YASKAWA MP210 Series User Manual Download

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4.2 Starting Sample Program - MPE720 Ver 6.



4-21

System Startup and Sample Programs

9. Click the

Yes

button to run the MP2100.

The MP2100 starts running.

This completes the transfer of the sample program files to the MP2100.

Summary of Contents for MP210 Series

Page 1: ...6 A B C D E F Overview Specifications and Functions Installation and Connection System Startup and Sample Programs Outline of Motion Control Systems Maintenance Inspection and Troubleshooting System R...

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...

Page 3: ...and Peripheral Devices Studying Specifications and Ratings Designing the System Installation and Wiring Trial Operation Maintenance and Inspection Chapter 1 Overview Chapter 2 Specifications and Func...

Page 4: ...ler MP2100 MP2100M Machine Controller MP2100M PC Programmable Logic Controller PP Programming Panel MPE720 The Programming Device Software or a Programming Device i e a personal computer running the P...

Page 5: ...hods of the I O Module for the MP2000 Series Machine Controllers Machine Controller MP2000 Series Analog Input Analog Output Module AI 01 AO 01 User s Manual SIEP C880700 26 Describes the functions sp...

Page 6: ...OLINK System SIEZ C887 5 1 Describes MECHATROLINK distributed I O for MP900 MP2000 Series Machine Control lers Machine Controller MP900 MP2000 Series Linear Servomotor Manual SIEP C880700 06 Describes...

Page 7: ...vo Drives V Series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference SIEP S800000 47 Describes how to use a V series servo drive MECHATROLINK II communications...

Page 8: ...precautions 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 pr...

Page 9: ...ing injury or death Do not disconnect any cable when power is being supplied There is a risk of machine failure or electrical shock Do not allow installation disassembly or repairs to be performed by...

Page 10: ...y or an accident If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged...

Page 11: ...ges and never touch the components or soldered connections Touching the components or leads can cause cuts or damage the MP2100 MP2100M or host computer In some computers it is necessary to secure the...

Page 12: ...There is a risk of device damage Noise such as from static electricity Strong electromagnetic or magnetic fields Radiation Near to power lines When connecting the battery connect the polarity correctl...

Page 13: ...device damage Dispose of the MP2100 MP2100M as general industrial waste Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are som...

Page 14: ...any damage or loss of opportunity to the customer that arises due to failure of the delivered product 2 Yaskawa shall not be responsible for any programs including parameter settings or the results of...

Page 15: ...safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accident...

Page 16: ...luded Accessories and Options 1 12 1 6 1 Cables 1 12 1 6 2 Accessories and Options 1 12 1 7 Software 1 12 1 7 1 The Programming Device Software 1 12 1 7 2 Motion API 1 12 2 Specifications and Function...

Page 17: ...Ver 6 4 17 4 2 1 Copying and Transferring Sample Program Files 4 18 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 22 4 2 3 Saving and Transferring Data 4 25 4 3...

Page 18: ...figuration 5 30 5 4 1 Details of Self configuration 5 31 5 4 2 Procedure for Self configuration Using Mode Switch 5 32 5 4 3 Procedure for Self configuration Using MPE720 5 34 5 4 4 Definition Data Up...

Page 19: ...tails and Corrections 6 33 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 38 A System Registers Lists A 1 System Service Registers A 2 A 1 1 Shared by All Drawings A 2 A 1 2 DWG H Only A 2 A...

Page 20: ...Setting the MP2100M Slave CPU Synchronization Function F 5 F 2 4 Procedure for Executing the MP2100M Slave CPU Synchronization Function F 8 F 3 Operation F 10 F 3 1 I O Registers F 10 F 3 2 Judging th...

Page 21: ...odule and SVB Built into the CPU Module 1 4 1 2 3 MP2100M Appearance 1 5 1 3 MP2100 MP2100M Modules 1 6 1 4 Example of System Configuration 1 8 1 4 1 Example of MP2100 System Configuration 1 8 1 4 2 E...

Page 22: ...d Motion Network MECHA TROLINK II speed MECHATROLINK II baud rate 2 5 times faster MECHATROLINK II enables position control speed control and torque control and makes precise syn chronous control poss...

Page 23: ...1 1 MP2100 Overview 1 3 1 Overview 1 1 2 MP2100 Appearance The following figures show the external appearance of the MP2100 and MP2101 MP2100 MP2101...

Page 24: ...can be used on its own to control up to four axes using a 0 5 ms motion control cycle Set whether to use the two MP2100M ports SVB port built into the CPU Module and SVB Motion Module port or high spe...

Page 25: ...1 2 MP2100M Overview 1 5 1 Overview 1 2 3 MP2100M Appearance The following figures show the external appearance of the MP2100M and MP2101M MP2100M MP2101M...

Page 26: ...O 02 JAPMC IO2301 E JAPMC IO2301 16 inputs 16 outputs source mode output 1 pulse input LIO 04 JAPMC IO2303 E JAPMC IO2303 32 inputs 32 outputs sink mode output LIO 05 JAPMC IO2304 E JAPMC IO2304 32 in...

Page 27: ...he MP2200 base unit making a maximum of 24 Optional Modules excluding EXIOIF Modules with 3 racks 2 The total length of EXIOIF cable must not exceed 6 0 m Optional Mod ules Communi cation Modules Comp...

Page 28: ...the device to be used and select the correct cable for the device 4 Different SERVOPACKs are connected to MECHATROLINK I and MECHATROLINK II Refer to the list and select the appropriate SERVOPACKs 5...

Page 29: ...OLINK I 4 Mbps and with MECHATROLINK II 10 Mbps are used together make the all settings for MECHATROLINK I 4 Mbps 5 When connecting SERVOPACKs via MECHATROLINK connect the overtravel zero point return...

Page 30: ...nterface 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 Co...

Page 31: ...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 out puts Yes Yes JAPMC IO...

Page 32: ...O Module MP2100 MP2100M SGDH E NS100 MP2100 MP2100M SGDH E NS115 MP2100 MP2100M SGDS 1 USB connector USB connector Note JEPMC W6003 has a ferrite core attached JEPMC W6010 MP2100 MP2100M SGD N MP2100...

Page 33: ...ironment 2 3 2 1 3 Function Lists 2 4 2 2 Functions of the MP2100 MP2100M Base Module 2 7 2 2 1 MP2100 Appearance LED Indicators and Switch Settings 2 7 2 2 2 MP2100M Appearance LED Indicators and Swi...

Page 34: ...ed 4 Mbps MECHATROLINK I or 10 Mbps MECHATROLINK II Motion network 2 channels SERVOPACK and I O for up to 42 stations connectable SERVOPACK for up to 32 axes Transmission speed 4 Mbps MECHATROLINK I o...

Page 35: ...ce Depends on the personal computer Noise Resistance Power supply noise FT noise Radiation noise FT noise Ground noise impulse noise Electrostatic noise air discharge method Depends on the personal co...

Page 36: ...awings max Up to three hierarchical draw ing levels 500 drawings max Up to three hierarchical draw ing levels Up to 1 000 steps per drawing Up to 500 functions Combined maximum of 256 sequence program...

Page 37: ...2 circular axes and 3 helical axes MP2100M Up to 16 linear axes 2 circular axes and 3 helical axes Speed Reference Output Yes Only when using MECHATROLINK II Torque Reference Output Yes Only when usi...

Page 38: ...Home limit switch and Phase C pulse Yes HOME Yes NOT and Phase C pulse Yes NOT Yes INPUT and Phase C pulse Yes INPUT Yes Applicable SERVOPACKs When using MECHATROLINK I SERVOPACK SGD N SGDB AN SGDH E...

Page 39: ...a sequence control function 2 2 1 MP2100 Appearance LED Indicators and Switch Settings 1 Appearance a JAPMC MC2100 non RoHS compliant The following diagram shows the layout of the LED indicators and s...

Page 40: ...g status and error status of the LED indicators of the MP2100 Reset switch Mode switch 1 LED indicators Mode switch 2 Indicator Display Status S1 Green Normal operation RDY Red lit flashing Error ERR...

Page 41: ...Details 1 INIT ON Memory Clear OFF Set to ON to clear memory The S registers and M registers are cleared to zero If this switch is set to OFF the program stored in flash memory will be executed OFF N...

Page 42: ...red in flash memory will be executed OFF Normal operation 2 STOP ON User program stopped Set to ON to stop the user program before debugging the program OFF User program running No Name Status Functio...

Page 43: ...or details on indicator meanings refer to 5 1 5 Indicator Patterns b SVB Module Status Indicators SVB Motion Module indicators LED Reset switch Mode switch S1 LED indicators Indicator Display Meaning...

Page 44: ...etting Details 1 TEST ON System use OFF Always set to OFF OFF Normal operation 2 MON ON System use Always set to OFF OFF Normal operation 3 CNFG ON Configuration mode Set to ON to execute self configu...

Page 45: ...onents A typical MP2100M Module Configuration window is shown below Note For information on how to open the Module Configuration window refer to 4 3 2 4 Setting and Saving Motion Fixed Parameters Conf...

Page 46: ...dure for Self config uration Using Mode Switch and 5 4 3 Procedure for Self configuration Using MPE720 2 For details on definition information that is updated by the self configuration function refer...

Page 47: ...can be set After changing the local I O configuration save the definition data by selecting File Save Save into flash memory from the main menu D Enable or disable each item by clicking on the cell E...

Page 48: ...he Optional SVB is one of the Optional Modules for the MP2100 MP2100M The SVB 01 Module is an Optional SVB that can be mounted on the MP2100 1 Features Up to 21 slave stations can be connected to a si...

Page 49: ...For the details on connection refer to the SERVOPACK s manual 5 If II SERVOPACKs SGDH NS100 SGDH NS115 are to be connected do not connect a handy type digital operator or SigmaWin It will not be poss...

Page 50: ...speed scanning are transferred to communication cycle processing is constant and the distribution processing for interpolation commands is simplified b Conditions Under which Synchronization Is Possib...

Page 51: ...ronization there is a risk that asynchrony will result from the change operation After making a change save the settings in the flash memory and then turn the power OFF and back ON When the MECHATROLI...

Page 52: ...ission Definition 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...

Page 53: ...lected SVB Module is used as a master station or slave station Select either Master or Slave For Built in SVB Modules slot 00 this is fixed as Mas ter My station address Local station address Displays...

Page 54: ...INK II adapter such as JUSP NP115 in MECHATROLINK communications Select either Used or Not Used Number of retry to slaves Not displayed for MECHATROLINK I Displays the maximum number of stations to wh...

Page 55: ...is only possible when Master is selected 2 With MECHATROLINK I the value is fixed as 2 ms Item MECHATROLINK II 32 Byte Mode MECHATROLINK II 17 Byte Mode MECHATROLINK I Transmission bytes Communica ti...

Page 56: ...application is delayed until completion of the SVB 01 Module s motion processing the CPU s high speed scan processing time is lengthened Progress of Processing at a Built in SVB Module Progress of Pro...

Page 57: ...ster input output enabled disabled status Enabled Disabled Click the button to change the status INPUT SIZE Displays the start input register number and the number of registers words The maxi mum valu...

Page 58: ...is shown on the Link Alloca tion tab page 3 I O Map Tab The status allocated to I O registers is displayed Note The I O Map tab is used for monitoring read only Do not change the displayed settings 4...

Page 59: ...pening the SVB 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 Config uratio...

Page 60: ...ries Built in SVB SVB 01 Motion Module User s Manual Manual No SIEP C880700 33 Fig 2 1 Fixed Parameters Tab Fig 2 2 Setup Parameters Tab Fig 2 3 SERVOPACK Parameters Tab Note 1 Refer to the relevant S...

Page 61: ...ath type Bus type Bus type Transmission path Electric bus Electric bus Transmission distance 50 m 50 m When using repeaters Maximum extension of 100 m possible Transmission speed 4 Mbps 10 Mbps Commun...

Page 62: ...parameters and monitoring parameters and can be accessed from application programs using I O registers Note For details on the motion parameters and motion commands of the SVR refer to Machine Control...

Page 63: ...Method 1 Master axis for phase control Electronic 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 c...

Page 64: ...er of axes 1 to 16 when Normal Running 0 is set for Set Run Mode fixed param eter 0 The formulae above do not apply when the number of axes is 0 Comparison with SVB Simulation Mode In the simulation m...

Page 65: ...ation program at the host computer by using API functions for the BUS interface Two API functions are available for the BUS interface ymcSetBusIFData and ymcGetBusIFData If these API functions are not...

Page 66: ...the MP2100 MP2100M in the Module Configuration window the seventh slot is the BUSIF The default setting for the BUSIF Module is UNDEFINED Only change this to BUSIF when you are going to use the BUSIF...

Page 67: ...ed Set a scan time setting that is substantially bigger than the maximum value for the scan time Reduce the I O size that is read or written at one time with the API for the BUS interface If the API f...

Page 68: ...rogram as usual Controlling a motion program without using a ladder program Any register can be mapped to the control signal of the motion program registered in the M EXECUTOR Module So without a ladd...

Page 69: ...Program Sequence Program Execution Method Sequential Execution Startup Event driven H Scan Scan execution L Scan Scan execution System Work 1 1 correspondence between the definition number and system...

Page 70: ...le Type Displays a module name appears By changing the name to UNDEFINED the M EXECUTOR functions can be disabled Possible Controlling CPU Number Not used Fixed to Not possible Circuit Number Not used...

Page 71: ...Output Register M EXECUTOR Input Register Item M EXECUTOR Output Register Item Iw 0 Definition No 1 Status Ow 0 Definition No 1 Program number Iw 1 Spare Ow 1 Control signal Iw 2 Spare Ow 2 Override I...

Page 72: ...ed according to the scan in ascending numeric order A white cell can be set by the user and a grey cell cannot be set by the user Individual display Shows M EXECUTOR individual display window Program...

Page 73: ...ime a high speed scan is performed Motion Program Motion program Turns ON the program operation start request of the control signal Executes when the program operation start request is ON Designation...

Page 74: ...sing the M EXECUTOR Control register Note For more information on the M EXECUTOR control register refer to 2 2 8 M EXECUTOR Module Motion Program Executor Allocation Disable Enables disables the alloc...

Page 75: ...d M EXECUTOR control registers When the allocation contact interlock is ON data can be exchanged between the allocation register and M EXECUTOR control registers Any register bit can be mapped to the...

Page 76: ...am execution registry number Selects the program execution registry number Program number Sets the program number Execution type Sets the program execution type Specification Sets the method for speci...

Page 77: ...dder processing Drawing A startup process drawing Per high speed scan interval Batch output Batch input Batch output Batch input Drawing H high speed scan process drawing Per low speed scan interval D...

Page 78: ...owing diagram shows the execution scheduling when set in the window above SPM003 MPM004 SPM005 DWG H SPM001 DWG A DWG L SPM003 MPM004 SPM002 SPM002 High speed scan cycle Low speed scan High speed scan...

Page 79: ...r and how to connect each module 3 1 Installing the MP2100 MP2100M 3 2 3 1 1 Computer Specifications 3 2 3 1 2 Installing the MP2100 MP2100M 3 4 3 1 3 Installing the Drivers 3 5 3 1 4 Verifying Driver...

Page 80: ...e specifications Item Specification Notes Model IBM PC AT or compatible NEC 9800 series computers are not compatible CPU Pentium 200 MHz min Recommended Pentium 400 MHz or faster Memory 64 MBytes min...

Page 81: ...xpected only when the computer is set as a Standard PC with the Start Settings Control Panel System Hard ware Tab Device Manager System devices Computer setting When the driver ver 1 1 0 0 for MP2100...

Page 82: ...may be damaged or operate incorrectly If the MP2100 MP2100M cannot be inserted into the PCI slot with firm pressure do not try to force it into the slot Remove the Board align it properly and try inse...

Page 83: ...e the D drive letter with the actual CD ROM drive letter in your host computer The MP2100 MP2100M drivers are included in the Motion API CD ROM 1 The Add Remove Hardware Wizard will start automaticall...

Page 84: ...0 in this case and click the OK button 5 The wizard program will search for the files When the Driver Files Search Results window is displayed click the Next button to proceed 6 The Completing the Fou...

Page 85: ...d properly 1 Click the Start button and select Settings Control Panel from the Start menu 2 Double click the System icon 3 The System Properties window will be displayed Click the Hardware tab and the...

Page 86: ...stallation 3 8 5 Click the Resources tab Check the Conflicting device list and verify that it says No conflicts The MP2100 MP2100M can be used if everything has been normal up to this point If a probl...

Page 87: ...RVOPACKs and distrib uted I O Module 2 Connector Specifications MP2100 MP2100M Battery connector I O connector MECHATROLINK connector Battery hole I O connector SVB Module MECHATROLINK connector CPU M...

Page 88: ...JEPMC W6002 10 10 m JEPMC W6002 20 20 m JEPMC W6002 30 30 m MECHATROLINKCable USB Connector USB Connector with Core JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 m JEPMC W6003 03 3 m JEPMC W6003 05 5 m JEPMC...

Page 89: ...ng material to create a 1 N cable 2 Red lead DATA Black lead DATA 7 Terminator Connections 1 2 3 4 1 2 3 4 Shell Shell Pin number Signal Name NC DATA DATA SH Shield Shield Signal Name NC DATA DATA SH...

Page 90: ...the condition that L1 L2 L3 Ln 50 m 100 m if repeaters are used The MP2100 MP2100M has a built in terminator Insert a JEPMC W6022 terminator into in the above diagram NS100 SGDH YASKAWA SERVOPACK NS1...

Page 91: ...Connector Name No of Pins Connector Model Module Cable Manufacturer I O Connector I O 14 10214 52A2JL 10114 3000PE Connector 10314 52A0 008 or 10314 52F0 008 shell Sumitomo 3M Limited Name Model Numbe...

Page 92: ...put 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...

Page 93: ...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 Comm...

Page 94: ...t signal circuit in series with the load If an external fuse is not connected load shorts or overloads may result in fire destruction of the load device or damage to the output element Fuse Digital in...

Page 95: ...iles 4 18 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 22 4 2 3 Saving and Transferring Data 4 25 4 3 Starting Sample Program MPE720 Ver 5 4 27 4 3 1 Starting M...

Page 96: ...gs or save the information of each port 4 1 8 Setting and Saving Communication Process Communication Manager 6 Self configuration of the MP2100 The connected devices are automatically confirmed 4 1 9...

Page 97: ...to 1 and 2 The sample program is designed to operate with station numbers 1 and 2 1 Controller related Equipment SERVOPACK YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N 4 L1...

Page 98: ...later 1 Motion API CPMC MPA700 1 MPE720 Name Model Quantity III SERVOPACKs SGDS 01A12A 2 III Servomotors SGMAS 01ACA21 2 Motor Cables 3 m JZSP CSM01 03 2 Encoder Cables 3 m JZSP CSP01 03 2 Digital Ope...

Page 99: ...el System 4 5 4 System Startup and Sample Programs 4 1 3 Installing the MP2100 Install the MP2100 to a PCI slot of the host computer The MP2100 occupies one half size PCI slot PCI bus slot MP2100 Boar...

Page 100: ...rive is drive D If necessary replace the D drive letter with the actual CD ROM drive letter in your host computer The MP2100 drivers are included in the Motion API CD ROM 1 The Add Remove Hardware Wiz...

Page 101: ...00 Win2000_XP_VISTA in this case and click the OK button 5 The wizard program will search for the files When the Driver Files Search Results window is displayed click the Next button to proceed 6 The...

Page 102: ...d properly 1 Click the Start button and select Settings Control Panel from the Start menu 2 Double click the System icon 3 The System Properties window will be displayed Click the Hardware tab and the...

Page 103: ...rtup and Sample Programs 5 Click the Resources tab Check the Conflicting device list and verify that it says No conflicts The MP2100 can be used if everything has been normal up to this point If a pro...

Page 104: ...rs SERVOPACK 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 SERVOPACK YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N...

Page 105: ...nction Mode main menu and use the Keys to select Fn005 5 Press the Key to switch to the execution display of Fn005 Initializing Parameter Setting Note If the display does not change and NO OP is displ...

Page 106: ...Open the YE_Applications folder and double click the Communication Manager icon in the YE_Applications folder Or Click Start All Programs YE_Applications Communication Manager to start the Communicat...

Page 107: ...grams 4 Select MP2100 2500 under Port Kind in the Logical Port Setting window 5 Click the Detail button in the Logical Port Setting window The MP2100 2500 window is displayed 6 Select MP2100 2500 unde...

Page 108: ...eturns to the Communication Manager window 8 Check that MP2100 2500 has been allocated to Logical PT number 1 9 Save the communication port settings These settings will be used as the communication po...

Page 109: ...rted again when settings have been made or changed 13 Select File Exit to close the Communication Manager window A confirmation message is displayed 14 Click the Yes button 15 Double click the Communi...

Page 110: ...4 3 1 Starting MPE720 Ver 5 and Creating Folders Mode switch INIT RAM data will be cleared if 1 INIT of the mode switch 1 on the MP2100 is turned ON and the reset switch is turned ON Flash memory data...

Page 111: ...e computer from the installation disk contained in the CD ROM 4 2 1 1 Copying the Sample Program File 2 Start MPE720 Ver 6 and transfer the sample program file to the MP2100 4 2 1 2 Starting MPE720 Ve...

Page 112: ...tallation disk into the CD ROM drive on the computer The installation window automatically starts running 2 Click the Cancel button to cancel the autorun 3 Open the My Computer folder and then right c...

Page 113: ...Setting in the MPE720 Ver 6 main window The Communications Setting dialog box appears 3 Click the button and select the slot where the MP2100 has been connected from the dropdown list box Then click t...

Page 114: ...lect the Program check box Then select the Main program and Group definition check boxes under Ladder Program and Motion Program Click the Start button A message box appears and ask whether or not to...

Page 115: ...ng Sample Program MPE720 Ver 6 4 21 4 System Startup and Sample Programs 9 Click the Yes button to run the MP2100 The MP2100 starts running This completes the transfer of the sample program files to t...

Page 116: ...rameters according to the connected system For details on the motion fixed parameters refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEP C880700 3...

Page 117: ...parameters for axis 2 as well The process for saving fixed parameter settings has now been completed Next save the SERVOPACK parame ters 2 Making Servo Adjustments and Saving SERVOPACK Parameters Thi...

Page 118: ...rent Value and Setting Data refer to Appendix B Current Value and Setting Data in SVB Definition 4 Click the Yes button in the confirmation dialog box to write the SERVOPACK data current position as t...

Page 119: ...sh in the menu bar of the MPE720 Ver 6 main window The Transfer Program Save to Flash dialog box appears 2 Check to see that the target controller displayed in the dialog box is correct and then click...

Page 120: ...ar of the MPE720 Ver 6 main window The Transfer Program Read from Controller dialog box appears 2 Check the selected items and displayed contents to see if they are correct and then click the Start bu...

Page 121: ...e programs 4 3 1 4 Creating Controller Folders Required 5 Connect to the MP2100 and log on to MPE720 4 3 2 1 Logging On Online 6 Load sample programs from MPE720 system CD ROM and decompress the progr...

Page 122: ...t you have already installed MPE720 Ver 5 on the computer you are using Note Refer to Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEP C880700...

Page 123: ...name of up to 8 characters and click the OK button A new Group Folder is created 3 Double click root or click to display the entered Group Folder name Group folders Order Folders and Controller Folder...

Page 124: ...for 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 appears...

Page 125: ...rder Folder in which the Controller Folder is to be created and select New Folder Con troller Folder from the pop up menu The Controller Configuration dialog box appears 2 Enter a Controller Folder na...

Page 126: ...created and select Online from the pop up menu A confirmation dialog box appears 2 Click the Yes button to switch to online mode Note The communication mode cannot be changed while logging on to the...

Page 127: ...ogical port number to be used from the logical ports set using the communication process The con tent displayed on the Network tab page changes according to the selected port number 5 Keep the default...

Page 128: ...and can use the selected Controller Folder and the dialog box closes Note 1 The user name and password may have already been changed Ask the system administrator before hand 2 The user name and passw...

Page 129: ...k on the Controller Folder where the sample program is to be saved in File Manager window and select Transfer All Files From Another Drive to MPE720 in the pop up menu An execution confirmation dialog...

Page 130: ...the Select the Folder dialog box Three sub folders appear under the 2100SMPL_E folder 8 Click the Select button The Execute dialog box appears 9 Click the OK button The Execution Status dialog box ap...

Page 131: ...4 3 Starting Sample Program MPE720 Ver 5 4 37 4 System Startup and Sample Programs 11 Select File Exit to end reading files to the MPE720 This completes the loading of the sample programs...

Page 132: ...ine and select Transfer Selected Files From MPE720 to Controller from the pop up menu The Individual Load window appears 2 Select the programs to be transferred For programs with a Details button next...

Page 133: ...program are selected In this example select Select All and click the OK button to return to the Individual Load window 4 In this example select Select All and click the OK button to return to the Indi...

Page 134: ...2100 transfer programs set motion fixed parameters and log off using sample programs Note When using a program set the fixed parameters to match the devices being used Refer to Machine Controller MP20...

Page 135: ...is displayed 3 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...

Page 136: ...efinition window then select the SERVOPACK tab to display the SERVOPACK tab page 3 Select Edit Copy Current Value A confirmation dialog box appears Note The data in the Input Data column is the SERVOP...

Page 137: ...the adjustment of the SERVOPACK and the saving of SERVOPACK parameters 6 Saving to Flash Memory Save sample programs that have been transferred individually to the MP2100 to the MP2100 flash memory us...

Page 138: ...it saving to flash memory This completes the saving of data to flash memory 7 Dumping All Data Use the following procedure to execute All Program File Dump to back up to a personal computer the module...

Page 139: ...ils and click the OK button The file transfer starts A notification dialog box is displayed when the transfer has been completed 3 Select File Exit to end the dumping of all data Now the sample progra...

Page 140: ...to RUN status 1 Right click on the Controller Folder where sample programs are saved and select Controller Operation from the pop up menu The Running status dialog box appears 2 Click the Run button N...

Page 141: ...the following circumstances when completing a program and starting another program when completing the work with the MPE720 1 Right click on the Controller Folder where sample programs are saved and...

Page 142: ...l from the menu bar Note 1 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 2 For information on how to open th...

Page 143: ...o be opened from the File Manager window by using the following procedure 1 Log on online open the Programs folder and then open the High Scan Programs folder in the Control ler Folder where the sampl...

Page 144: ...ircuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices 2 H02 Drawing Tuning Panel Display the H02 Drawing Tuning Panel as show...

Page 145: ...rward ON OFF Axis 2 stops Axis 2 Reverse JOG OFF ON Axis 2 rotates in reverse direction ON OFF Axis 2 stops Axis 1 Forward STEP OFF ON Axis 1 starts rotating forward for the moving amount set under Ax...

Page 146: ...the overall sample program Phase Control Positioning JOG and STEP Servo ON and Alarm reset Main Program High speed Main Program P00101 H High speed main program 0000 NL 1 0000 0002 NL 1 0002 0003 NL...

Page 147: ...is 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 MB300018 SourceA IW8088 SourceB...

Page 148: ...eceleration Setting Axis 1 and 2 linear acceleration deceleration setting Linear acceleration deceleration setting MPM running MB30020 OL8036 100 OL8038 100 OL80B6 100 OL80B8 100 EXPRESSION END P00103...

Page 149: ...g stop DB000002 0006 NL 1 0001 Axis 1 jog command DB000000 Axis 1 jog command DB000000 Axis 1 motion command 0 MB300010 Axis 1 jog command DB000000 WORK DB000051 Axis 1 jog start DB000001 Axis 1 forwa...

Page 150: ...OG and STEP Reverse Rotation Selection Axis 1 step stop P00108 H02 01 DB00000A DB000000 DB000011 DB000008 DB000013 Axis 1 motion command Source 00000 Dest OW8008 STORE END Axs 1 jog command Axis 1 rev...

Page 151: ...ep DB000001 Axis 2 jog step DB000002 Axis 2 forward step DB000012 Axis 2 reverse step DB000013 Axis 2 forward step DB000012 Axis 2 reverse step DB000013 Axis 2 SV_ON IB80801 WORK DB000051 Axis 2 step...

Page 152: ...d Axis 2 jog command STORE END Reverse Rotation Selection P00111 H02 02 DB000000 Axis 2 reverse jog DB000011 Axis 2 reverse DB80892 Axis 2 step command DB000008 Axis 2 reverse step DB000013 DB00000A 0...

Page 153: ...nterval 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 Note 1 R...

Page 154: ...ol 4 60 3 H04 Drawing Tuning Panel Display the H04 Drawing Tuning Panel as shown in 4 4 1 Opening the Tuning Panel Window Model system operation can be controlled by writing the current values for Com...

Page 155: ...s are entered and 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...

Page 156: ...1 0001 DB000210 DB000011 1 0 MB300010 2 0 MB300018 DB000012 ON COIL SB000004 EXPRESSION ML30100 DL10 ML30102 DL12 ML30110 DL14 ML30112 DL16 ML30114 3000000 MPM DB000200 MPM DB000208 PB MB300001 0009 N...

Page 157: ...interpolation and circular interpolation for two axes MPM002 inserts a timer command between each travel command to indicate operation divisions MPM003 continuously executes travel commands without t...

Page 158: ...rotate in exactly the same way Note 1 Refer to 4 4 4 5 Sample Program Details for details of H06 01 Drawing 2 A simple device is used in this example to describe the MP2100 system startup 3 This devic...

Page 159: ...N The mode changes to the phase control electronic shaft mode Enter OFF to exit phase control electric shaft mode 3 Enter Speed Settings Enter any value within the setting range 0 to 30000 as the Curr...

Page 160: ...ctronic Shaft Operation Command Electronic shaft startup PB Axis 1 motion command 0 S curve accelerator decelerator input Phase Control 1 Electronic Shaft Axis 1 SV_ON Electronic shaft operation comma...

Page 161: ...00003 Monitor for Deviation between Axes ADD SourceA IL8016 Dest DL00090 SourceB IL8096 Axis 1 and axis 2 speed command settings OL8010 DF00040 OL8090 DF00040 1 EXPRESION Electronic Shaft Operation Co...

Page 162: ...created using a ladder program L06 Drawing Note 1 Refer to 4 4 5 5 Sample Program Details for details of H06 02 Drawing 2 A simple device is used in this example to describe the MP2100 system startup...

Page 163: ...m axis main axis moving per cycle Setting range 0 to 50000 000 Cam pattern data is not changed when the Current Value for Electric shaft start is set to ON 3 Start Electronic Cam Operation Change the...

Page 164: ...ion 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...

Page 165: ...ting 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 STO...

Page 166: ...eB DL00072 Dest DL00074 0055 NL 1 0027 STORE Source DL00070 Dest DL00072 0056 NL 1 0028 MB300008 EXPRESSION DL00076 DL00074 10000 SW0004 DL00078 DL00076 60 1000 OL8090 DL00078 10000 10000 0058 NL 1 00...

Page 167: ...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 ML30...

Page 168: ...the power to the MECHATROLINK slaves and check that the electronic devices start up nor mally Note 1 If using a new absolute encoder the absolute encoder needs to be initialized Refer to Appendix C In...

Page 169: ...machine after execution of self configuration enable each SERVOPACK s overtravel function by setting the parameters 6 Start MPE720 set the fixed parameters that relate to reference units fixed parame...

Page 170: ...ash memory Note For details on how to save the data to flash memory refer to 4 2 3 1 Saving to Flash Memory for MPE720 Ver 6 or 4 3 2 6 Saving to Flash Memory for MPE720 Ver 5 11 Save Ladder Programs...

Page 171: ...turn ON the power to all the MECHATROLINK slaves 5 Executing self configuration for each module Turn ON the power to the MP2100 log on online to the MP2100 using MPE720 then select Module Self Configu...

Page 172: ...arting the System for the First Time for details of the rest of this procedure steps 6 to 9 6 Make Parameter Settings to Match Machinery 7 Save SERVOPACK Parameters 8 Save MP2100 Data to Flash Memory...

Page 173: ...only and check that it starts up normally Once normal startup has been confirmed turn OFF the power supply 4 Remove the electronic device to be replaced connect the new device to the MP2100 and turn...

Page 174: ...cing Electronic Devices 4 80 8 Turning the MP2100 SERVOPACK power OFF and back ON Turn the power to the MP2100 and SERVOPACKs OFF and back ON to enable the parameters written to the SERVOPACKs This co...

Page 175: ...en using the MP2100M 4 6 1 Communication Process Settings 1 Select MP2100 under Port Kind in the Logical Port Setting window 2 Click the Detail button in the Logical Port Setting window to display the...

Page 176: ...ler Type to MP2100M in the Information tab page of the Controller Configuration window 2 Click the Network tab to display the Network tab page 3 Set the Logical Port No Device Type with the same Logic...

Page 177: ...lick MECHATROLINK The MECHATROLINK window appears 3 Set the devices connected to the MECHATROLINK connector on the CPU Module 4 Select Controller No 01 SVB 01 to display the MECHATROLINK window for Mo...

Page 178: ...4 System Startup and Sample Programs 4 6 3 Module Configuration Definition Settings 4 84...

Page 179: ...2 6 Functions 5 22 5 3 Registers 5 23 5 3 1 Types of Registers 5 23 5 3 2 Data Types and Register Specifications 5 26 5 3 3 Using i and j Subscripts 5 27 5 3 4 Register Specification Methods 5 29 5 4...

Page 180: ...witch 1 S1 JAPMC MC2100 JAPMC MC2100 E JAPMC MC2102 E 1 2 ON 2 3 4 5 6 1 2 3 4 5 6 7 8 1 No Name Status Function Default Setting Details 1 INIT ON Memory clear OFF Set to ON to clear memory The S regi...

Page 181: ...operation 3 CNFG ON Configuration mode Set to ON to execute self configuration for connect devices OFF Normal operation 4 INIT ON Memory clear Set to ON to clear memory The S registers and M register...

Page 182: ...lt Setting Details 1 TEST ON System use OFF Always set to OFF OFF Normal operation 2 MON ON System use Always set to OFF OFF Normal operation 3 CNFG ON Configuration mode Set to ON to execute self con...

Page 183: ...m Order of priority High Online self diagnosis Background Ladder program Interrupt signal Execute DWG I End after one execution Input Execute DWG H Output High speed scan Input Execute DWG L Output Lo...

Page 184: ...ils refer to 5 4 Self configuration The S2 LED indicator will flash green during execution of self configuration 3 Starting an Operation When the STOP switch is set to OFF RUN or changed from ON STOP...

Page 185: ...tus is established when a STOP operation is performed using a switch or the MPE720 Lit Lit Not lit Not lit Not lit The user program is executing nor mally Error Not lit Not lit Lit Not lit Not lit A s...

Page 186: ...ogram when the execution conditions out lined in the table below are met Child Drawings Child drawings are executed by using a SEE command from a parent drawing Grandchild Drawings Grandchild drawings...

Page 187: ...h 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 Drawing 1 A 1 I 1 H 1 L Operation...

Page 188: ...hild drawings are always called from parent drawings and grandchild drawings are always called from child draw ings This is the hierarchical structure of drawings Each processing program is prepared w...

Page 189: ...an instruction that calls a drawing the SEE instruction in a parent or child drawing 2 Functions can be called from any drawing A function can also be called from a function 3 If an operation error oc...

Page 190: ...irect specification of the program num ber or indirect specification by specifying the register number where the program number is stored Fig 5 1 Calling a Motion Program by Direct Specification Fig 5...

Page 191: ...g group operation Group operation can be single group operation or multiple group operation Definitions for axes to be grouped together are made under Group Definitions For details on group definition...

Page 192: ...ecuted and controlled by special system motion management func tions The following points apply to calling motion programs Call motion program with care More than one motion program with the same numb...

Page 193: ...program status bits for monitoring execution status of the motion program The following table shows details of status bit Note Alarm details are saved in the S registers VEL a1 5000 b1 FMX T10000000 I...

Page 194: ...uted if the program operation start request signal is ON when the power is turned ON e g when a start request signal is left in M register Bit No Signal Name Signal Type 0 Program operation start requ...

Page 195: ...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 si...

Page 196: ...t 0 MP 032 Bit 15 to MP 017 Bit 0 MP 016 Bit 15 to MP 001 Bit 0 Motion program execution information Executing program number Executing program bit Executing program number No of main program currentl...

Page 197: ...program MPM001 can be moni tored using Program information used by work 3 SW03380 to SW03437 56 54 52 50 48 46 44 42 40 38 36 34 32 30 28 0 26 23 20 17 14 11 8 5 2 1 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2...

Page 198: ...arameter OB80000 and turns ON the Servo 2 to 10 The signals connected to the MP2100 external input signals are stored as the motion pro gram control signals IW0000 external input signal DW00001 Second...

Page 199: ...s 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 ladder pro gram Ex...

Page 200: ...nction 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 functio...

Page 201: ...held even when the power is turned OFF and back ON Yaskawa rec ommends using the battery backup function to write the data to the M registers Type Name Specification Method Range Details Characteris t...

Page 202: ...00015 Z Function internal registers ZB ZW ZL ZFnnnnn ZW00000 to ZW00063 Internal registers unique to each function Can be used for function internal process ing A Function external registers AB AW AL...

Page 203: ...W DL DFnnnnn B W L Fnnnnn 1 FUNC 000 function Program 1000 steps max Function individual registers DWG H03 drawing Program 1000 steps max DWG individual registers Constant data 16384 words max Individ...

Page 204: ...or 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 s...

Page 205: ...i 3 MW00010i is the same as MW00013 And when j 30 MW00001j is the same as MW00031 3 Double length Integers and Real Numbers with Subscripts These are the same as when i or j values are added to regist...

Page 206: ...on Control Systems 5 3 3 Using i and j Subscripts 5 28 Example Program Using Subscripts The following program finds the total of 100 registers from MW00100 to MW00199 using subscript j and writes the...

Page 207: ...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 PI...

Page 208: ...ure to execute the self configuration refer to 5 4 2 Procedure for Self configuration Using Mode Switch and 5 4 3 Procedure for Self configuration Using MPE720 Execution of Self configuration SGDS M N...

Page 209: ...ommunication error or no response for example if the station number is dupli cated or a cable is broken the status is recognized as no connection 3 For details on setting station data setting fixed pa...

Page 210: ...les correctly connect and turn ON the power to the devices when executing self configuration If register allocations have been changed manually since the last time self configuration was executed the...

Page 211: ...ll be cleared by turning the power ON Therefore always save data to the MP2100 flash memory before turning OFF the power when writing or editing programs For information on how to save data to flash m...

Page 212: ...n 2 Self configuration of Each Module to detect the configuration If self configuration for all the modules is executed the parameter settings up to that point may be overwritten 1 Start the Engineeri...

Page 213: ...message disap pears and the S1 LED indicator returns 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 column in the Modul...

Page 214: ...en 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 opens and the Module Confi...

Page 215: ...dule configuration definitions are being created is displayed Once self configuration has been completed the message disappears and the S1 LED indicator returns to its original state Note If executing...

Page 216: ...s shown in the Mod ule Configuration Definition window of MPE720 JEPMC IO350 JAMSC 120DAI53330 JAMSC 120DAI73330 JAMSC 120DAO83330 JAMSC 120DRA83030 In the case of SERVOPACKs with special specificatio...

Page 217: ...Module User s Manual Manual No SIEP C880700 33 4 SERVOPACK Parameters As a result of executing self configuration the SERVOPACK parameters are written to the SERVOPACK s EEPROM or RAM However they are...

Page 218: ...ings and module configuration definitions must be saved to flash memory Be sure to save the results to flash memory using the MPE720 after setting or changing these user definition files If data is no...

Page 219: ...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 c...

Page 220: ...ime The set values of the scan time should be to at least 1 25 times greater than the maximum time required for the scan Note If the scan time is set too close to the maximum execution time for the sc...

Page 221: ...scan or low speed scan set value 1 25 1 4 1 75 ms High speed scan or low speed scan set value 2 ms 3 ms an integer of 2 ms or higher When the communication cycle is 2 ms with MECHATROLINK I or MECHATR...

Page 222: ...listed below Refer to Appendix E Motion API for more details a Common APIs Device Unit conversion function Parameter operations b Sequential APIs Positioning function Interpolation function Torque ref...

Page 223: ...application EXE Motion API DLL ymcPCAPI DLL MP2100 device drivers Mp2100 SYS Windows 2000 XP Vista Host computer Header file ymcAPI H Library file ymcPCAPI LIB System area 32KB Shared memory Include G...

Page 224: ...API for the MP2100 MP2100M 1 Insert the CD ROM containing the Motion API for the MP2100 MP2100M into the host computer s CD ROM drive and start the Setup program by double clicking the Setup exe icon...

Page 225: ...Specify the destination directory where the Motion API will be installed and click the Next button 4 The following driver installation prompt will be displayed Click the OK button 5 The host computer...

Page 226: ...lling MP2100 MP2100M 5 48 3 Verifying the Installation After restarting the host computer open Windows Explorer and verify that the folders were created as shown below Refer to the MP2100 API referenc...

Page 227: ...eshooting 6 6 6 3 2 Error Check Flowchart 6 7 6 3 3 LED Indicators 6 8 6 4 Troubleshooting System Errors 6 10 6 4 1 Outline of System Registers 6 10 6 4 2 Accessing System Registers 6 11 6 4 3 Trouble...

Page 228: ...ors must be tight Retighten the connector set screws 3 LED Indicators S1 Check whether the indicator is lit green The indicator must be lit green Lighting red indi cates an abnormality Refer to 6 3 Tr...

Page 229: ...nel as the ambient temperature Ambient humidity 30 to 95 RH Atmosphere There must be no corrosive gases 2 Power supply voltage check PS Module Measure the voltage between 24 VDC termi nals 19 2 to 28...

Page 230: ...Module The faceplate of the MP2100M has a hole provided for the battery cable Extend the JEPMC W2092 B8 Relay Cable for Battery pro vided with the MP2100M and secure with a cable tie as shown in the f...

Page 231: ...battery is not commercially available and must be ordered from your nearest Yaskawa sales representative The appearance of the battery is illustrated below Fig 6 1 JZSP BA01 Battery with Cable 2 Proce...

Page 232: ...ed below Step 1 Visually confirm the following items Machine movement or status if stopped Presence absence of power I O device status Wiring status Indicator status LED indicators on each Module Swit...

Page 233: ...gram 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 a Check the MSEE instructions in the...

Page 234: ...INTO and PJOINT is used the alarm code is stored in the parallel 0 information 6 3 3 LED Indicators 1 Indicators The status of the LED indicators on the front of the MP2100 MP2100M can be used to dete...

Page 235: ...g normally This status will occur during normal operation Error Not lit Not lit Lit Not lit Notlit A serious error has occurred Refer to 6 4 3 Troubleshooting when S1 Indicator Is Lit in Red Not lit N...

Page 236: ...ven on the right for details SW00000 System Service Register SW00030 System Status 6 4 5 1 System Status SW00050 System Error Status 6 4 5 2 System Error Status SW00080 User Operation Error Status 6 4...

Page 237: ...of the window 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 is displayed starting from the leading regist...

Page 238: ...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 is displayed at the bottom of the Engineering M...

Page 239: ...heck to see that SW00056 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 l...

Page 240: ...Q SW00088 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 SW0012...

Page 241: ...rved for system use SW00040 Bit 5 Reserved for system use SW00040 Bit 6 FLASH 1 Flash operation SW00040 Bit 7 WEN 0 Write disabled 1 Write enabled SW00040 Bit 8 to SW00040 Bit D Reserved for system us...

Page 242: ...ess write exception error 0120H FPU exception error 0180H Illegal general command error 01A0H Illegal slot command error 01E0H User break after command execution 0800H General FPU inhibited exception...

Page 243: ...hat calls the ladder program function in which an error occurred 0 when there is an error in the drawing Error Data SW00060 and SW00061 Reserved for system use SW00062 to SW00065 Name of Task Generati...

Page 244: ...ror Drawing Number Parent drawing FFFFH Child drawing 00H H Child drawing number Grandchild drawing yyH Hyy Grandchild drawing number Function 8000H Motion program sequence program F0 H H Program numb...

Page 245: ...Operation 0010H Integer storage non numeric error Yes Store not executed 00000 0011H Integer storage underflow Yes Store not executed 32768 0012H Integer storage overflow Yes Store not executed 32767...

Page 246: ...PD 06FH PID 070H LAG 071H LLAG 072H FGN 073H IFGN 074H LAU 075H SLAU 076H FGN 077H IFGN Name Register No Remarks Reserved for system use SW00090 Reserved for system use SW00091 Reserved for system us...

Page 247: ...SW00205 Not used SW00206 SW00207 I O Error Status SW00208 to SW00215 Error status of MP2100 MP2100M SW00216 to SW00223 Reserved for system use SW00224 to SW00231 Error status of SVB 01 MP2100M only SW...

Page 248: ...slot 7 SW00288 to SW00295 Information of rack 2 slot 8 SW00296 to SW00303 Information of rack 2 slot 9 SW00304 to SW00311 Information of rack 3 slot 1 SW00312 to SW00319 Information of rack 3 slot 2...

Page 249: ...code Station error 1 Subslot No 3 Subslot No 7 SW00210 STR 2 Not used SW00211 Not used ST 30 ST 17 SW00212 Not used Not used Not used SW00213 Not used SW00214 Error code I O error 2 SW00215 Not used...

Page 250: ...Reserved for system use Name Register No Remarks Module Information SW00800 MP2100M ID C181H SW00801 CPU hardware version BCD SW00802 CPU software version BCD SW00803 Number of sub slots 0008H SW0080...

Page 251: ...SW03503 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...

Page 252: ...on program Specify the interpolation feeding speed in the interpolation command 13H Range exceeded after converting accelera tion parameter Indirect acceleration parameter exceeded the valid range Cha...

Page 253: ...counter Review the motion program 82H Axis moving distance exceeded LONG_MAX Axis moving distance designation exceeded the valid range Review the motion program 84H Duplicated motion command Multiple...

Page 254: ...etting 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 parame...

Page 255: ...s communication status A Servo Driver Synchronization Communications Error 8 Relative Position Mode Step mode STEP Positioning movement exceeds the allowable value A Excessive Positioning Moving Amoun...

Page 256: ...r ALM_HIST The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error Servo driver alarm monitor number is outside setting range W Set Parameter Erro...

Page 257: ...Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 has occurred at the SER VOPACK W Servo Driver Error Others Aut...

Page 258: ...are shown below 1 Refer to 6 7 2 Motion Error Details and Corrections 2 Refer to 6 7 3 1 Servo Driver Status IW 2C 3 Refer to 6 7 3 2 Servo Driver Alarm Code IW 2D Warning IL 02 Bit 1 Setting Paramet...

Page 259: ...used Bit 7 Excessive Positioning Moving Amount Bit 17 Not used Bit 8 Excessive Speed Bit 18 Not used Bit 9 Excessive Deviation Bit 19 Not used Bit A Filter Type Change Error Bit 1A Not used Bit B Fil...

Page 260: ...el signal Check the program or manual operation Then after clearing the motion command and resetting the alarm use a return operation to elimi nate the overtravel status Commands in the overtravel dir...

Page 261: ...sing when Alarm Occurs The move command is not executed The Command Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Error and Cause A move command commands for positioning...

Page 262: ...ction Processing when Alarm Occurs The SCC Change Filter Time Constant command will not be executed The Command Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Error and C...

Page 263: ...ed for each process Processing when Alarm Occurs The current command will be aborted Error and Cause The MECHATROLINK Servo command did not complete within the specified time 5 s Correction Check for...

Page 264: ...is not in the zero point 1 The APOS absolute position is in the zero point range Bit 7 Positioning Complete PSET 0 Pulse distribution is not completed or the APOS is not in the positioning com pleted...

Page 265: ...r Corrupted 10 Overcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encod...

Page 266: ...uit Wiring Error 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload 74 Inrush Resistance Overload 7A Heat Sink Overhe...

Page 267: ...Communication Error E7 Failed to Detect Application Module E9 Bus OFF Error EA SERVOPACK Failure EB SERVOPACK Initial Access Error EC SERVOPACK WDC Error ED Command Execution Not Completed EF Applicat...

Page 268: ...MECHATROLINK Communication Warning 020 Parameter Checksum Error 1 021 Parameter Format Error 1 022 System Constant Checksum Error 1 023 Parameter Password Error 1 02A Parameter Checksum Error 2 02B S...

Page 269: ...Alarm 2 BF3 System Alarm 3 BF4 System Alarm 4 C10 Servo Run away C80 Encoder Clear Error Multiturn Limit Setting Error C90 Encoder Communication Error C91 Encoder Communication Position Data Accelera...

Page 270: ...0 Overspeed 511 Overspeed of Encoder Output Pulse Rate 520 Vibration Alarm 521 Autotuning Alarm 710 Overload High Load 720 Overload Low Load 730 731 Dynamic Brake Overload 740 Overload of Surge Curren...

Page 271: ...0 Encoder Echoback Error CC0 Multi turn Limit Disagreement CF1 Feedback Option Module Communications Error Reception error 1 CF2 Feedback Option Module Communications Error Timer stop 1 d00 Position E...

Page 272: ...6 Maintenance Inspection and Troubleshooting 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 46...

Page 273: ...stem Registers Lists A 1 System Service Registers A 2 A 1 1 Shared by All Drawings A 2 A 1 2 DWG H Only A 2 A 1 3 DWG L Only A 3 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers...

Page 274: ...fter low speed scan is started Always ON SB000004 Always ON 1 Reserved Reserved for system use SB000005 to SB00000F Not used Name Register No Remarks 1 scan Flicker Relay SB000010 0 5 s Flicker Relay...

Page 275: ...1 0 s 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...

Page 276: ...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 for System Use SW00013 Not used Executing Scan Current Valu...

Page 277: ...ta in SVB Definition Appendix B Current Value and Setting Data in SVB Definition B 1 Current Value and Setting Data in SVB Definition B 2 B 2 Operations and Parameter Data Flow B 3 B 3 Precautions whe...

Page 278: ...ns that parameters are saved in the memory areas of both the MP2100 and the SERVOPACK So consider the relationship between the settings in both memory areas The flow of data for the SERVOPACK paramete...

Page 279: ...Some setting parameters and commands of the MP2100 temporarily change SERVOPACK parameters The RAM in the SERVOPACK is also changed Refer to 4 Motion Parameters in the Machine Controller MP2000 Serie...

Page 280: ...he relevant axis to the Current Value in the SERVOPACK tab page It also reads and displays the parameters that are held in the MP2100 s SDRAM in the Input Data in the SERVOPACK tab page Note indicates...

Page 281: ...VOPACK tab page of the relevant axis to the followings HDD hard disk drive of the personal computer SDRAM of the MP2100 RAM and EEPROM of the SERVOPACK After having completed writing the parameters th...

Page 282: ...e in the SVB Definition window After having saved the data the values in Input Data of all the parameters are reflected in the values in Current Value on the SERVOPACK tab page Note The saving operati...

Page 283: ...put Data on the SERVOPACK tab page and displays Note indicates data has been written The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK tab pag...

Page 284: ...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 MP2100 RAM of the SERVOPACK After having completed writing...

Page 285: ...ain in Input Data on the SERVOPACK tab page After having pressed the ENTER key the values of Speed Loop Gain Speed Loop Integral Time Constant and Position Loop Gain boxed in dotted line in Input Data...

Page 286: ...00 writes the parameters data Input Data held in SDRAM to flash memory Note 1 Save to flash memory also after having changed set data of SERVOPACK parameter 2 indicates data has been written Flash Mem...

Page 287: ...etting Data in SVB Definition B 3 Precautions when Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK tab page in any cases excluding the SERVOPACK replacement always selec...

Page 288: ...Appendix B Current Value and Setting Data in SVB Definition B 12...

Page 289: ...zing the Absolute Encoder Appendix C Initializing the Absolute Encoder C 1 Initializing the Absolute Encoder C 2 C 1 1 V Series III Series SERVOPACKs C 2 C 1 2 II Series SERVOPACKs C 3 C 1 3 I Series...

Page 290: ...I Series SGM S SGDS User s Manual For MECHATROLINK II communications Manual No SIEP S800000 11 and III Series SGM S SGDS Digital Operator Instructions Manual No TOBP S800000 01 Follow the setup proced...

Page 291: ...display will change as shown below 4 Each time the UP key is pressed the numerical value of the digit at the right end will be increased Press the UP key several times to display PGCL5 If a mistake is...

Page 292: ...ress the UP key several times to display PGCL5 If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the dis play will return to the Auxiliary Function Mode I...

Page 293: ...l wiring and make sure the encoder battery is connected 5 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs otherwise the system has been successfully in...

Page 294: ...Connect the cables using normal wiring and make sure the encoder battery is connected 4 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs otherwise the s...

Page 295: ...D 1 D Motion Parameter Lists Appendix D Motion Parameter Lists D 1 Motion Parameter Lists D 2 D 1 1 Fixed Parameter List D 2 D 1 2 Setting Parameter List D 4 D 1 3 Monitoring Parameter List D 10...

Page 296: ...Disable 0 Disabled 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 Overtrav...

Page 297: ...l encoder 1 Absolute encoder 2 Absolute encoder Incremental encoder is used 3 Reserved for system use Yes 31 to 33 Reserved for system use 34 Rated Motor Speed Rotary Motor 1 1 min 1 Yes Yes Rated Spe...

Page 298: ...Bit B Integration Reset 0 OFF 1 ON Yes Bit C Reserved for system use Bit D Latch Completion Status Clear Request 0 OFF 1 ON Yes Bit E Communication Reset 0 OFF 1 ON Yes Bit F Alarm Clear 0 OFF 1 ON Y...

Page 299: ...e C pulse input signal Yes 3 EXT1 Yes 4 EXT2 Yes 5 EXT3 Yes Bits 8 to B Reserved for system use Bits C to F Bank Selector Yes OW 05 Function Setting 3 Bit 0 Reserved for system use Bit 1 Phase Referen...

Page 300: ...TRQ Torque Thrust Reference 25 PHASE Phase Reference 26 KIS Change Position Loop Integration Time Constant 27 PPRM_WR Stored Parameter Write Yes Yes OW 09 Motion Command Control Flag Bit 0 Holds a Com...

Page 301: ...Reserved for system use OW 26 Positioning Completion Check Time 1 1 ms Yes OW 27 Reserved for system use OL 28 Phase Correction Setting 1 1 reference unit Yes OL 2A Latch Zone Lower Limit Setting 1 1...

Page 302: ...Yes OL 44 Step Travel Distance 1 1 reference unit Yes Yes OL 46 External Positioning Final Travel Distance 1 1 reference unit Yes OL 48 Zero Point Position in Machine Coordinate Offset 1 1 reference...

Page 303: ...the number of the fixed parameter to read with the FIXPRM_RD motion subcommand Yes Yes OW 5D Reserved for system use OL 5E Encoder Position When Power is OFF Lower 2 words 1 1 pulse For linear type do...

Page 304: ...7 Negative Direction Overtravel Yes Bit 8 Servo ON Incomplete Yes Bit 9 Servo Driver Communication Warning Yes Bit A Servo Driver Stop Signal Input Yes Bits B to 1F Reserved for system use IL 04 Alarm...

Page 305: ...ed DEN Yes Yes Bit 1 Positioning Completed POSCOMP Yes Yes Bit 2 Latch Complete LCOMP Yes Bit 3 NEAR Position NEAR Yes Yes Bit 4 Zero Point Position ZERO Yes Yes Bit 5 Zero Point Return Setting Comple...

Page 306: ...IW 2D Servo Driver Alarm Code Stores the alarm codes from the servo driver Yes IW 2E Network Servo I O Monitor Bit 0 Positive Drive Prohibited Input P_OT Bit 1 Negative Drive Prohibited Input N_OT Bit...

Page 307: ...ead Yes IW 3F Motor Type Stores the type of motor actually connected 0 Rotary type motor 1 Linear type motor Yes IL 40 Feedback Speed Unit is according to OW 03 bits 0 to 3 Speed Unit Selection Yes Ye...

Page 308: ...en the Power is OFF Upper 2 Words 1 1 pulse Yes IW 66 to IW 6F Reserved for system use IW 70 to IW 7F Response Buffer for Transparent Command Mode This area is used for the response data area when MEC...

Page 309: ...e list of motion API For details refer to the MP2100 MP2100M Motion API reference file PCAPI chm which is installed in the CD ROM CPMC MPA700 for MP2100 MP2100M Motion API E 1 Motion API E 2 E 1 1 Com...

Page 310: ...efines an axis and gets an axis handle ymcGetAxisHandle Specifies the physical axis and axis name and gets the registered axis handle Function Name Summary ymcConvertFloat2Fix Converts floating point...

Page 311: ...pecified tangential speed along an arc with the center point coordinate u v specified by lpCenter ymcMoveCircularRadius Executes circular interpolation in the specified direction at the specified tang...

Page 312: ...s specified by the device handle by the specified stop method immediate or decelerating to stop Function Name Summary ymcServoControl Turns the specified axis servo ON or OFF Verifies that the servo h...

Page 313: ...FInfo Gets information relating to the bus type interface ymcSetBusIFData Writes to the bus type interface ymcGetBusIFData Reads from the bus type interface Function Name Summary ymcGetAlarm Reads the...

Page 314: ...Appendix E Motion API E 1 3 System APIs E 6...

Page 315: ...ation Function Execution Conditions F 4 F 2 3 Setting the MP2100M Slave CPU Synchronization Function F 5 F 2 4 Procedure for Executing the MP2100M Slave CPU Synchronization Function F 8 F 3 Operation...

Page 316: ...nction enables synchronization among slave CPU devices as a matter of course it enables the decen tralization of application programs by connecting MP2100M devices as slaves The MECHATROLINK II slave...

Page 317: ...or PORT 1 of the MP2100M CPU Board If the module is at the end of the network a terminating resistor must be installed Points of difference relative to MP2100M models other than JAPMC MC2140 ET3 1 Whe...

Page 318: ...ltiple or integral fraction of the communication cycle setting High speed scan setting to be an integral multiple or integral fraction of the high speed scan setting at the master device Slave synchro...

Page 319: ...nchronization function are shown below 1 Setting at the Master Device There is no setting for enabling disabling the slave CPU synchronization function at the master device On the MECHATROLINK Link As...

Page 320: ...2100M Slave CPU Synchronization Function F 6 2 Setting at the Slave Devices 1 Select Slave synchronous function Enable in the MECHATROLINK communication parameters Double click here to open the MECHAT...

Page 321: ...ution Conditions and Settings F 7 F MP2100M Slave CPU Synchronization Function 2 On the MECHATROLINK Link Assignment tab page set High for the synchronous scan setting Set the synchronous scan setting...

Page 322: ...nchronous sta tus brought about by the slave CPU synchronization function the scan cycle high speed or low speed at the slave devices may be extended by up to the duration of one scan cycle and this c...

Page 323: ...n the slave device option slots are not moving set the control bit SLVSC to OFF to execute slave CPU synchronization Note For details refer to F 3 6 Managing Restarting of MP2100M Slave CPU Synchroniz...

Page 324: ...t use of this area is optional Slave status This is the status of the MECHATROLINK transmission processing section of the MP2100M Its composition is shown on the next page Data With M II 17 byte a dat...

Page 325: ...ted 1 Transient status SYNCRDY 0 Preparation for slave syn chronization incomplete This bit is ON when the execution conditions for slave CPU syn chronization have been satisfied It is OFF in the foll...

Page 326: ...This is the status of the MECHATROLINK transmission processing section of the MP2100M It is the same status as output to the master device Data With M II 17 byte a data area of up to 6 words can be u...

Page 327: ...t use of this area is optional and that data I O processing can be executed without refreshing scan counter values Control bit Sets the operation of the MP2100M s MECHATROLINK transmission processing...

Page 328: ...14 Low High OW 8 Data 7 Low High 10H 11H Low High IW 8 Low High 7 6 5 4 3 2 1 0 Scan counter Not used Low High Low High Low High Low High Low High Low High Input registers 7 6 5 4 3 2 1 0 7 6 5 4 3 2...

Page 329: ...5 4 3 2 1 0 IW 0 IW 1 IW 2 IW 3 IW 4 IW 5 IW 6 IW 7 Slave status Control bit Scan counter Data 1 OW 0 OW 1 OW 2 OW 3 OW 4 OW 5 OW 6 OW 7 Data 2 Data 3 Data 4 Data 5 Data 6 Input registers Low High Lo...

Page 330: ...nous status is in effect 2 Method for Checking with the Application at a Slave Device Check bit 7 SYNC at the second word Slave status IW 1 of the I O registers allocated to the local station If SYNC...

Page 331: ...e is called the slave CPU synchronization delay time and it is calculated as follows Setting Example 1 Execution of application at master device Refreshing of output data 2 SVB Module processing Slave...

Page 332: ...hecking the Operation Status of the Master Device with the Application at a Slave Device Processing at master device The application at the master device increments the value set for the first word of...

Page 333: ...ing the read input data a For the Master Device IW OW Refreshed by the application every scan IW 1 OW 1 Master device Slave device Scan counter Output registers Input registers Scan counter Checks tha...

Page 334: ...ks DW00001 Copy of slave status DW00002 Condition check result DW00003 Copy of current scan counter value DW00004 Previous scan counter value DW00005 Data for scan counter check DW00007 Input error co...

Page 335: ...F 3 Operation F 21 F MP2100M Slave CPU Synchronization Function Example Application Continued on next page...

Page 336: ...Appendix F MP2100M Slave CPU Synchronization Function F 3 5 Judging Input Errors F 22 Continued from previous page...

Page 337: ...e status indicated below bit 1 WARNG OFF bit 2 CMDRDY ON bit 7 SYNC ON only when the slave CPU synchronization mode is enabled If the status is other than that indicated above the cause could be a com...

Page 338: ...Appendix F MP2100M Slave CPU Synchronization Function F 3 5 Judging Input Errors F 24 Example Application Continued on next page...

Page 339: ...s These errors are reset automatically so no operation is required However if input errors occur frequently check the following points Has a station address been duplicated Has a scan timeout error oc...

Page 340: ...he SERVOPACK connected to an SVB 01 or SVC 01 Module the axes stop and an alarm occurs Communication with MPE720 temporarily stops communication restarts on transition to the slave CPU synchronous sta...

Page 341: ...ynchronous status is established for some reason the synchronous status will not be automatically restored The slave status SYNC is monitored and when it becomes OFF the status changes to Preparing fo...

Page 342: ...Appendix F MP2100M Slave CPU Synchronization Function F 3 6 Managing Restarting of MP2100M Slave CPU Synchronization F 28 Example Application Continued on next page...

Page 343: ...F 3 Operation F 29 F MP2100M Slave CPU Synchronization Function Continued from previous page...

Page 344: ...n of the definition is shown in the MPE720 window The Slave synchronous function Enable Disable setting is not shown However the set ting made on creation of the definition is retained By using the Sa...

Page 345: ...ronous status to the asynchronous status n When the setting of the MP2100M Built in SVB Module has been changed from slave to master save the settings in flash memory and then turn the power OFF and b...

Page 346: ...ror If it is just a receive data error there is no effect on slave CPU synchronization However since the input data is not refreshed if a check is performed in the user application a scan counter erro...

Page 347: ...6 35 F filter time constant change error 6 36 filter type change error 6 36 fixed parameter list D 2 flash memory 4 43 function registers 5 24 G Group Folders 4 29 H H drawing 4 52 H01 drawing 4 53 H0...

Page 348: ...25 register specification methods 5 29 register specifications 5 26 registers registers 5 23 constants registers 5 23 D registers 5 23 data registers 5 23 input registers 5 23 output registers 5 23 sy...

Page 349: ...6 6 troubleshooting when S2 indicator is lit in red 6 14 U user definition files 5 40 user functions 5 22 user programs 5 8 V verifying driver installation 3 7 W waiting for monitor information to be...

Page 350: ...2 1 Revision Number of eccoder resolution November 2005 3 0 7 2 2 2 19 Revision Description of Deviation Abnormal Detection Error Level OB 010 Back cover Revision Address January 2005 2 0 All chapters...

Page 351: ...nd Phone 66 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...

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