard disk 2 Starting MPE720 Ver 6 To Transfer the Sample Program to the MP2300 1 Double click the 2300SMPL_E YMW file copied to the hard disk MPE720 Ver 6 will start up and the following message will ask for confirmation to connect to the controller Click the No Button 2 Click Communications Setting in the MPE720 Ver 6 main window The Communicat...

Page 89: ...nline Write into Controller in the menu bar The Transfer Program Write into Controller Dialog Box will appear 5 Click the Individual Button to select an individual file transfer and click the Save to flash after transferring to the controller Check Box to clear it Then select the System Configuration Check Box Select the Scan time definition and Data trace Check Boxes from the list of files that w...

Page 90: ...ple program files When the transfer is complete a message box will appear to tell you that the sample program files have been successfully written to the MP2300 8 Click the OK Button in the message box Another message box will appear asking whether or not to run the MP2300 Click the Yes Button to run the MP2300 The MP2300 will start running The sample program files have been transferred to the MP2...

Page 91: ...ted system For details regarding the motion fixed parameters refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Modules User s Manual Manual No SIEPC88070033 1 Select Setup Module configuration from the Launcher Alternatively double click Module configuration in the 2300SMPL_E folder in the system sub programs The Engineering Manager will start and the Module Configuration Window...

Page 92: ...box at the top left of the window and select mm under No 4 Reference unit selection on the Fixed Parameters Tab Page 4 In the Engineering Manager Window select File Save to save the settings for axis 1 fixed parameters 5 Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well The process for saving fixed parameter settings has now been completed Next save the SERVOPACK paramet...

Page 93: ...s in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page 3 Select Edit Copy Current Value A confirmation dialog box will appear The data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current Value Column is the data set to the SERVOPACK Refer to B Current Values and Set Values Input Data in the SVB Definition Window on p...

Page 94: ...ngs for Servo Control 4 20 5 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 6 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well 7 Select File Exit to exit the setting and saving process in the Engineering Manger Window ...

Page 95: ...P2300 RAM to flash memory 1 Select Online Save to Flash in the menu bar of the MPE720 Ver 6 main window The Transfer Program Save to Flash Dialog Box will appear 2 Check to see that the target controller displayed in the dialog box is correct and then click the Start Button A message box will appear and ask whether or not to stop the MP2300 while saving data to the flash memory 3 Click the NO Butt...

Page 96: ...rom Controller from the menu bar of the MPE720 Ver 6 main window The Transfer Program Read from Controller Dialog Box will appear 2 Check the selected items and displayed contents to see if they are correct and then click the Start Button The project file sample file saved in your computer will be overwritten with the data transferred from the MP2300 When the overwriting is complete a message box ...

Page 97: ...og On Online Connect to MP2300 and log on to MPE720 4 3 2 1 Logging On Online on page 4 28 6 Load Sample Programs Load sample programs from MPE720 system CD ROM 4 3 2 2 Loading the Sample Programs on page 4 32 7 Transfer Individual Sample Programs Select a sample program to be transferred and transfer to MP2300 4 3 2 3 Transfer Individual Programs on page 4 34 8 Set the Motion Fixed Parameters Set...

Page 98: ...300 The explanation is given assuming that the MPE720 has been installed on your personal computer Refer to Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEPC88070005 for the installation method of MPE720 1 Starting the MPE720 Ver 5 Start the MPE720 Ver 5 using the following procedure 1 Open the YE_Applications Folder and double click the MP...

Page 99: ...ar 2 Enter a group folder name of up to 8 characters and click the OK Button A new group folder will be created Double click root or click to display the entered group folder name Group folders order folders and PLC folders form part of a directory tree as shown in the figure to the left Programs created using MPE720 are saved to PLC folders MPE720 cannot create programs if no PLC folder exists PL...

Page 100: ...r storing Controller Folders 1 Right click root or the Group Folder in which the Order Folder is to be created and select New Order Folder from the pop up menu The Make New Folder Dialog Box will appear 2 Enter an Order Folder name of up to 8 characters and click the OK Button A new Order Folder will be created Click the group folder or to display the entered Order Folder name ...

Page 101: ...Folder in which the Controller Folder is to be created and select Create New Folder Controller Folder from the pop up menu The Controller Configuration Dialog Box will appear 2 Enter a Controller Folder name of up to 8 characters under Controller Name select MP2300 under Controller Type and click the OK Button A new Controller Folder will be created Click the Order Folder or to display the entered...

Page 102: ...ller Folder that has been created and select Online from the pop up menu that is displayed A confirmation dialog box will appear Click the Yes Button to switch to online mode The communication mode cannot be changed while logging on to the Controller folder is performed when using MPE720 If a Cannot change to CPU while logged on message is displayed when Online is selected refer to 4 3 3 2 Logging...

Page 103: ...ne is set to Yes Under Logical Port No Device Type select the logical port number to be used from the logical ports set using the communication process The contents displayed on the tab page changes according to the selected port number CP217 represents the RS 232C connection serial port and CP218 represents the Ethernet connection ...

Page 104: ...Leave the values other than the Logical Port No on their default settings and click OK Button For Ethernet Connection Enter the IP address of the Communication Module at the MP2000 Series Machine Controller and click OK Button 5 Click the Yes Button in the dialog box that is displayed next to complete selection of the logical port ...

Page 105: ... pop up menu that is displayed The CPU Log On Dialog Box will appear 7 Enter USER A default under User Name and Password and click the OK Button Logon will be executed for the selected Controller folder and the dialog box will close The user name and password may have already been changed Ask the system administrator beforehand The user name and password are changed from the File menu in the File ...

Page 106: ... Eng folders and double click the 2300SMPL_E EXE icon A dialog box for specifying where to unpack the file will appear 2 Specify the destination path a path other than File Manager and click the Decompress Button The sample program will be unpacked and saved to the specified path and a folder called 2300SMPL_E will be created 3 Right click on the Controller folder where the sample program is to be...

Page 107: ...the Source is correct move to step 6 5 The Change Transfer Drive Dialog Box will appear Click the Detail Button to open the Select the Folder Dialog Box 6 Three sub folders under the 2300SMPL_E folder will appear Click the Select Button to close the dialog box 7 The Execute Dialog Box will appear Click the OK Button The Execution Status Dialog Box will appear Once the transfer has been completed a...

Page 108: ...Exit to end reading files to the MPE720 3 Transfer Individual Programs Transfer the programs that have been read to the MPE720 individually to the MP2300 1 Right click on the Controller Folder that has been logged onto online and select Transfer Selected Files From MPE720 to Controller from the pop up menu that is displayed The Individual Load Window will appear ...

Page 109: ...ed and detailed settings are made for DWG and Motion Main Program a Set Drawing Details Dialog Box The details for the DWG sample program are shown below Select the programs to be transferred and click the OK Button If Select All is selected all programs for the DWG program will be selected In this example select Select All and click the OK Button to return to the Individual Load Window b Motion M...

Page 110: ... Fixed Parameters This section describes the procedure for setting motion fixed parameters for axes 1 and 2 to match the sample program When using a program set the fixed parameters to match the devices being used Refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 1 Double click the 2300SMPL Controller Folder Definition Folder in the F...

Page 111: ...pear 3 Set the fixed parameters for axis 1 Select Axis 1 from the axis selection box at the top left of the window and select mm under No 4 Reference unit selection on the Fixed Parameters Tab Page 4 In the Engineering Manager Window select File Save to save the settings for axis 1 fixed parameters 5 Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well The process for savin...

Page 112: ...t the axis in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page 3 Select Edit Copy Current Value A confirmation dialog box will appear The data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current Value Column is the data set to the SERVOPACK Refer to B Current Values and Set Values Input Data in the SVB Definition Wi...

Page 113: ...grams 5 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 6 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well 7 Select File Exit to exit the setting and saving process in the Engineering Manger Window ...

Page 114: ...at is displayed The Save Flash Memory Content Window will appear 2 Select File Execute 3 Click the Yes Button in the displayed confirmation dialog box and then click the Yes Button in the TrnSys Dialog Box that is displayed 4 Another confirmation dialog box will be displayed Click the Yes Button The data will be saved to flash memory When saving to flash memory has been completed a dialog box to c...

Page 115: ...lick the Controller Folder in which the sample programs have been saved and select Transfer All Files From Controller to MPE720 from the pop up menu that is displayed An execution confirmation dialog box will appear 2 Check the details and click the OK Button The file transfer will start A notification dialog box will be displayed when the transfer has been completed Click the OK Button in the dia...

Page 116: ...1 Right click on the Controller Folder where sample programs are saved and select Controller Operation from the pop up menu that is displayed The Controller Running Status Dialog Box will appear 2 Click the Run Button To stop the CPU for example to verify errors click the STOP Button displayed here 3 Change confirmation dialog box will be displayed Click the Yes Button to return to the Controller ...

Page 117: ... Logging Off Log off once the work using MPE720 Embedded has been completed 1 Right click on the Controller Folder where sample programs are saved and select Log Off from the pop up menu that is displayed 2 Click the Yes Button in the displayed dialog box to complete the logoff process ...

Page 118: ...anel from the menu bar For information on how to open the Engineering Manager Window of MPE720 Ver 6 refer to 4 2 2 1 Setting and Saving Motion Fixed Parameters on page 4 17 For information on how to open the Engineering Manager Window of MPE720 Ver 5 refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 The Open DWG setting Dialog Box will appear 2 Enter the number of the drawing pro...

Page 119: ...Window by using the following procedure 1 Log on online open the Programs folder and then open the High Scan Programs folder in the PLC folder where the sample programs are saved in the File Manager Window 2 Right click the H02 Drawing in the High Scan Programs folder and select Open Tuning Panel from the pop up menu that is displayed Engineering Manager will start and the following Tuning Panel W...

Page 120: ... of each program drawing A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices END END END Name H02 SEE Name H01 SEE Name H02 01 SEE END Name H02 02 SEE END Grandchild Drawings H01 Drawing SERVO ON Alarm Reset Paramet...

Page 121: ...s 2 H02 Drawing Tuning Panel Display the H02 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for common operation and Manual Operation and Setting from the Tuning Panel ...

Page 122: ...ue ON OFF Axis 2 stops Axis 2 Reverse Jog Current value OFF ON Axis 2 rotates in reverse direction Current value ON OFF Axis 2 stops Axis 1 Forward Step Current value OFF ON Axis 1 starts rotating forward for the moving amount set under Axis 1 STEP moving amount Current value ON OFF STEP operation stops Always stop after executing stepping Axis 1 Reverse Step Current value OFF ON Axis 1 starts rot...

Page 123: ...tronic cam Name H06 END Axis 1 Servo ON Servo ON Command Axis 2 Servo ON Axis 2 alarm reset Axis 1 alarm reset Alarm Reset Axis 2 motion command 0 detection Axis 1 motion command 0 detection Motion Command Detection Main Program Axis Common Settings P00102 H01 Action Common Settings 0000 NL 1 0000 Axis 1 motion command 0 MB300010 SourceA IW8008 SourceB 00000 0002 NL 1 0001 Axis 2 motion command 0 ...

Page 124: ...ence unit s 1 ms Bits 0 to 3 Speed Unit Selection 0 Reference unit s 1 Reference unit min 2 Percentage Speed Unit and Acceleration Deceleration Unit Selection Axis 1 Function Settings 1 unit 0014 NL 1 0006 AND Axis 1 Function Settings 1 work SourceA OW8003 Dest DW00010 SourceB H0F00 0015 NL 1 0007 OR Axis 1 Function Settings 1 SourceA DW00010 Dest OW8003 SourceB H0011 0016 NL 1 0008 AND Axis 2 Fun...

Page 125: ...DB000001 Axis 1 forward jog DB000010 Axis 1 reverse jog DB000011 Axis 1 reverse jog DB000011 Axis 1 STEP STEP 0019 NL 1 0006 Axis 1 forward step DB000012 EXPRESSION Axis 1 step speed and moving amount WORK DB000058 Axis 1 SV_ON IB80001 Axis 1 step start DB000009 Axis 1 step stop DB00000A Axis 1 step start DB00009 0029 NL 1 0008 0032 NL 1 0009 0034 NL 1 0010 STORE Axis 1 motion command OL8010 1000 ...

Page 126: ... Axis 2 reverse step DB000013 Axis 2 SV_ON IB80801 WORK DB000051 Axis 2 step command DB000008 Axis 2 motion command 0 DB300018 WORK DB000058 Axis 2 step command DB000008 Axis 2 step start DB000009 WORK DB000059 Axis 2 SV_ON IB80801 0006 0001 NL 1 0010 0002 NL 1 0013 0003 NL 1 0015 0004 NL 1 0017 0005 NL 1 0019 0006 NL 1 0025 0007 NL 1 0029 0008 NL 1 0032 0009 NL 1 0034 0010 NL 1 0000 0000 NL 1 Axi...

Page 127: ...interval timer MPM003 Axis 2 positioning and interpolation without interval timer Motion programs are written in text format and the listed commands and operations are executed in listed order Refer to 4 4 3 5 Sample Program Details on page 4 56 for details of each program A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SER...

Page 128: ... 3 H04 Drawing Tuning Panel Display the H04 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for Common operation and Positioning operation and settings from the Tuning Panel ...

Page 129: ...operation is started 3 Set Target Position 1 and Target Position 2 Enter any value for the following settings These settings determine the target position for positioning when Motion Program No 2 and No 3 are executed 1st target position X axis 1st target position Y axis 2nd target position X axis 2nd target position Y axis 4 Positioning start Change the current value for Positioning start from OF...

Page 130: ...001 開始要求 DB000210 一時停止 DB000011 1軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 MB300010 2軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 MB300018 動作解除 DB000012 ON COIL SB000004 EXPRESSION 移動ﾃﾞｰﾀ設定 ML30100 DL10 ML30102 DL12 ML30110 DL14 ML30112 DL16 ML30114 3000000 MPM運転中 DB000200 MPMｱﾗｰﾑ発生中 DB000208 ｱﾗｰﾑﾘｾｯﾄPB MB300001 0009 NL 1 0003 ｱﾗｰﾑﾘｾｯﾄ要求 DB000215 0021 NL 1 0010 STORE MPM補間ｵｰﾊﾞライド Source 10000 Dest DW00022 ON COIL SB000004 MPM運転中 MB300020 MPMｱﾗｰﾑ発生中 MB3000...

Page 131: ...ear interpolation and circular interpolation for axis 2 MPM002 inserts a timer command between each travel command to indicate operation divisions MPM003 continuously executes travel commands without the timer commands of MPM002 as shown in the following figure 00001 MPM002 00002 Data Setting 00003 VEL X 1000 Y 1000 Travel speed setting for positioning command 00004 FMX T50000000 Composite speed u...

Page 132: ...tate in exactly the same way Refer to 4 4 4 5 Sample Program Details on page 4 60 for details of H06 01 Drawing A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices MP2300 Servo motor SERVO PACK No 1 Controller Drive...

Page 133: ...ON The mode will change to the phase control electronic shaft mode Enter OFF to exit position control electric shaft mode 3 Enter Speed Settings Enter any value within the setting range 0 to 30000 as the current value of Speed setting motor rated speed 30 000 mm min This operation synchronizes the speed for both axes to the speed of the virtual master axis and operation starts Change the Electric ...

Page 134: ...00025 Dest OW8008 WORK DB000050 Axis 2 SV_ON IB80801 Electronic shaft start DB000001 Electronic shaft stop DB000002 Zero speed DB000003 DB000001 0009 NL 1 0002 0013 NL 1 0003 0015 NL 1 0004 STORE Axis 2 motion command Source 00025 Dest OW8088 0004 NL 1 0001 Motion Command Issued Motion command 25 phase control setting Axis 1 SV_ON IB80001 Electronic shaft operation command DB000000 DB000000 Axis 1...

Page 135: ...Source 00000 Dest OW8008 STORE Axis 2 motion command Source 00000 Dest OW8088 Electronic shaft stop DB000002 Motion command 0 NOP setting S curve Acceleration deceleration Setting Electronic Shaft Operation Speed Setting Switching Sequence Electronic shaft speed setting Electronic shaft stop DB000002 EXPRESSION S curve accelerator decelerator input DB000200 true DB000201 true DB00022 30000 0 DB000...

Page 136: ...created using a ladder program L06 Drawing Refer to 4 4 5 5 Sample Program Details on page 4 64 for details of H06 01 Drawing A simple device is used in this example to describe the MP2300 system startup Caution is required because actual applications will be different This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency st...

Page 137: ...ng per cycle Setting range 0 to 50000 000 Cam pattern data is not changed when Electric cam start is set to ON 3 Start Electronic Cam Operation Change the Electric cam start current value from OFF to ON Axis 2 will change to phase control electric cam mode Enter OFF to exit phase control electric cam mode 4 Enter Main Axis Speed Settings Enter any value within the setting range 30000 to 30000 as t...

Page 138: ...tion command Source 00000 Dest OW8008 STORE Axis 2 motion command Source 00000 Dest OW8088 Electronic cam stop DB000002 0004 NL 1 0001 Motion Command Issue Motion command 25 phase control setting Axis 1 SV_ON IB80001 Operation command DB000000 Operation command DB000000 Axis 1 motion command 0 MB300010 Axis 1 motion command 0 MB300018 Operation command DB000000 WORK DB000051 Electronic cam start D...

Page 139: ...tting Source DF00040 Dest OL8010 STORE Linear accelerator decelerator input Source 0 000000E 000 Dest DF00012 LAU Linear accelerator decelerator input Parameter DA00020 Output DF00040 Input DF00012 STORE Electronic cam phase Source 00000 Dest DL00066 STORE Master axis position FB this scan Source IL8016 Dest DL00060 SUBX Incremental value for master axis per scan SourceA DL00060 Dest DL00064 Sourc...

Page 140: ...L 1 0026 SUBX ｽﾚｰﾌﾞ軸1ｽｷｬﾝ増分値 SourceA DL00070 SourceB DL00072 Dest DL00074 0055 NL 1 0027 STORE ｽﾚｰﾌﾞ軸ｶﾑ変位前回 Source DL00070 Dest DL00072 0056 NL 1 0028 ｶﾑ運転指令中 MB300008 EXPRESSION ｶﾑ速度演算設定 DL00076 DL00074 10000 SW0004 DL00078 DL00076 60 1000 OL8090 DL00078 10000 10000 0058 NL 1 0029 END Main Program Phase Control 2 Electronic Shaft Axis 2 phase compensation setting Detection in forward direction ...

Page 141: ...eration P00126 L06 0000 NL 1 0000 Cam operation command MB300008 Electronic Cam Table Data Generation Cam Table Data Generation Leading Data EXPRESSION Cam table leading data DL00010 ML30200 DL00012 ML30202 ML30210 DL00010 ML30212 DL00012 MW31000 361 0003 NL 1 0002 Cam Table Generation following data 0002 NL 1 0001 FOR Cam displacement calculation Variable I Init 00000 Max 00360 Step 00001 STORE P...

Page 142: ...mple SERVOPACK Settings SGDS 1 Refer to each slaves manual for information on the setting details 3 Start Up MECHATROLINK Slaves Turn ON the power to the MECHATROLINK slaves and check that the electronic devices start up normally If using a new Absolute Encoder the Absolute Encoder will need to be initialized Refer to C Initializing the Absolute Encoder on page A 13 for details The servo adjustmen...

Page 143: ...or the procedure from starting MPE720 to setting and saving fixed parameters Refer to D 1 Fixed Parameter List on page A 19 for the fixed parameter list and Machine Controller MP2000 Series Motion Module Built in SVB SVB 01 User s Manual Manual No SIEPC88070033 for details on fixed parameters and for information on setting parameters for machinery Refer to each SERVOPACK manual for information on ...

Page 144: ...to flash memory 9 Save Ladder Programs and Restart MP2300 Transfer the ladder program to the MP2300 and save to flash memory and then turn the power from OFF to ON to restart the MP2300 Refer to 4 3 2 3 Transfer Individual Programs on page 4 34 for information on transferring ladder programs This completes the system startup procedure Always save to flash memory when applications have been changed...

Page 145: ... the MECHATROLINK slaves 5 Execute Self configuration Turn ON the power to the MP2300 connect to the MP2300 using MPE720 then select Order Self Configure All Modules to execute self configuration for the added Optional Module or the SERVOPACK connected SVB Module Refer to 5 4 3 2 Self Configuration of Each Module on page 5 34 for information on self configuration of MP2300 Modules If Self Configur...

Page 146: ...Adding Electronic Devices 4 72 6 Make Parameter Settings to Match Machinery 7 Save SERVOPACK Parameters 8 Save MP2300 Data to Flash Memory 9 Save Ladder Programs and Restart MP2300 This completes the system startup procedure when electronic devices have been added ...

Page 147: ...he switch settings turn ON the power to the slave and check that it starts up normally Once normal startup has been confirmed turn OFF the power supply 4 Replace the Electronic Device Remove the electronic device to be replaced connect the new device to the MP2300 and turn ON the power to all MECHATROLINK slaves 5 Turn ON the MP2300 Turn ON the MP2300 power 6 Save SERVOPACK Parameters If a SERVOPA...

Page 148: ...placing Electronic Devices 4 74 7 Turn ON the MP2300 and SERVOPACKs Turn ON OFF to ON the power to the MP2300 and SERVOPACKs and then enable the parameters written to the SERVOPACKs This completes the system startup procedure when electric devices have been replaced ...

Page 149: ...of Ladder Programs for Motion Program Control 5 18 5 2 6 Functions 5 20 5 3 Registers 5 21 5 3 1 Types of Registers 5 21 5 3 2 Data Types and Register Specifications 5 24 5 3 3 Using i and j Subscripts 5 26 5 3 4 Register Specification Methods 5 27 5 4 Self configuration 5 28 5 4 1 Self configuration Processing Procedure 5 29 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 ...

Page 150: ...tions of six switches SW1 OFF ޓޓޓ ON STOP SUP INIT CNFG MON TEST 1 2 3 4 5 6 No Switch Name Status Operating Mode Default Setting Remarks 1 STOP ON User program stops OFF Set to ON to stop user program operation Effective only at power ON OFF User program operation 2 SUP ON System use OFF Always set to OFF OFF Normal operation 3 INIT ON Memory clear OFF Set to ON to clear memory Programs stored in...

Page 151: ... DWG I executed Input Input Low speed scan High speed scan Interrupt signal Ladder program Power ON Startup self diagnostics 1 Memory clear FLASH RAM Copy Watchdog timer start DWG A executed Ladder program Order of priority High Low Online self diagnostics 5 Background Normal operation Self configuration execution 2 Configuration mode Run LED indicator lit User program stops Operation starts 3 Ope...

Page 152: ...ON STOP to OFF RUN the CPU starts the watchdog timer and then executes DWG A in the ladder program Refer to the startup processing drawing and 5 2 2 Execution Control of Drawings on page 5 7 First scan processing is executed once DWG A has been completed and the high speed or low speed scan time has elapsed System I O are executed from the first scan 4 Operation Stop MP2300 stops motion control op...

Page 153: ...ot lit Not lit Not lit User program executing normally Online operation mode Error Not lit Not lit Not lit Lit Not lit Major damage has occurred The ERR LED indicator is lit red when the CPU is down Not lit Not lit Not lit Blinking Not lit Software error No of blinks 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command error 7 Illegal slot comman...

Page 154: ...s Parent drawings are automatically executed by the system program when the execution conditions outlined in the table below are met Child Drawings Child drawings are accessed using a SEE command from a parent drawing Grandchild Drawings Grandchild drawings are accessed using a SEE command from a child drawing Operation Error Processing Drawings Operation error processing drawings are automaticall...

Page 155: ...gh speed scan Set the time of the high speed scan to approximately double the total execution time for DWG H Drawing Number of Drawings DWG A DWG I DWG H DWG L Parent Drawings 1 A 1 I 1 H 1 L Operation Error Processing Drawings 1 A00 1 I00 1 H00 1 L00 Child Drawings Total 62 max Total 62 max Total 198 max Total 498 max Grandchild Drawings Operation error Power ON DWG A initial processing drawing E...

Page 156: ...grandchild drawings are always called from child drawings This is the hierarchical structure of drawings As shown in the following figure each processing program is created from a hierarchy of parent child and grandchild drawings The type of drawing and the parent child grandchild relationship can be determined from the descriptors after DWG DWG X DWG X01 DWG Xnn DWG X01 01 DWG X01 02 FUNC 001 FUN...

Page 157: ...Functions can be called from any drawing Functions can also be called from other functions When an operation error occurs the operation error processing drawing for that drawing will be started SEE A01 01 DWG A01 SEE A01 DWG A DWG A01 01 DEND FUNC 001 DWG A01 02 DEND FUNC 001 FUNC 001 DWG A02 DEND DEND SEE A01 02 DWG A00 DEND DEND DEND SEE A02 System starts automatically Operation error Parent Dra...

Page 158: ...ation of the program number or indirect specifi cation by specifying the register number where the program number is stored Fig 5 1 Calling Motion Programs Using Direct Specification Fig 5 2 Calling Motion Programs Using Indirect Specification For the meaning of register numbers and how to interpret them refer to 5 3 Registers on page 5 21 Type Specification Method Features No of Programs Main Pro...

Page 159: ...der commands are executed in hierarchical order i e parent drawings child drawings then grandchild drawings each high speed scan cycle Motion programs are also called each scan cycle but unlike ladder programs all motion programs cannot be executed in one scan For this reason motion programs are executed and controlled by special system s motion management function Ladder program MSEE commands can...

Page 160: ...ters contains the motion program status bits for monitor ing execution status of the motion program The following table shows details of status bit Alarm details are saved in the S registers VEL a1 5000 b1 FMX T10000000 IAC T25 IDC T30 MOV a1 300 b1 MVS a1 200 b1 DA DA 1 DA 2 DA 3 hexadecimal number END DWG H DEND Status Control signal Interpolation override System work number MSEE work registers ...

Page 161: ...igure shows an example of a timing chart for motion program control signals Bit No Signal Name Signal Type 0 Program operation start request Differential or NO contact input 1 Program pause request NO contact 2 Program stop request NO contact 3 Program single block mode selection NO contact 4 Program single block start request Differential or NO contact input 5 Alarm reset request NO contact 6 Pro...

Page 162: ...rride set ting is ON 4 System Work Number DA 3 The system work number n setting range 1 to 16 used when executing motion programs is set by the fourth word of the MSEE work registers DA 3 This system work number is enabled only when the motion program control signal bit D system work number setting is ON The status bit bit E No system work error will turn ON if the work number setting is outside t...

Page 163: ...17 Bit0 MP 016 Bit15 to MP 001 Bit0 Motion program execution information Executing program number Executing program bit Executing program number No of main program currently executing Executing Program Bit Executing when corresponding bit is ON Reserved by the system Reserved by the system Reserved by the system Reserved by the system Program information used by work 1 Program information used by ...

Page 164: ...information Parallel 5 information Parallel 6 information Parallel 7 information Executing program number Executing block number Error code Logical axis 1 program current position Logical axis 2 program current position Logical axis 3 program current position Logical axis 4 program current position Logical axis 5 program current position Logical axis 6 program current position Logical axis 7 progr...

Page 165: ...W03246 to SW03321 Program information used by work 1 b When Bit D of Motion Program Control Signal System Work Number Setting is OFF The system automatically determines the system work to be used This means that the work being used can be checked under Executing program number SW03200 to SW03215 For example if the motion program to be monitored is MPM001 and SW03202 is 001 the number of the work b...

Page 166: ...tings parameter OB80000 and turns ON the Servo 2 to 10 The signals connected to the MP2300 external input signals are stored as the motion program control signals IW0000 external input signal DW00001 Second word of MSEE work registers Start program operation Pause program Stop program Reset alarm 11 Calls motion program MPM001 MSEE MPM001 DA00000 1 2 1 Motion program number 2 Leading MSEE work reg...

Page 167: ...as run pause and stop can be performed using the system s motion management function The following tables show an example of the minimum external input signals required to create the above ladder program External Signal Address External Signal Name Bit No Motion Program Control Signal IB00000 Start program operation 0 Program operation start request IB00001 Pause program 1 Program pause request IB...

Page 168: ... programs and the function definitions can be changed programmed freely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manuals for information on defining functions Machine Controller MP900 MP2000 Series User s Manual Ladder Programming SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming SIEZ C887 1 3 Machi...

Page 169: ... by the system SW00000 to SW00049 are cleared to all zeros when the system starts Common to all drawings M Data registers MB MW ML MFnnnnn MAnnnnn MW00000 to MW65534 Registers shared by all drawings Used e g as an interface between drawings I Input registers IB IW IL IFhhhh IAhhhh IW0000 to IW7FFF Registers used for input data O Output registers OB OW OL OFhhhh OAhhhh OW0000 to OW7FFF Registers us...

Page 170: ...0015 Z Internal function registers ZB ZW ZL ZFnnnnn ZW0000 to ZW00063 Internal registers unique to each function Can be used for function internal processing A External function registers AB AW AL AFhhhh AW0000 to AW32767 External registers with the address input value as the base address For linking with S M I O and DAnnnnn registers B W L Fnnnnn Annnnn W00000 to W16383 Call only registers Can be...

Page 171: ... L Fnnnnn 1 FUNC 000 function Program 1000 steps max Function individual registers DWG H drawing Program 1000 steps max DWG registers Constant data 16384 words max Individual data 16384 words max System registers Common DWG registers Data registers Input registers Output registers Constants registers Function external registers 1 Registers that are common to all drawings can be called from any dra...

Page 172: ...ns L Double length integer 2147483648 to 2147483647 80000000H 7FFFFFFFH Used for numeric value operations The values in parentheses are for use with logical operations F Real number 1 175E 38 to 3 402E 38 0 Used for numeric value operations A Address 0 to 32767 Used only when specifying pointers 0 1 2 3 4 5 6 7 8 9 A B C D E F MW00101 MW00102 MW00103 MW00100 MB001006 MF00102 ML00102 MF00100 ML0010...

Page 173: ... Registers 5 25 5 Outline of Motion Control Systems MA00100 Pointer Specification Register area Address in memory Indicates registers with consecutive multiple addresses with MA00100 as the leading address ...

Page 174: ... are added to register numbers For example when i 3 MW00010i is the same as MW00013 And when j 30 MW00001j is the same as MW00031 MW00001 MW00002 MW00000 MW00001 MW00001 MW00002 MW00000 MW00001 ML00000j when j 0 ML00000 ML00000j when j 1 ML00001 Upper word Double length Integer Type Lower word MF00000j when j 0 MF00000 MF00000j when j 1 MF00001 Upper word Real Number Type Lower word These are the ...

Page 175: ... is added after the register number Symbol specification Bit register RESET1 A X Integer register STIME H X Double length integer registers POS REF X Real number registers IN DEF X Address registers PID DATA X 8 alphanumeric characters max X When specifying subscripts a period is added after the symbol 8 alphanumeric characters max and then a subscript i or j is added T V Direct Specification of R...

Page 176: ...n Procedure for Self configuration Using the DIP Switch and 5 4 3 Execution Procedure for Self configuration Using MPE720 for the procedure to execute the self configuration The information is automatically written to the Module Configuration Definition The information is automatically written to the MECHATROLINK Transmission Definition MP2300 MECHATROLINK II 218IF LIO 02 SVB 01 Execution of Self ...

Page 177: ...ns with disconnected cables for which a communication error has occurred from which no response is received or with the same station number as another station Refer to 4 5 System Startup Using Self Configuration and 4 1 5 MP2300 Self configuration for information on station data settings fixed parameters settings setting parameter settings and saving SERVOPACK parameters Start self configuration E...

Page 178: ...gisters will be cleared In the following procedure it is assumed that the power supply to all Σ III SERVOPACKs are already turned ON 1 Turn OFF the power supply Turn OFF the 24 VDC power supply to the MP2300 2 Set the DIP switch Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300 Basic Module to ON 3 Turn ON the power supply Turn ON the 24 VDC power supply to the MP2300 4 Check the ...

Page 179: ... flash memory before turning OFF the power when writing or editing programs For information on how to save data to flash memory refer to 4 2 3 1 Saving to Flash Memory on page 4 21 MPE720 Ver 6 or 4 3 2 6 Saving to Flash Memory on page 4 40 MPE720 Ver 5 Turning OFF Power After Executing Self configuration Do not turn OFF the 24 VDC power supply to the MP2300 after executing self configuration unti...

Page 180: ...Self configuration of Each Module to detect the configuration Executing Self Configure All Modules will overwrite the parameters that have been set 1 Start the Engineering Manager of MPE720 MPE720 Ver 6 Start MPE720 and then open the target project file Select Setup Module configuration from the Launcher Or double click Module configuration in the System sub programs The Engineering Manager Window...

Page 181: ...module configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN LED indicator will return to its original state 3 Select File Save Save to FLASH to save the definitions data to the flash memory 4 Right click the No 3 colum in the Module Details area and click MECHATROLINK on the pop menu that appears The MECHATRO...

Page 182: ...ded self configuration can be executed separately for the Module port that has been changed 1 Start the Engineering Manager of MPE720 MPE720 Ver 6 Start MPE720 and then open the target project file Select Setup Module configuration from the Launcher Or double click Module configuration in the System sub programs The Engineering Manager Window will open and the Module Configuration Window will appe...

Page 183: ...cator will blink and a message indicating that the module configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN LED indicator will return to its original state When MP2300 is selected as an individual module executing Module Self Congifutation will configure all the modules 3 Select File Save Save to Flash fro...

Page 184: ... the Module Configuration Window of the MPE720 JEPMC IO350 JAMSC 120DAI53330 JAMSC 120DAI73330 JAMSC 120DAO83330 JAMSC 120DRA83030 Servos with special specifications and that cannot be automatically recognized are recognized as wildcard Servos SERVO Make allocations again for these Servos in the Module Configuration Window of the MPE720 Item Allocation Digital input DI 18 points IW0000 Digital out...

Page 185: ...OPACK Parameters When self configuration is executed SERVOPACK parameters are written to the SERVOPACK s EEPROM or RAM These settings however are not written to the set values for the SERVOPACK parameters saved in the MP2300 and SVB 01 Module For details of the data that is written refer to 11 6 5 Parameters Updated during Self configuration in the Machine Controller MP2000 Series Built in SVB SVB...

Page 186: ...settings scan time settings and module configuration definitions must be saved to flash memory Save Save to Flash Use the MPE720 to set or change these user definition files Be sure to save the results to flash memory If data is not saved to flash memory the settings and changes will be lost when the power supply to the MP2300 is turned OFF and ON When Using MPE720 Ver 6 System Setting Select File...

Page 187: ... the following precautions when setting or changing module configuration definition files Always check to make sure that the mounted Module is the one that is defined Be sure to save any new settings or changes to flash memory After the settings or changes have been completed turn the power supply to the MP2300 OFF and ON Fig 5 3 Module Configuration Definition Window User Definition Files ...

Page 188: ...2 set values of the scan time i e setting the set values of the scan time to at least 1 25 times the maximum times required to execute the scans If the scan time is set too close to the maximum execution time for the scan the refresh time for the screen on the MPE720 will be very slow and communication timeouts may occur If the maximum execution time exceeds the scan time set value a watchdog time...

Page 189: ... speed scan set value 1 25 1 4 1 75 ms High speed or low speed scan set value 2 ms 3 ms etc an integral multiple of at least 2 ms 0 8 ms Maximum Scan Time and 2 ms Communication Cycle MECHATROLINK Ι or MECHATROLINK ΙΙ High speed or low speed scan set value 1 25 0 8 1 ms High speed or low speed scan set value 1 ms 2 ms 4 ms etc an integral multiple of 2 ms at 1 ms and 2 ms or higher 1 4 ms Maximum ...

Page 190: ...6 3 3 LED Indicators 6 7 6 4 Troubleshooting System Errors 6 9 6 4 1 Outline of System Registers 6 9 6 4 2 Accessing System Registers 6 10 6 4 3 Troubleshooting When ERR is Lit 6 12 6 4 4 Troubleshooting When ALM is Lit 6 13 6 4 5 System Register Configuration and Error Status 6 14 6 5 Motion Program Alarms 6 24 6 5 1 Motion Program Alarm Configuration 6 24 6 5 2 Motion Program Alarm Code List 6 2...

Page 191: ...the gap between crimp terminals There must be an appropriate gap between the terminals Correct as necessary 3 LED Indicators RDY Check whether the indicator is lit The indicator must be lit It is abnormal if the indicator is not lit Refer to 6 3 3 LED Indicators on page 6 7 RUN Check whether the indicator is lit while the system is in RUN state The indicator must be lit It is abnormal if the indic...

Page 192: ...mbient temperature Ambient humidity 30 to 95 Atmosphere There must be no corrosive gases Power supply voltage check PS Module Measure the voltage between 24 VDC terminals 19 2 to 28 8 VDC Change the power supply as necessary Installation conditions Looseness and excess play Attempt to move the Module The Module must be secured properly Retighten the screws Dust and other foreign matter Visually ch...

Page 193: ...Files From Controller to MPE720 MPE720 Ver 6 Open the Project File and select Online Transfer Read from Controller This data is used to restore any data accidently lost during battery replacement 2 Check that the RDY indicator on the MP2300 Basic Module is lit 3 Open the battery cover on the unit front surface 4 Remove the connector on the end of lead of the built in battery from the connector on ...

Page 194: ...w Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module Switch settings e g DIP switches Parameter settings and program contents Step 2 Monitor the system to see if the problem changes for the following operations Switching the Controller to STOP status Resetting alarms Turning t...

Page 195: ...5 2 4 4 System Work Number DA 3 START NO NO NO NO Is a motion program being used Check the alarm code to find the cause YES YES Is bit D of the control signal ON YES YES Is there any motion program whose status flag bit 8 is ON 㩷 a Is an ERR ALM or BAT LED lit on the Basic Module front panel Check the MSEE instructions in the ladder program to see the contents of the 1st word status flag of work r...

Page 196: ...mine the error status and meaning The locations in the program that need to be corrected can be determined by using the LED indicator status to determine the general nature of the error using the contents of system S registers to check drawings and function numbers causing the error and knowing the meaning of operation errors RDY ALM TX RUN ERR BAT Classification LED Indicator Indicator Details Co...

Page 197: ...ption 6 Illegal general command exception 7 Illegal slot command exception 8 General FPU inhibited exception 9 Slot FPU inhibited exception 10 TLB multibit exception 11 LTB error read exception 12 LTB error write exception 13 LTB protection volation read exception 14 LTB protection volation write exception 15 Initial page write exception A hardware error has occurred Replace the Module Not lit Not...

Page 198: ...W00030 System Status 6 4 5 1 System Status on page 6 14 SW00050 System Error Status 6 4 5 2 System Error Status on page 6 15 SW00080 User Operation Error Status 6 4 5 3 Ladder Program User Operation Error Status on page 6 16 SW00090 System Service Execution Status 6 4 5 4 System Service Execution Status on page 6 19 SW00110 User Operation Error Status Details 6 4 5 3 Ladder Program User Operation ...

Page 199: ...ayed on the bottom of the screen 2 Enter the leading register number of the system register SW to be accessed in the Register input field The contents of the system register will be displayed starting from the leading reg ister number The data type is set by default to decimal Place the cursor anywhere on the list and then right click Select Hex hexadecimal from the pop up menu that will appear Th...

Page 200: ...gister lists can also be accessed with the Quick Reference 1 Select View Quick Reference from the main menu of MPE720 Engineering Manager Window The Quick Reference will be displayed at the bottom of the Engineering Manager Window Refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 for details on how to display the Engineering Manager Window 2 Click the Register List Tab to switch t...

Page 201: ...56 8000H Check the drawing that may be the cause If no error is found in the drawing check the set scan time Check the scan time setting Increase the scan time Check SW00059 to learn the step number that references the function Check all functions to see if there is a function that is referenced in the step number because the function from which the step number is referenced could not be specified...

Page 202: ...8 to find the drawing type in which the error count increased 2 Check the following register of the drawing type specified in a to learn the error code 3 DWG A DWG I DWG H DWG L SW00111 SW00127 SW00143 SW00175 Check the following register of the drawing type specified in a to learn the reference source drawing number 3 DWG A DWG I DWG H DWG L SW00123 SW00139 SW00155 SW00187 Check the following reg...

Page 203: ...ed 1 Write enabled SB000408 to SB00040D Reserved by the system SB00040E Operation Stop Request 0 RUN selection 1 STOP selection SB00040F Run Switch Status at Power ON 0 STOP 1 RUN CPU Error Status SW00041 SB000410 Serious Failure 1 WDGE undefined command See SW00050 for details SB000411 Reserved by the system SB000412 Reserved by the system SB000413 Exception Error SB000414 to SB000417 Reserved by...

Page 204: ...H DWG L Ladder Program Type SW00055 0000H System 0001H DWG A 0002H DWG I 0003H DWG H 0005H DWG L 0008H Function 000FH Motion program Ladder Program Error Drawing Number SW00056 Ladder program parent drawing FFFFH Ladder program function 8000H Ladder program child drawing 00H H Child drawing number Ladder program grandchild drawing yyH Hyy Grandchild drawing number Motion program F0 H H Program num...

Page 205: ...68 Year Generated SW00069 Month Generated SW00070 Day of Week Generated SW00071 Day of Month Generated SW00072 Hour Generated SW00073 Minutes Generated SW00074 Seconds Generated SW00075 Milliseconds Generated Not used SW00076 to SW00079 Reserved by the system Name Register No Description Name Register No Description DWG A Error Count Error Code SW00080 Operation error code See Ladder Program User ...

Page 206: ...hich an error occurred 0 when there is an error in the parent drawing Error Code SW00111 SW00127 SW00143 SW00175 Error A Register SW00112 SW00128 SW00144 SW00176 SW00113 SW00129 SW00145 SW00177 Modification A Register SW00114 SW00130 SW00146 SW00178 SW00115 SW00131 SW00147 SW00179 Error F Register SW00116 SW00132 SW00148 SW00180 SW00117 SW00133 SW00149 SW00181 Modification F Register SW00118 SW001...

Page 207: ...ber operation division by zero error Yes Operation not executed The F register remains the same 0030H Real number operation invalid operation non numeric No Operation not executed 0031H Real number operation exponent underflow No 0 0 0032H Real number operation exponent overflow No Maximum value 0033H Real number operation division error non numeric 0 0 No Operation not executed 0034H Real number ...

Page 208: ...ces Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarms SW00192 1 Alarm cleared 2 The number of alarm occurrences and alarm history cleared Name Register No Remarks I O Error Count SW00200 Number of I O errors Input Error Count SW00201 Number of input errors Input Error Address SW00202 Latest input error address OW register number Output Error Count SW002...

Page 209: ...ode Reserved by the system SW00216 to SW00223 Depends on the mounted module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Slot 2 Error Status SW00232 to SW00239 Depends on the mounted module and error code Slot 3 Error Status SW00240 to SW00247 Depends on the mounted module and error code ST 15 SW00210 Error code I O error 2 Subslot No 2 SW00208...

Page 210: ...d 260IF 01 Module Error Status Slot 3 Error Status Details ST 15 SW00233 Error code Station error 1 Subslot No 1 SW00232 Bit No F 8 7 0 ST 2 ST 1 Not used Not used SW00234 ST 30 ST 17 ST 16 Not used SW00235 Not used Not used SW00236 Not used Not used SW00237 Not used Not used SW00238 Not used Not used SW00239 Not used ST 15 SW00241 Error code Station error 1 Subslot No 2 SW00240 Bit No F 8 7 0 ST ...

Page 211: ...f sub slots 0004H SW00804 CPU Function ID C310H SW00805 CPU Function Module Status SW00806 I O Function Module ID 8070H SW00807 I O Function Module Status SW00808 SVB Function Module ID 9113H SW00809 SVB Function Module Status SW00810 SVR Function Module ID 9210H SW00811 SVR Function Module Status SW00812 to SW00815 Reserved by the system SW00816 to SW00823 Slot 1 SW00824 to SW00831 Slot 2 SW00832...

Page 212: ... SW03506 SW03509 SW03512 SW03515 SW03518 SW03521 6 SW3205 SW03554 to SW03611 SW03558 SW03561 SW03564 SW03567 SW03570 SW03573 SW03576 SW03579 7 SW3206 SW03612 to SW03669 SW03616 SW03619 SW03622 SW06325 SW03628 SW03631 SW03634 SW03637 8 SW3207 SW03670 to SW03727 SW03674 SW03677 SW03680 SW03683 SW03686 SW03689 SW03692 SW03695 9 SW3208 SW03728 to SW03785 SW03732 SW03735 SW03738 SW03741 SW03744 SW03747...

Page 213: ...ting acceleration parameter Indirect acceleration parameter exceeded the valid range Change the indirect register value 14h Circular arc length exceeded LONG_MAX Circular arc length exceeded the valid range in the circular arc or helical interpolation command Review the circular arc length in the circular arc or helical interpolation command 15h Vertical axis not specified for circular arc plane V...

Page 214: ...istance designation exceeded the valid range Review the motion program 84h Duplicated motion command Multiple commands ware executed against a single axis Check whether another program gave a command to the same axis at the same time If so review the program 85h Motion command response error A motion command response different from that instructed by the motion command is reported from a motion mo...

Page 215: ...eturn setting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF Alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The selected external signal is ...

Page 216: ...ation status A Servo Driver Synchronization Communications Error 8 Relative Positon Mode Step mode STEP Positioning movement exceeds the allowable value A Excessive Positioning Moving Amount In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error 9 Set Zero Point ZSET An alarm is occurring Asynchronized communicati...

Page 217: ...outside setting range W Set Parameter Error 21 Clear Alarm History ALMHIST_CLR The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error 22 Absolute Encoder Reset ABS_RST This command was used for Σ I SERVOPACK Executed while servo was ON Asynchronous communication status A Servo Driver Synchronization Communications Error The command to the SERV...

Page 218: ...et Others Automatic Parameter Updating when Move Command Starts An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The distribution was not completed DEN OFF Motion C...

Page 219: ... Refer to 6 7 2 Motion Error Details and Corrections 2 Refer to 6 7 3 1 Servo Driver Status IW 2C List 3 Refer to 6 7 3 2 Servo Driver Alarm Code IW 2D Warning IL 02 Bit 1 Setting Parameter Error Bit 2 Fixed Parameter Error Bit 0 Excessive Deviation Bit 3 Servo Driver Error Bit 4 Motion Command Set Error Bit 0 Servo Driver Error Bit 1 Positive Direction Overtravel Bit 2 Negative Direction Overtrav...

Page 220: ... Bit 1D Not used Bit E Not used Bit 1E Motor Type Set Error Bit F Not used Bit 1F Connected Encoder Type Error Detection Timing SERVOPACK alarms are continuously monitored by the alarm management section Processing when Alarm Occurs The current command will be aborted If a SERVOPACK error is detected during execution of a POSING command the positioning will be aborted and the axis will decelerate ...

Page 221: ...t of the machine was executed as follows A user program command exceeded the software limit The software limit was exceeded in manual operation Correction Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the software limit status Commands in the direction of the software limit will be disabled and an alarm...

Page 222: ... turn ON Error and Cause The speed movement output for one scan in case of interpolation commanded to MECHATROLINK servo exceeds the upper limit Correction Check the settings for speed reference interpolation command movement per scan and speed compensation Detection Timing Always except during speed control and torque control Processing when Alarm Occurs The move command is not executed The Comma...

Page 223: ...Command Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Error and Cause A move command was set without executing the ZSET command IW 0C bit 5 is OFF Correction After clearing the motion command and resetting the alarm execute a Zero Point Setting operation Detection Timing Detected by the communication control section when communication are synchronized between the Mac...

Page 224: ...is converted from pulses to reference units at power ON Correction Check the gear ratio number of encoder pulses for other motion fixed parameters Detection Timing Detected when communications with the SERVOPACK are established Processing when Alarm Occurs None Error and Cause The motor type setting rotary linear of the Machine Controller fixed parameter does not agree with that of SERVOPACK param...

Page 225: ...n the zero point 1 The APOS absolute position is in the zero point range Bit 7 Locating Complete PSET 0 Pulse distribution is not completed or the APOS is not in the positioning completed width 1 Pulse distribution is completed and the APOS is within the positioning completed width Bit 8 Commanded Profile Complete DEN 0 Pulse distribution is being performed for positioning command 1 Pulse distribu...

Page 226: ...vercurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Error 82 Absolute Encoder Checksum Error 83 Absolute Encoder Battery Error 84 Absolute Encoder Data Error 85 Absolute Encoder Excessive Speed B1 Gate Array 1 Error B2 Gate Array 2 Error B3 Current Fee...

Page 227: ...rror 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 Encoder Backup Alarm 82 Encoder Checksum Alarm 83 Encoder Battery Alarm 84 Encoder Data Alarm 85 Encoder Excessive Speed 86 Encoder Overheat B1 Speed Reference A D Error B2 Torque Reference A D Error ...

Page 228: ...load 911 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 941 Parameter Change Requiring Power Recycling 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outside Data Range 94C Data Setting Warning 3 Calculation Error 94D Data Setting Warning 4 Parameter Size 95A Command Warning 1 Command Conditions Not Met 95B Command Warning 2 Unsupported Command 95C C...

Page 229: ...um Alarm 880 Fully closed Serial Encoder Data Alarm 8A0 Fully closed Serial Encoder Scale Error 8A1 Fully closed Serial Encoder Module Error 8A2 Fully closed Serial Encoder Sensor Error Incremental Value 8A3 Fully closed Serial Encoder Position Error Absolute Value B31 Current Detection Error 1 B32 Current Detection Error 2 B33 Current Detection Error 3 B6A MECHATROLINK Communication ASIC Error 1 ...

Page 230: ...INK II Communication Error E61 MECHATROLINK II Transmission Cycle Error EA0 DRV Alarm 0 EA1 DRV Alarm 1 EA2 DRV Alarm 2 Name Register Number Code Meaning Servo Driver Alarm Code IW 2D 020 Parameter Checksum Error 021 Parameter Format Error 022 System Checksum Error 023 Parameter Password Error 030 Main Circuit Detector Error 040 Parameter Setting Error 041 Divided Pulse Output Setting Error 042 Pa...

Page 231: ...stem Alarm 4 CPUWDT Error C10 Overrun Protection Detection C20 Phase Detection Error 1 C21 Hall Sensor Error 1 C22 Phase Information Mismatch 1 C50 Magnetic Pole Detection Failure 1 C51 Overtravel Detection at Magnetic Pole Detection 1 C52 Magnetic Pole Detection Incomplete 1 C53 Magnetic Pole Detection Range Over C54 Magnetic Pole Detection Error 2 C80 Encoder Clear Error Multiturn Limit Setting ...

Page 232: ...e Communications Error 1 2 EB4 Safety Function Drive Communications Error 2 2 EB5 Safety Function Drive Communications Error 3 2 EB6 Safety Function Drive Communications Data Error 3 2 EC7 Safety Option Card Stop Command Error 2 F10 Power Line Open Phase CPF00 Digital Operator Communications Error 1 CPF01 Digital Operator Communications Error 2 Does not indicate an error Name Register Number Code ...

Page 233: ...et Values Input Data in the SVB Definition Window A 5 B 1 Operations and Parameter Data Flow A 5 B 2 Precautions When Saving SERVOPACK Parameters A 12 C Initializing the Absolute Encoder A 13 C 1 Initializing Procedures for Σ V and Σ III Series SERVOPACKs A 13 C 2 Σ II SERVOPACK A 15 C 3 Σ I SERVOPACK A 17 D Motion Parameter Lists A 19 D 1 Fixed Parameter List A 19 D 2 Setting Parameter List A 20 ...

Page 234: ...eed scan 2 SB000005 ON for only one scan after the start of a high speed scan that is begun after a CPU Mod ule operation starts Low speed scan 2 SB000006 ON for only one scan after the start of a low speed scan that is begun after a CPU Mod ule operation starts High speed Scan Flag SB000007 ON during execution of the high speed scan Reserved by the system SB000008 to SB00000F Not used Name Regist...

Page 235: ... Flicker Relay SB000032 2 0 s Flicker Relay SB000033 0 5 s Sampling Relay SB000034 1 0 s Sampling Relay SB000035 2 0 s Sampling Relay SB000036 60 0 s Sampling Relay SB000037 1 0 s After Start of Scan Relay SB000038 2 0 s After Start of Scan Relay SB000039 5 0 s After Start of Scan Relay SB00003A 1 scan 1 scan 0 5s 0 5s 1 0s 1 0s 2 0s 2 0s 0 5s 0 5s 1 scan 1 0s 1 0s 1 scan 1 scan 2 0s 2 0s 1 scan 6...

Page 236: ...Scan Current Value SW00011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Value SW00014 Executing Scan Current Value 0 1 ms Calendar Year SW00015 1999 0099 BCD Last two digits only Calendar Month Day SW00016 December 31 1231 BCD Calendar Hours Minutes SW00017 23 hours 59 min...

Page 237: ...hen the power is turned OFF 2 RAM SRAM SDRAM Lose data when the power is turned OFF Indicates data has been written same below 2 Normal Operation Control software of the SERVOPACK operates based on the parameter data held in SERVOPACK s RAM Some of MP2300 setting parameters and commands temporarily change SERVOPACK parameters RAM in the SERVOPACK are written Refer to 4 Motion Prameters of the Mach...

Page 238: ...eld in the SERVOPACK s RAM for the relevant axis to the Current Value in the SERVOPACK Tab Page It also reads and displays the values that are held in the MP2300 s SDRAM values to the Input Data in the SERVO PACK Tab The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window The values in Cur rent Value are different from the values in Input Data SDRAM SRAM EEP ROM RAM...

Page 239: ...t axis to the followings HDD hard disk of the personal computer SDRAM of MP2300 RAM and EEPROM of the SERVOPACK After having completed writing the parameters the MPE720 updates the values in Current Value on the SERVO PACK Tab Page with the SERVOPACK parameter values stored in the RAM MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online㧕 HDD in personal computer Display Current Value Inpu...

Page 240: ...K Tab Page in the SVB Definition Window After having saved the data the values in Input Data of all the parameters become the same as the values in Current Value on the SERVOPACK Tab Page The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement because it writes all the parameters of the relevant axis Before saving After saving ...

Page 241: ...displayed in Current Value to Input Data on the SERVOPACK Tab Page and displays The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab Page in the SVB Definition Window The values in Current Value are copied to Input Data MECHATROLINK RAM EEP ROM SRAM SDRAM MP2300 SERVOPACK SERVOPACK Control Software System Software Parameters Servo Paramete...

Page 242: ...s pressed on the computer The parameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page SDRAM of the MP2300 RAM of the SERVOPACK After having completed writing the MPE720 updates the values in Input Data on the SERVOPACK Tab Page with the parameter values stored in the RAM of the SERVOPACK MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE72...

Page 243: ... on the SERVOPACK Tab Page After having pressed the ENTER Key the values of Speed Loop Gain Speed Loop Inte gral Time Constant and Position Loop Gain boxed in dotted line in Input Data remain different from the values in Current Value since the parameters other than the one that has been changed are not written Before pressing ENTER Key After having pressed ENTER Key ...

Page 244: ...ving changed set data of SERVOPACK parameter B 2 Precautions When Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK Tab Page in any cases including the SERVOPACK replace ment always select Edit Copy Current Value to copy the values in Current Value to Input Data MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online㧕 HDD in personal computer Display Current Valu...

Page 245: ...uals for information on Σ III series SERVOPACKs Σ III Series SGM SGDS User s Manual Manual No SIEPS80000000 Σ III Series SGM SGDS User s Manual for MECHATROLINK II Communications Manual No SIEPS80000011 and Σ III Series SGM S SGDS Digital Operator Instructions Manual No TOBPS80000001 Follow the setup procedure below using a Digital Operator 1 Press the Key to display the Utility Function Mode main...

Page 246: ... Press the Key BB in the status display changes to Done 5 Press the Key The display returns to the Utility Function Mode main menu This completes setting up the absolute encoder Turn the power supply OFF and then back ON to reset the SERVOPACK ...

Page 247: ...following display will appear 4 The rightmost digit will be incremented each time the UP Key is pressed Press the UP Key sev eral times until PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation 5 Press the DSPL SET Key...

Page 248: ... PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation 5 Press the MODE SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder This completes ...

Page 249: ...ocedure to initialize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con nector for 2 seconds or more 3 Remove the short piece and insert the connector securely in its original position 4 Connect the cables using normal wiring and make sure the encoder battery is conn...

Page 250: ...ece and insert the connector securely in its original position At the Encoder End Connector 1 Disconnect the connector on the encoder end 2 Use a short piece to short circuit together connector pins R and S on the encoder end and leave the pins short circuited for at least 2 minutes 3 Remove the short piece and insert the connector securely in its original position 3 Connect the cables using norma...

Page 251: ...1 Enabled Yes Bit 2 Soft Limit Negative Direction Enable Disable 0 Disabled 1 Enabled Yes Bit 3 Overtravel Positive Direction Enable Disable 0 Disabled 1 Enabled Yes Bit 4 Overtravel Negative Direction Enable Disable 0 Disabled 1 Enabled Yes Bits 5 to 7 Reserved for system use Bit 8 Interpolation Segment Distribution Processing Yes Bit 9 Simple ABS Rotary Pos Mode Simple absolute infinite axis pos...

Page 252: ...tion Set to 0 when a direct drive motor is being used Invalid for linear type Yes 40 to 41 Reserved for system use 42 Feedback Speed Movement Averaging Time Constant 1 1 ms Yes Yes cont d No Name Contents SVB SVR Register No Name Contents SVB SVR OW 00 RUN Command Setting Bit 0 Servo ON 0 OFF 1 ON Yes Yes Bit 1 Machine Lock 0 Normal Operation 1 Machine Lock Yes Bits 2 to 3 Reserved for system use ...

Page 253: ...0 Reference unit s2 1 ms Yes Yes Bits 8 to B Filter Type Selection 0 No filter 1 Exponential acceleration deceleration filter 2 Moving average filter Yes Yes Bits C to F Torque Unit Selection 0 Percentage of rated toque 1 0 01 1 Percentage of rated toque 1 0 0001 Yes Yes OW 04 Function Setting 2 Bits 0 to 3 Latch Detection Signal Selection 0 1 2 Phase C pulse input signal Yes 3 EXT1 Yes 4 EXT2 Yes...

Page 254: ...PPRM_WR Stored Parameter Write Yes Yes OW 09 Motion Command Control Flag Bit 0 Holds a Command 0 OFF 1 ON Yes Yes Bit 1 Interrupt a Command 0 OFF 1 ON Yes Yes Bit 2 Moving Direction JOG STEP 0 Forward rotation 1 Reverse rotation Yes Yes Bit 3 Zero point Direction Selection 0 Reverse rotation 1 Forward rotation Yes Bit 4 Latch Zone Effective Selection 0 Disabled 1 Enabled Yes Bit 5 Position Referen...

Page 255: ...tting 1 1 reference unit Yes OL 2C Latch Zone Upper Limit Setting 1 1 reference unit Yes OW 2E Position Loop Gain 1 0 1 s Yes OW 2F Speed Loop Gain 1 1 Hz Yes OW 30 Speed Feedforward Amends 1 0 01 percentage of distribution segment Yes OW 31 Speed Compensation 1 0 01 percentage of rated speed Yes Yes OW 32 Position Integration Time Constant 1 1 ms Yes OW 33 Reserved for system use OW 34 Speed Inte...

Page 256: ... reference unit Yes OL 48 Zero Point Position in Machine Coordinate Offset 1 1 reference unit Yes Yes OL 4A Work Coordinate System Offset 1 1 reference unit Yes Yes OL 4C Number of POSMAX Turns Presetting Data 1 1 reference unit Invalid for liner type Yes Yes OW 4E Servo User Monitor Setting Bits 0 to 3 Monitor 1 Cannot be set Bits 4 to 7 Monitor 2 Bits 8 to B Monitor 3 Cannot be set Bits C to F M...

Page 257: ...s 1 1 pulse For linear type do not set this register Yes OL 60 Encoder Position When Power is OFF Upper 2 words 1 1 pulse For linear type do not set this register Yes OL 62 Pulse Position When Power is OFF Lower 2 words 1 1 pulse For linear type do not set this register Yes OL 64 Pulse Position When Power is OFF Upper 2 words 1 1 pulse For linear type do not set this register Yes OL 66 to OL 6E Re...

Page 258: ... Time Constant Change Error Yes Bit C Reserved for system use Bit D Zero Point Unsetting Invalid for linear type Yes Bit E Reserved for system use Yes Bit F Reserved for system use Yes Bit 10 Servo Driver Synchronization Communications Error Yes Bit 11 Servo Driver Communication Error Yes Bit 12 Servo Driver Command Timeout Error Yes Bit 13 Excessive ABS Encoder Rotations Invalid for linear type Y...

Page 259: ...on Load Completed ABSLDE Invalid for linear type Yes Bit 9 POSMAX Turn Preset Complete TPRSE Invalid for linear type Yes Yes Bits A to F Reserved for system use IW 0D Reserved for system use IL 0E Target Position in Machine Coordinate System TPOS 1 1 reference unit Yes Yes IL 10 Calculated Position in Machine Coordinate System CPOS 1 1 reference unit Yes Yes IL 12 Machine Coordinate System Referen...

Page 260: ...nput Bit 9 Brake State Output Bit A Stop signal HWBB Bit B Reserved for system use Bits C to F For SGDH NS115 SGDS and SGDV SERVOPACKs CN1 input signals IO12 to IO15 For other SERVOPACK models Reserved by system Yes IW 2F Servo Driver User Monitor Information Bits 0 to 3 Monitor 1 Bits 4 to 7 Monitor 2 Bits 8 to B Monitor 3 Bits C to F Monitor 4 Yes IL 30 Servo Driver User Monitor 2 Stores the res...

Page 261: ...fied in the Motion Subcommand Yes Yes IW 58 to IW 5C Reserved for system use IL 5E Encoder Position When the Power is OFF Lower 2 words 1 1 pulse Yes IL 60 Encoder Position When the Power is OFF Upper 2 words 1 1 pulse Yes IL 62 Pulse Position When the Power is OFF Lower 2 Words 1 1 pulse Yes IL 64 Pulse Position When the Power is OFF Upper 2 Words 1 1 pulse Yes IW 66 to IW 6F Reserved for system ...

Page 262: ...ve speed 6 33 excessively following error 6 33 F filter time constant change error 6 34 filter type change error 6 33 fixed parameter list A 19 function registers 5 22 functions 5 6 5 20 G grandchild drawings 5 6 group folders 4 25 creating 4 25 groups 5 11 H H drawing 4 49 H01 drawing 4 49 H02 drawing 4 50 H02 01 drawing 4 51 H02 02 drawing 4 52 H06 01 drawing 4 60 H06 02 drawing 4 64 hardware sp...

Page 263: ...y 4 40 scan execution status A 4 scan processing drawing 5 7 scan time setting and changing 5 40 Self Configuration 2 9 self configuration 4 28 5 4 5 28 method 4 12 self diagnosis online 5 4 self diagnosis at startup 5 4 servo driver command timeout error 6 34 servo driver communication error 6 34 servo driver error 6 31 servo driver error codes 6 36 servo driver synchronization communication erro...

Page 264: ...x 3 U user definition files 5 38 user name 4 31 user operation error status 6 16 user programs 5 6 V virtual motion module SVR 2 25 W wait for monitor data update 2 19 wild card I O 2 20 Z zero point not set 6 34 ...

Page 265: ... on the Web June 2011 6 2 Front cover Revision Format 1 5 1 Revision Model number of cable side connector for RS422 485 communication cable 10114 3000VE 10114 3000PE 2 1 1 Revision Hardware specifications 3 2 4 1 Revision Model number of CPU I O connector 10120 3000VE 10120 3000PE 6 4 5 1 Revision Description of hardware configuration status DIP switch alarms DIP switch reports 6 4 5 3 b Revision ...

Page 266: ...900 JEPMC AN2910 2 4 2 10 2 Revision Battery model 7 2 2 7 2 3 Revision Table Deletion of size column addition of parameter No column 11 1 4 Addition Motion program alarms July 2003 1 Back cover Revision Address April 2003 First edition Date of Publication Rev No WEB Rev No Section Revised Contents ...

Page 267: ... 2 017 0099 Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 Y...

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