YASKAWA MotionSuite MP940 Hardware Manual Download

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MotionSuite™ MP940 Machine Controller Hardware Manual

Section 5: Communications

The MP940 is used as a slave node:

The MP940 cannot communicate directly to the I/O350 or distributed I/O if
configured as a slave.

DeviceNet

The DeviceNet option is included with MP940D part number JEPMC-MC410.

Network Connections

Description

Color

V+

Red

CAN+

White

Shield

Bare

CAN-

Blue

V-

Black

Master

Node

Slave

Nodes

Upper-Level

Controller

MP940

SGDH

MP940

SGDH

MP940

SGDH

ST#1

14 nodes
maximum

Node 4

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Summary of Contents for MotionSuite MP940

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...MotionSuite MP940 Machine Controller Hardware Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 3: ...Switch Definition 15 Section 4 LED Indicators 19 LED Display 19 Section 5 Communications 21 Serial Communication 21 System Configuration 22 Communication Specifications 23 Mechatrolink 27 MP940 Master...

Page 4: ...ation Input 50 External Encoder Registration Input 51 Section 11 Maintenance 53 Battery Life 53 Battery Replacement 53 Section 12 Specifications 55 Physical Specifications 55 Hardware Specifications 5...

Page 5: ...nd a half axis machine controller It can be used to perform point to point positioning or following of external devices It has on board digital and analog I O and network connections to link to other...

Page 6: ...ice 2 Figure 1 2 Block Diagram of MP940 Functions Operator Interface SGDH Amplifier Personal Computer e Battery Connector c Mechatrolink or DeviceNet Interface b I O Connector e Power Connector d Port...

Page 7: ...JEPMC W6000 A5 Mechatrolink Cable 1 0m USB USB JEPMC W6000 01 Mechatrolink Cable 3 0m USB USB JEPMC W6000 03 Mechatrolink Cable 5 0m USB USB JEPMC W6000 05 Mechatrolink Cable 10 0m USB USB JPEMC W600...

Page 8: ...MotionSuite MP940 Machine Controller Hardware Manual Section 1 Introduction 4 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 9: ...up Mounting Orientation Mount the SGDH and MP940 in the appropriate direction for proper cooling as shown on the left below Correct Incorrect Figure 2 1 Mounting Orientation SGDH MP940 SGDH MP940 Arti...

Page 10: ...the direction indicated by the arrows in the figure above and insert the upper mounting notches of the MP940 into the upper mounting holes on the right side of the SGDH Servo Amplifier Connector Conne...

Page 11: ...ing table before mounting Clip A 2 Clip B 1 SGDH A3 SGDH 05 SGDH A5 SGDH 08 SGDH 01 SGDH 10 SGDH 02 SGDH 15 SGDH 04 YASKAWA SERVOPACK 200V SGDH Clip A Top Bottom Clip A SGDH 20 SGDH 60 SGDH 30 SGDH 75...

Page 12: ...steps below to mount the battery holder The mounting method for the MP940 battery holder is shown in the following figure 1 Insert the battery holder into the MP940 upper battery holder mounting hole...

Page 13: ...I O TX RX 1 2 M E C H A T R O L I N K MP940 Battery Holder Mounting Holes Push in this lock Upper lock Figure 2 4 Mounting the Battery Holder BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST...

Page 14: ...coder used as an incremental encoder No Yes No FLASH Operation RAM used Incremental encoder or absolute encoder used as an incremental encoder Yes No FLASH Operation Absolute encoder used Yes Yes No F...

Page 15: ...ion 20W Recommended Fuse Size 1A Type of Power Supply Regulated 24VDC 10 Signal Name 24V 24VDC Input GND 0VDC Input FG Frame Ground BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP...

Page 16: ...to a ground terminal on the sub panel or to the ground terminal on the SGDH R T Control Power ON Control Power OFF 1MC Servo Power ON Servo Power OFF 2MC Emergency Stop 1MC 1MC SUP 2MC SUP 1MCCB BAT R...

Page 17: ...a ground terminal on the sub panel or to the ground terminal on the SGDH R Control Power ON Control Power OFF 1MC Servo Power ON Servo Power OFF 2MC Emergency Stop 1MC 1MC SUP 2MC SUP 1MCCB T S 2MC 1M...

Page 18: ...CLEAR Only INIT and TEST are ON 2 Apply power to both the SGDH and the MP940 3 Verify that the MP940 is initialized RDY and RUN LED lights blink 4 Set the DIP switch to normal operation Only RUN is ON...

Page 19: ...4 is OFF Data is not copied from flash memory to RAM at power ON When DIP switch 4 is ON Nothing 4 TEST ON Terminal Mode Initialization Mode OFF OFF Online 3 FLASH ON Program is copied from flash memo...

Page 20: ...ndard Operation The DIP switch pattern shown is the factory default setting Step 1 Step 2 Step 3 Step 4 Step 5 Turn the MP940 power OFF Turn the INIT and TEST DIP switches to ON Turn on the power and...

Page 21: ...MotionSuite software tools have a setting which copies the application program to flash when downloading Refer to the software manual for details The flash start mode does not work unless an applicat...

Page 22: ...e controller via MotionWorks or MotionWorks by turning off all DIP switches except the copy switch The parameter transfer will occur at power up The display panel on the SGDH will go off during the pa...

Page 23: ...program execution Error OFF OFF ON OFF Memory error initialization may be required OFF OFF OFF OFF Initial operation when display continues OFF OFF Flashing OFF 1 2 flashes RAM error 2 3 flashes ROM e...

Page 24: ...o Signal Name Note 1 VCC Power 5V 2 3 4 LED0 5 LED1 6 7 LED2 8 LEDPW0 9 LEDPW3 10 LEDPW2 11 LED3 12 LED4 13 LED5 14 LEDPW1 15 LED7 16 LED6 Figure 4 1 MP940 LED Block BAT RDY RUN ALM BAT PRT1 6 5 4 3 2...

Page 25: ...er a master or slave according to setting in the MotionSuite software tools BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP COPY PORT1 PORT2 POWER 24V GND FG LED I O TX RX 1 2 M E...

Page 26: ...figuration BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP COPY PORT1 PORT2 POWER 24V GND FG LED I O TX R X 1 2 M E C H A T R O L I N K MP940 RS 232C Display Panel RS 422 Figure 5...

Page 27: ...RT1 9600 14400 19200bps RS 422 485 PORT2 9600 14400 19200bps Synchronization Type Asynchronous start stop synchronization Transmission Protocol MEMOBUS Master Slave Transmission Format Data Bit Length...

Page 28: ...side of transmission data 8 TX side of transmission data 2 TX side of transmission data 9 TX side of transmission data 3 RX side of received data 10 RX side of received data 4 RX side of received dat...

Page 29: ...maximum Use the minimum length necessary 3 The MP940 module RS422 485 interface is a non isolated system Errors may occur from noise in the connected terminal If noise occurs use a shield type cable a...

Page 30: ...l result if the MP940 counterpart is the same 1 TX 2 TX 11 TXR 3 RX 4 RX 7 RXR SHIELD 14 GND MP940 PORT2 1 TX 2 TX 11 TXR 3 RX 4 RX 7 RXR SHIELD 14 GND MP940 PORT2 Figure 5 5 Wiring Diagram If connect...

Page 31: ...40 is used as a master The following is an example of a network compatible I O module connected as node 1 to an MP940 Figure 5 6 Mechatrolink Connection Example CN1 IN1 OUT 1 IN2 OUT 2 A1 A1 A1 A1 B1...

Page 32: ...r one Insert a USB terminator JEPMC W6020 into unused ports There is only one channel per Mechatrolink port in the MP940 module As shown in the figure above the top and bottom of the connector are the...

Page 33: ...gured as a slave DeviceNet The DeviceNet option is included with MP940D part number JEPMC MC410 Network Connections Pin Description Color 1 V Red 2 CAN White 3 Shield Bare 4 CAN Blue 5 V Black Master...

Page 34: ...the right dial to 6 as shown below Note The maximum number of device nodes is 63 Setting the Baud Rate There are four DIP switches on the side of the unit Follow the chart to set each of the baud rat...

Page 35: ...ng condition No action required flashing green flashing green No network power 24V Check the connection state of the rack and system bus cable connectors solid green flashing red No response received...

Page 36: ...other DeviceNet devices and cycle the power to the MP940D Bus OFF 1 Check the wiring and connections for DeviceNet cables and connectors 2 Check the power supply voltage and connection for communicat...

Page 37: ...t cables and connectors 2 Check the baud rate for each DeviceNet device in the network 3 Check the operation status of DeviceNet devices on the network DeviceNet device is idle Remove the cause of the...

Page 38: ...tion under I O Allocations MS green lit NS red lit I O communications error Remove the cause of the I O error MS green lit NS green lit MSG SND function remains BUSY and does not end MSG SND function...

Page 39: ...6 Check the length of the network 7 Replace the MP940D Then either cycle the power for the MP940D or disconnect and reinsert the DeviceNet connectors MS green lit NS not lit Communica tions power sup...

Page 40: ...connections for DeviceNet cables and connectors 2 Check the baud rate for each device 3 Check the terminator 121 and connection status 4 Check the operation status of the DeviceNet master 5 Check the...

Page 41: ...NS green lit Communica tions are occurring but the receive data refresh is delayed Excessive traf fic on DeviceNet The communi cations cycle time setting is too low for the I O response receive time T...

Page 42: ...MotionSuite MP940 Machine Controller Hardware Manual Section 5 Communications 38 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 43: ...uts There are two additional general purpose inputs available from the SGDH via dual port RAM Figure 6 1 Digital I O Connection BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP COPY...

Page 44: ...cal Voltage 24VDC 20 Current Rating ON 5 3mA to activate Input Impedance 4 4k Operation Voltage Logic 0 5V Logic 1 15V OFF Current 0 9mA or less Response Time OFF to ON 0 5ms ON to OFF 1 5ms 38 14 13...

Page 45: ...lassification Transistor Output Isolation Optical Load Voltage 24VDC 20 Load Current 100mA Output ON Voltage 1 0V or less Response Time OFF to ON 0 25ms ON to OFF 0 5ms External Common Power 24VDC 20...

Page 46: ...MotionSuite MP940 Machine Controller Hardware Manual Section 6 Digital I O 42 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 47: ...EXT3 47 40 41 42 43 44 45 46 33k W V U M Motor PG CN2 25 26 27 28 29 30 31 32 37 38 39 Dual Port RAM A D SO1 SO2 SO3 Output signal mapping is possible using Pn50E Pn510 settings ALM ALM Servo Alarm Ou...

Page 48: ...isabled To disable the positive overtravel limit P OT set the SGDH parameter Pn50A digit3 to 8 To disable the negative overtravel limit N OT set the SGDH parameter Pn50B digit 0 to 8 Please read secti...

Page 49: ...0 and SGDH are combined the VREF becomes available for general purpose Item Specifications Input Voltage 12V Input Impedance Approximately 14k Resolution 16 bits over a 15V range or 457 V bit Accuracy...

Page 50: ...Output Item Content D A Output Resolution 16Bit over a 10V range or 328 V bit 47 1k 15V 15V 1 26 L 10 10V External Device P MP940 I O Connector 30480 30481 10 75V 10V 32767 32768 10V 10 75V Artisan T...

Page 51: ...ternal Encoder Figure 9 1 The MP940 External Encoder BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP COPY PORT1 PORT2 POWER 24V GND FG LED I O TX RX 1 2 M E C H A T R O L I N K MP9...

Page 52: ...Format Quadrature Pulse and Direction 1 channel positive 1 channel negative Maximum Frequency 1MHz 390 5V 0V P A phase 4 6 Pulse Generator 5 B phase 29 MP940 MP940 I O Connector 390 P 31 30 Shield Dig...

Page 53: ...Input Number of Latch Circuits 2 Input Type Current Source Photocoupler Isolation Main encoder latch input voltage 24VDC External encoder latch input voltage Can be switched between 24VDC 12VDC 5VDC L...

Page 54: ...required by the application EXT3 can be used for general purpose L1 L2 LC1 LC2 1 2 P 5 6 V REF SG P 21 22 BAT BAT SGDH 24V DEC P OT N OT EXT1 EXT2 EXT3 47 40 41 42 43 44 45 46 33k W V U M Motor PG CN...

Page 55: ...ion 10 Registration Latch 51 External Encoder Registration Input 10 9 35 34 680 5V P 2 2k 2 2k 390 LC24V LC12V LC5V LATCH 5VDC or 12VDC or 24VDC MP940 I O Connector Artisan Technology Group Quality In...

Page 56: ...MotionSuite MP940 Machine Controller Hardware Manual Section 10 Registration Latch 52 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 57: ...o weeks programs and data stored in the MP940 memory will be lost Battery Replacement Battery replacement is as follows Preparation 1 Save memory contents Before replacing the battery save programs an...

Page 58: ...ctor attached to the leads of the replacement battery into the MP940 module connector Then insert the battery into the battery holder 4 Verify the BAT LED is OFF Battery replacement is complete Always...

Page 59: ...cal Operating Conditions Noise Resistance Normal Mode 1500Vp p Common Mode 1500Vp p Pulse Width 100ns 1 s Pulse Rise Time 1ns in noise simulator Mechanical Operating Conditions Vibration Resistance Vi...

Page 60: ...TEST FLASH PP COPY Input Signals Input Points 8 Input Format Sinking or Sourcing Isolation Optical Voltage 24VDC 20 Rated Current 5 3mA Input Impedance 4 4k Operating Voltage ON Voltage 15VDC or more...

Page 61: ...l signal can be switched between 5V 12V 24V Analog Input SGDH velocity command used as analog input to controller Analog Output Resolution 16 bit Output Range 10V Controller Power Source Input Signal...

Page 62: ...MotionSuite MP940 Machine Controller Hardware Manual Section 12 Specifications 58 NOTES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 63: ...ion 13 Dimensional Drawings and Cable Diagrams 59 Section 13 Dimensional Drawings and Cable Diagrams Dimensions Figure 13 1 MP940 Dimensions 5 16 129 1 8 45 5 68 142 Artisan Technology Group Quality I...

Page 64: ...Machine Controller Hardware Manual Section 13 Dimensional Drawings and Cable Diagrams 60 Figure 13 2 MP940 YS15 Cable Drawing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 65: ...MP940 Machine Controller Hardware Manual Section 13 Dimensional Drawings and Cable Diagrams 61 Figure 13 3 MP940 Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Page 66: ...940 Machine Controller Hardware Manual Section 13 Dimensional Drawings and Cable Diagrams 62 Figure 13 4 I O Cable Drawing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Page 67: ...T2 RUN INIT TEST FLASH PP COPY PORT1 PORT2 POWER 24V GND FG LED I O TX RX 1 2 M E C H A T R O L I N K MP940 Battery Connector LED1 Battery Switch Serial Port 1 Serial Port 2 Power Connector LED2 Mecha...

Page 68: ...C PORT1 14 10214 52A2JL Connector Unit 10114 3000VE Shell 10314 52A0 008 3M Serial Port RS 422 485 PORT2 14 10214 52A2JL Connector Unit 10114 3000VE Shell 10314 52A0 008 3M Power Connector POWER 3 SL3...

Page 69: ...nput Common 12 36 12 37 13 DC 24V DI Power input 38 DC 24V DI Power input 14 DI_00 DI_00 Input DI interrupt 39 DI_01 DI_01 Input 15 DI_02 DI_02 Input 40 DI_03 DI_03 Input 16 DI_04 DI_04 Input 41 DI_05...

Page 70: ...L L L L L L L Analog Output Latch Input Digital Input Digital Output External Device Latch Input External Input Signal External Output Signal P 5 B phase 29 30 External Encoder AG 0V Digital Ground D...

Page 71: ...k Cable The internal cable connections between the MP940 and the I O unit are shown below Figure 13 7 Mechatrolink Cable 46 8 46 21 1 2 3 4 Shell 1 2 3 4 Shell Pin No Name NC DATA DATA SH Shield Name...

Page 72: ...Section 13 Dimensional Drawings and Cable Diagrams 68 External Views of Mechatrolink Cables USB Terminator Model JEPMC W6000 Model JEPMC W6010 Model JEPMC W6020 Artisan Technology Group Quality Instru...

Page 73: ...LTD 7 Yongchang North Street Beijing Economic Technological Investment Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909...

Page 74: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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