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YASKAWA MP2300, User Manual

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A-1

Appendices

App

Appendices

A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2

A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - A-4

B Current Values and Set Values (Input Data) in the SVB Definition Window - -A-5

B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Precautions When Saving SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - A-12

C Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-13

C.1 Initializing Procedures for

Σ

-

V

and

Σ

-

III

Series SERVOPACKs- - - - - - - - - - - - - - - - - - A-13

C.2

Σ

-

II

SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15

C.3

Σ

-

I

SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17

D Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-19

D.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19
D.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20
D.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-25

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Summary of Contents for MP2300

Page 1: ...erview of the MP2300 Module Specifications Mounting and Connections System Startup and Sample Programs Outline of Motion Control Systems Maintenance and Inspection Appendices 1 2 3 4 5 6 App MP2300 RD...

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: ...rque is commonly used when describing rotary servomotors and force or thrust are used when describing linear servomotors this manual uses torque when describing both excluding parameters MP2300 MP2300...

Page 4: ...Modules 218IF 01 218IF 02 217IF 01 260IF 01 261IF 01 215IF 01 Machine Controller MP2000 Series I O Module User s Manual SIEP C880700 34 Describes the functions specifications and application methods...

Page 5: ...installation wiring trial operation function applications methods maintenance and inspection of the II Series SERVOPACKs III Series SGM H SGDS User s Manual SIEP S800000 00 Describes the models specif...

Page 6: ...scribes the operating methods of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System SIEZ C887 5 1 D...

Page 7: ...utions 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 propert...

Page 8: ...machine or even cause accidents resulting in injury or death There is a risk of electrical shock Do not remove the front cover cables connector or options while power is being supplied There is a ris...

Page 9: ...is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which i...

Page 10: ...Near to power lines When connecting the battery connect the polarity correctly There is a risk of battery damage or explosion Only qualified safety trained personnel should replace the battery If the...

Page 11: ...damage Dispose of the MP2300 as general industrial waste Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown wi...

Page 12: ...product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for w...

Page 13: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a simila...

Page 14: ...ries and Optionals and Software 1 9 1 5 1 Cables 1 9 1 5 2 Accessories and Options 1 11 1 5 3 Software Programming Tool Options 1 11 2 Module Specifications 2 1 MP2300 Basic Module Specifications 2 2...

Page 15: ...ng Sample Program Files 4 13 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 17 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Com...

Page 16: ...Methods 5 27 5 4 Self configuration 5 28 5 4 1 Self configuration Processing Procedure 5 29 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 30 5 4 3 Execution Procedure for Sel...

Page 17: ...Corrections 6 31 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 36 Appendices A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Pr...

Page 18: ...Basic Module Appearance 1 3 1 2 2 MP2300 Modules 1 4 1 3 System Configuration Example 1 5 1 4 Devices Connectable to MECHATROLINK 1 6 1 4 1 Devices Connectable to MECHATROLINK I II 1 6 1 4 2 Devices C...

Page 19: ...eed MECHATROLINK II baud rate 2 5 times faster CPU processing speed 1 4 times faster than MP930 MECHATROLINK II enables position control speed control and torque control and makes precise synchronous...

Page 20: ...ional Modules 1 2 1 Basic Module Appearance The following figure shows the external appearance of the Basic Module MP2300 RDY ALM TX RUN ERR BAT BATTERY SW1 OFF ON M I II CPU I O POWER DC24V DC 0V STO...

Page 21: ...alog input 8 channels Analog Output Module AO 01 JAPMC AN2310 E Analog output 4 channels Output Module DO 01 JAPMC DO2300 E JAPMC DO2300 64 outputs sink mode output Counter Module CNTR 01 JAPMC PL2300...

Page 22: ...he set tings for MECHATROLINK The user must supply the 24 VDC power supply When connecting SERVOPACKs via MECHATROLINK connect the overtravel zero point return deceleration limit switch and external l...

Page 23: ...Yes Yes CIMR F7A SI T Varispeed F7 Inverter with MECHATROLINK interface Yes Yes CIMR V7AA SI T V7 VSmini V7 Inverter with MECHATROLINK interface Yes Yes CIMR A SI T3 High Performance Vector Control D...

Page 24: ...tputs 10 to 10 V 2 channels Yes Yes JAMSC IO2900 E DC Input Module 24 VDC 16 inputs Yes Yes JAMSC IO2910 E DC Output Module 24 VDC 16 outputs Yes Yes JAMSC IO2920 E 8 point I O Module 24 VDC 8 inputs...

Page 25: ...unications Refer ences SGD7W 20 SGD7W SERVOPACKs with MECHATROLINK III Communications Refer ences Model Number Details CIMR A SI ET3 High Performance Vector Control Drive A1000 MECHATROLINK III Option...

Page 26: ...oth ends Used between the devices listed below SVC 01 and MECHATROLINK III compatible device JEPMC W6013 E with MECHATROLINK III connectors on both ends with ferrite core JEPMC W6014 E with a MECHATRO...

Page 27: ...ed Shell 10314 52A0 008 manufactured by 3M Japan Limited PORT RS 232C communication cable JEPMC W5310 Used between RS 232C port and 25 pin male D sub connector JEPMC W5311 Used between RS 232C port an...

Page 28: ...W6022 Terminator CP 215 CP 215 communication cable Provided by the customers Refer to the communication module manual Manual No SIEPC88070004 Name Accessory Optional Model Remarks Battery Accessory J...

Page 29: ...cifications 2 2 2 1 2 Environmental Conditions 2 3 2 1 3 Function Specifications 2 4 2 2 MP2300 Basic Module Functions 2 6 2 2 1 External Appearance LED Indicators and Switch Settings 2 6 2 2 2 Module...

Page 30: ...A max during input output rating Inrush Current 40 A max full discharge state during output rating or the secondary output of the external 24 V power supply is turned ON Allowable Power Loss Time 2 m...

Page 31: ...tible or corrosive gas Operating Altitude 2 000 m above sea level or lower Mechanical Operating Conditions Vibration Resistance Conforming to JIS B 3502 10 to 57 Hz with single amplitude of 0 075 mm 5...

Page 32: ...D registers Drawing constant registers Input I registers Output O registers Constant C registers 64 Kwords 8 Kwords Up to 16 Kwords per drawing Up to 16 Kwords per drawing 32 Kwords including internal...

Page 33: ...it mm inch deg pulse or m Reference Unit Minimum Setting 1 0 1 0 01 0 001 0 0001 0 00001 Maximum Programmable Value 2147483648 to 2147483647 signed 32 bit value Speed Reference Unit Reference unit s d...

Page 34: ...ur machine An outline of the Basic Module functions is shown in the following diagram 2 2 1 External Appearance LED Indicators and Switch Settings 1 External Appearance Output processing Input process...

Page 35: ...sion of MECHATROLINK I II data BAT Red Lit during battery alarm RDY ALM TX RUN ERR BAT SW1 OFF ON STOP SUP INIT CNFG MON TEST 1 2 3 4 5 6 No Name Setting Operating Mode Default Setting Details 6 STOP...

Page 36: ...Basic Module Configuration of the SVR Virtual Motion Module built in the Basic Module Information on Basic Module Information on the mounted Optional Modules Item Description Modification Slot Number...

Page 37: ...file and SVB definition file Additionally module definition data can be automatically refreshed by executing the self configuration function when starting the MP2300 or anytime thereafter For informat...

Page 38: ...odule Details For CPU I O Module details including specifications refer to 3 2 4 CPU I O Built in I O Connectors on page 3 16 2 Settings for CPU I O Module Local I O definition Window Select MP2300 in...

Page 39: ...e register number allocated to the inputs or outputs It cannot be changed Word Displays the word size of the register data It cannot be changed SCAN Select the speed from HIGH LOW or NA none specified...

Page 40: ...ional SVB is one of the optional modules for the Machine Controller The SVB 01 Module is an Optional SVB that can be mounted on MP2300 1 Features Up to 21 slave stations can be connected to a single S...

Page 41: ...n connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel homing deceleration switch and external latch to the servo Refer to the relevant SERVOPACK manual for details...

Page 42: ...cle processing and simplifies distribution processing for interpolation commands b Conditions Under Which Synchronization Is Possible The following table shows the combinations of high speed scan time...

Page 43: ...ion is possible for the high speed scan and communication cycle combination When a change is made save the settings to flash memory and then turn the power supply OFF and ON Changing the MECHATROLINK...

Page 44: ...ssion Definition a How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration Window select the SVB Module in the Controller field and double click the MECHATROLINK cell i...

Page 45: ...ation address Displays the local station address set by using the rotary switches For Master station fixed to 0 For slave stations set a number between 1 and the number of slave stations Transmission...

Page 46: ...s Number of Slaves Displays the number of slave stations that can be connected Determined by communication type communication cycle use of SigmaWin and number of attempts to retry transmission to slav...

Page 47: ...can processing however will be longer because the CPU s application execution start time is suspended until the SVB 01 Module motion processing is completed SVB Module Type Built in SVB Optional SVB M...

Page 48: ...cription Options and Precautions on Settings ST Station number The station number set here must be the same as the number set using rotary switches TYPE Slave device connected at the station Select th...

Page 49: ...splayed settings cannot be changed The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS STS In online mode MECHATROLINK transmission status information is...

Page 50: ...Definition Window Open the SVB Definition Window by the following procedure 1 Double click the slot number cell of the SVB Module in the Module Details field in the Module Configuration Window refer...

Page 51: ...ries Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for details Fig 2 1 Fixed Parameters Tab Fig 2 2 Setup Parameters Tab Fig 2 3 SERVOPACK Parameters Tab Refer to the relevan...

Page 52: ...s Electric bus Transmission Distance 50 m Can be extended up to 100m by connecting repeaters 50 m Can be extended up to 100m by connecting repeaters Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 1...

Page 53: ...ng parameters and can be accessed from application programs using I O registers Refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for de...

Page 54: ...tronic cam or shaft operation can be achieved by using the SVR for the virtual master axis 2 Multi axis synchronous control Multi axis synchronous control can be achieved by controlling the SVR from a...

Page 55: ...axes 1 to 16 when Run Mode fixed parameter 0 is set to Normal Running 0 The formula listed above do not apply when the number of axes is 0 Differences from SVB Simulation Mode Simulation mode does no...

Page 56: ...cifications for the Basic Module 3 1 Mounting the MP2300 3 2 3 1 1 Basic Module Dimensional Drawings 3 2 3 1 2 Mounting the MP2300 3 3 3 1 3 Replacing and Adding Optional Modules 3 6 3 2 Basic Module...

Page 57: ...or details Accessesory Operation lever type 231 131 The operation lever is used when connecting wires to the cable connector 218IF 01 ERR COL RX RUN STRX TX INIT TEST OFF ON PORT 10Base T LIO 01 LD5 L...

Page 58: ...a spacer on the rear of the MP2300 near the bot tom to protect the MP2300 from vibration and shock The parts for mounting the MP2300 to the DIN rail are sold separately Purchase the following product...

Page 59: ...he mounting clips so that they are in the positions shown with a dotted line in the previous figure The figure below shows the front and back of a mounting clip Insert each clip so that its front face...

Page 60: ...em in place 5 Place end plates on either side of the MP2300 to secure it to the DIN rail This completes the installation procedure b a Clip DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN...

Page 61: ...ve all the cables connected to the MP2300 Next remove the MP2300 from the panel or rack and place them where there is sufficient space such as on a work table 2 Removing Optional Modules 1 Remove the...

Page 62: ...e Hold the battery cover as shown in the following figure and use it to gently pull back on the Module rotating it indicated by the arrows to disconnect the Module from the Mounting Base The Module wi...

Page 63: ...t may be damaged 2 Connect to the Mounting Base Connector After inserting the Module all the way to the back press the Module firmly until it connects securely to the Mounting Base connected If the Mo...

Page 64: ...tions Specifications 3 2 1 Connectors The following illustration shows the connectors for the Basic Module MECHATROLINK connector Power supply connector I O connector DC24V DC 0V MP2300 YASKAWA TEST O...

Page 65: ...supply switch on the AC side If the switch is attached on the 24 VDC side there will be an inrush current of approximately 40 A when the power is turned ON Name Connector Name No of Pins Connector Mo...

Page 66: ...nd fully insert the core wire into the wire inlet 3 Fasten the clamp Release the lever or remove the screwdriver to fasten the clamp so that the core wire will remain securely in the plug 6 5 mm Insta...

Page 67: ...th MECHATROLINK Cable MECHATROLINK Connector MECHATROLINK Connector JEPMC W6002 A5 0 5 m JEPMC W6002 01 1 m JEPMC W6002 03 3 m JEPMC W6002 05 5 m JEPMC W6002 10 10 m JEPMC W6002 20 20 m JEPMC W6002 30...

Page 68: ...he MP2300 and I O units or SERVOPACKs Except for SGD N and SGDB AN SERVOPACKs 1 The connection diagram using MECHATROLINK cable JEPMC W6002 or JEPMC W6003 2 is shown below 1 Use MECHATROLINK cable JEP...

Page 69: ...gram is recommended when using the MP2300 in combination with a SVB 01 Module Prepare the cables according to MECHATROLINK specifications Connections that do not meet the specifi cations will prevent...

Page 70: ...SKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 CN1 IN1 OUT1 IN2 OUT2 A1 A1 A1 A1 B1 B1 B1 B1 YASKAWA JEPMC IO2310 MP2300 YASKAWA TEST RDY ALM T...

Page 71: ...Model Module Cable Manufacturer I O Connector CPU I O 20 10220 52A2JL 10120 3000PE Connector 10320 52F0 008 Shell Sumitomo 3M Name Model Number Length I O Cable loose wires JEPMC W2060 A5 0 5 m JEPMC...

Page 72: ...gital Input Circuit Sink Mode Input Item Specifications Inputs 8 points DI 00 General purpose input shared with interrupts DI 01 to DI 07 General purpose input Input Format Sink mode source mode input...

Page 73: ...en 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 C...

Page 74: ...connected load shorts or overloads could result in fire destruction of the load device or damage to the output element The pins 1 and 11 and the pins 8 and 18 are internally connected Connect them ext...

Page 75: ...ervo Control 4 17 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 4 21 4 3 Starting Sample Program MPE720 Ver 5 4 23 4 3 1 Starting MPE720 Ver...

Page 76: ...communication process on each port 4 1 4 Setting and Saving Communication Process Communication Manager on page 4 6 6 MP2300 Self configuration The connected devices are automatically confirmed 4 1 5...

Page 77: ...B1 B2 U V W C N 6 SERVOPACK see 3 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 C N 2 C N 4 L1 L2 L2C L1C B1 B2 U V W C N 6 MECHATROLINK cable see 1 Servomotor see 3 Servomotor see 3 2...

Page 78: ...OFF Pin 4 OFF When making SERVOPACK settings the Digital Operator is connected to the SERVOPACK for which settings are to be made 4 Other Required Equipment Name Model Quantity MPE720 CPMC MPE720 ver...

Page 79: ...display the Auxiliary Function Mode main menu and use the Keys to select Fn005 5 Press the Key to switch to the Fn005 parameter initialization execution display If the display does not change and NO O...

Page 80: ..._Applications Folder Or Click Start All Programs YE_Applications Communication Manager to start the Communication Manager The Communication Process Icon appears on the task tray at the bottom right of...

Page 81: ...pears 5 Match the settings under Physical Port to the computer s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK...

Page 82: ...es Window appears 8 Click Connection Tab to display the page Click LAN settngs The Local Area Network LAN Settings Dialog Box appears 9 Check if the Automatically detect the settings Check Box is clea...

Page 83: ...this connection in the Network Task field Windows 2000 running computer Windows XP running computer The Property for Local area connection Dialog Box appears 12 Select Internet Protocol TCP IP and cl...

Page 84: ...nd in the Logical Port Setting Dialog Box and click the Detail Button The CP 218 Port Setting Dialog Box appears 16 Enter the IP address of computer and click OFF for Default Leave the other items on...

Page 85: ...hese settings will be used as the communication port information whenever the communication process is started 19 Exit the Communication Process Window and restart to validate the settings Select File...

Page 86: ...RAM data Clear If the INIT switch on the DIP switch on the Basic Module is ON and the power is turned ON RAM data will be cleared Also flash memory data will be read and RAM data will be overwritten w...

Page 87: ...ick the Cancel Button to cancel the autorun 2 Open the My Computer folder and then right click the MPE720V6 disk drive Click Open in the pop up menu that appears The root directory of the installation...

Page 88: ...file 2300SMPL_E YMW and paste it in a folder in the hard disk 2 Starting MPE720 Ver 6 To Transfer the Sample Program to the MP2300 1 Double click the 2300SMPL_E YMW file copied to the hard disk MPE720...

Page 89: ...line Write into Controller in the menu bar The Transfer Program Write into Controller Dialog Box will appear 5 Click the Individual Button to select an individual file transfer and click the Save to f...

Page 90: ...le program files When the transfer is complete a message box will appear to tell you that the sample program files have been successfully written to the MP2300 8 Click the OK Button in the message box...

Page 91: ...ed system For details regarding the motion fixed parameters refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Modules User s Manual Manual No SIEPC88070033 1 Select Setup Module con...

Page 92: ...ox at the top left of the window and select mm under No 4 Reference unit selection on the Fixed Parameters Tab Page 4 In the Engineering Manager Window select File Save to save the settings for axis 1...

Page 93: ...in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page 3 Select Edit Copy Current Value A confirmation dialog box will appear The data in the Input Data Column is...

Page 94: ...gs for Servo Control 4 20 5 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 6 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data...

Page 95: ...2300 RAM to flash memory 1 Select Online Save to Flash in the menu bar of the MPE720 Ver 6 main window The Transfer Program Save to Flash Dialog Box will appear 2 Check to see that the target controll...

Page 96: ...om Controller from the menu bar of the MPE720 Ver 6 main window The Transfer Program Read from Controller Dialog Box will appear 2 Check the selected items and displayed contents to see if they are co...

Page 97: ...g On Online Connect to MP2300 and log on to MPE720 4 3 2 1 Logging On Online on page 4 28 6 Load Sample Programs Load sample programs from MPE720 system CD ROM 4 3 2 2 Loading the Sample Programs on p...

Page 98: ...00 The explanation is given assuming that the MPE720 has been installed on your personal computer Refer to Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual M...

Page 99: ...r 2 Enter a group folder name of up to 8 characters and click the OK Button A new group folder will be created Double click root or click to display the entered group folder name Group folders order f...

Page 100: ...storing Controller Folders 1 Right click root or the Group Folder in which the Order Folder is to be created and select New Order Folder from the pop up menu The Make New Folder Dialog Box will appea...

Page 101: ...older in which the Controller Folder is to be created and select Create New Folder Controller Folder from the pop up menu The Controller Configuration Dialog Box will appear 2 Enter a Controller Folde...

Page 102: ...ler Folder that has been created and select Online from the pop up menu that is displayed A confirmation dialog box will appear Click the Yes Button to switch to online mode The communication mode can...

Page 103: ...e is set to Yes Under Logical Port No Device Type select the logical port number to be used from the logical ports set using the communication process The contents displayed on the tab page changes ac...

Page 104: ...eave the values other than the Logical Port No on their default settings and click OK Button For Ethernet Connection Enter the IP address of the Communication Module at the MP2000 Series Machine Contr...

Page 105: ...pop up menu that is displayed The CPU Log On Dialog Box will appear 7 Enter USER A default under User Name and Password and click the OK Button Logon will be executed for the selected Controller folde...

Page 106: ...Eng folders and double click the 2300SMPL_E EXE icon A dialog box for specifying where to unpack the file will appear 2 Specify the destination path a path other than File Manager and click the Decomp...

Page 107: ...he Source is correct move to step 6 5 The Change Transfer Drive Dialog Box will appear Click the Detail Button to open the Select the Folder Dialog Box 6 Three sub folders under the 2300SMPL_E folder...

Page 108: ...xit to end reading files to the MPE720 3 Transfer Individual Programs Transfer the programs that have been read to the MPE720 individually to the MP2300 1 Right click on the Controller Folder that has...

Page 109: ...d and detailed settings are made for DWG and Motion Main Program a Set Drawing Details Dialog Box The details for the DWG sample program are shown below Select the programs to be transferred and click...

Page 110: ...Fixed Parameters This section describes the procedure for setting motion fixed parameters for axes 1 and 2 to match the sample program When using a program set the fixed parameters to match the device...

Page 111: ...ear 3 Set the fixed parameters for axis 1 Select Axis 1 from the axis selection box at the top left of the window and select mm under No 4 Reference unit selection on the Fixed Parameters Tab Page 4 I...

Page 112: ...the axis in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page 3 Select Edit Copy Current Value A confirmation dialog box will appear The data in the Input Data...

Page 113: ...rams 5 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 6 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well 7 Select File...

Page 114: ...t is displayed The Save Flash Memory Content Window will appear 2 Select File Execute 3 Click the Yes Button in the displayed confirmation dialog box and then click the Yes Button in the TrnSys Dialog...

Page 115: ...ick the Controller Folder in which the sample programs have been saved and select Transfer All Files From Controller to MPE720 from the pop up menu that is displayed An execution confirmation dialog b...

Page 116: ...Right click on the Controller Folder where sample programs are saved and select Controller Operation from the pop up menu that is displayed The Controller Running Status Dialog Box will appear 2 Clic...

Page 117: ...Logging Off Log off once the work using MPE720 Embedded has been completed 1 Right click on the Controller Folder where sample programs are saved and select Log Off from the pop up menu that is displa...

Page 118: ...nel from the menu bar For information on how to open the Engineering Manager Window of MPE720 Ver 6 refer to 4 2 2 1 Setting and Saving Motion Fixed Parameters on page 4 17 For information on how to o...

Page 119: ...indow by using the following procedure 1 Log on online open the Programs folder and then open the High Scan Programs folder in the PLC folder where the sample programs are saved in the File Manager Wi...

Page 120: ...of each program drawing A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtrav...

Page 121: ...2 H02 Drawing Tuning Panel Display the H02 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current valu...

Page 122: ...e ON OFF Axis 2 stops Axis 2 Reverse Jog Current value OFF ON Axis 2 rotates in reverse direction Current value ON OFF Axis 2 stops Axis 1 Forward Step Current value OFF ON Axis 1 starts rotating forw...

Page 123: ...ronic cam Name H06 END Axis 1 Servo ON Servo ON Command Axis 2 Servo ON Axis 2 alarm reset Axis 1 alarm reset Alarm Reset Axis 2 motion command 0 detection Axis 1 motion command 0 detection Motion Com...

Page 124: ...nce unit s 1 ms Bits 0 to 3 Speed Unit Selection 0 Reference unit s 1 Reference unit min 2 Percentage Speed Unit and Acceleration Deceleration Unit Selection Axis 1 Function Settings 1 unit 0014 NL 1...

Page 125: ...B000001 Axis 1 forward jog DB000010 Axis 1 reverse jog DB000011 Axis 1 reverse jog DB000011 Axis 1 STEP STEP 0019 NL 1 0006 Axis 1 forward step DB000012 EXPRESSION Axis 1 step speed and moving amount...

Page 126: ...Axis 2 reverse step DB000013 Axis 2 SV_ON IB80801 WORK DB000051 Axis 2 step command DB000008 Axis 2 motion command 0 DB300018 WORK DB000058 Axis 2 step command DB000008 Axis 2 step start DB000009 WORK...

Page 127: ...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 Refer to...

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

Page 129: ...peration is started 3 Set Target Position 1 and Target Position 2 Enter any value for the following settings These settings determine the target position for positioning when Motion Program No 2 and N...

Page 130: ...DA00020 0005 NL 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...

Page 131: ...ar interpolation and circular interpolation for axis 2 MPM002 inserts a timer command between each travel command to indicate operation divisions MPM003 continuously executes travel commands without t...

Page 132: ...ate in exactly the same way Refer to 4 4 4 5 Sample Program Details on page 4 60 for details of H06 01 Drawing A simple device is used in this example to describe the MP2300 system startup This device...

Page 133: ...N The mode will change to the phase control electronic shaft mode Enter OFF to exit position control electric shaft mode 3 Enter Speed Settings Enter any value within the setting range 0 to 30000 as t...

Page 134: ...0025 Dest OW8008 WORK DB000050 Axis 2 SV_ON IB80801 Electronic shaft start DB000001 Electronic shaft stop DB000002 Zero speed DB000003 DB000001 0009 NL 1 0002 0013 NL 1 0003 0015 NL 1 0004 STORE Axis...

Page 135: ...ource 00000 Dest OW8008 STORE Axis 2 motion command Source 00000 Dest OW8088 Electronic shaft stop DB000002 Motion command 0 NOP setting S curve Acceleration deceleration Setting Electronic Shaft Oper...

Page 136: ...reated using a ladder program L06 Drawing Refer to 4 4 5 5 Sample Program Details on page 4 64 for details of H06 01 Drawing A simple device is used in this example to describe the MP2300 system start...

Page 137: ...g per cycle Setting range 0 to 50000 000 Cam pattern data is not changed when Electric cam start is set to ON 3 Start Electronic Cam Operation Change the Electric cam start current value from OFF to O...

Page 138: ...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 139: ...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 140: ...2 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 0029 END Ma...

Page 141: ...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 142: ...ple SERVOPACK Settings SGDS 1 Refer to each slaves manual for information on the setting details 3 Start Up MECHATROLINK Slaves Turn ON the power to the MECHATROLINK slaves and check that the electron...

Page 143: ...r the procedure from starting MPE720 to setting and saving fixed parameters Refer to D 1 Fixed Parameter List on page A 19 for the fixed parameter list and Machine Controller MP2000 Series Motion Modu...

Page 144: ...o flash memory 9 Save Ladder Programs and Restart MP2300 Transfer the ladder program to the MP2300 and save to flash memory and then turn the power from OFF to ON to restart the MP2300 Refer to 4 3 2...

Page 145: ...the MECHATROLINK slaves 5 Execute Self configuration Turn ON the power to the MP2300 connect to the MP2300 using MPE720 then select Order Self Configure All Modules to execute self configuration for t...

Page 146: ...dding Electronic Devices 4 72 6 Make Parameter Settings to Match Machinery 7 Save SERVOPACK Parameters 8 Save MP2300 Data to Flash Memory 9 Save Ladder Programs and Restart MP2300 This completes the s...

Page 147: ...e switch settings turn ON the power to the slave and check that it starts up normally Once normal startup has been confirmed turn OFF the power supply 4 Replace the Electronic Device Remove the electr...

Page 148: ...lacing Electronic Devices 4 74 7 Turn ON the MP2300 and SERVOPACKs Turn ON OFF to ON the power to the MP2300 and SERVOPACKs and then enable the parameters written to the SERVOPACKs This completes the...

Page 149: ...f Ladder Programs for Motion Program Control 5 18 5 2 6 Functions 5 20 5 3 Registers 5 21 5 3 1 Types of Registers 5 21 5 3 2 Data Types and Register Specifications 5 24 5 3 3 Using i and j Subscripts...

Page 150: ...ctions of six switches SW1 OFF ON STOP SUP INIT CNFG MON TEST 1 2 3 4 5 6 No Switch Name Status Operating Mode Default Setting Remarks 1 STOP ON User program stops OFF Set to ON to stop user program o...

Page 151: ...DWG I executed Input Input Low speed scan High speed scan Interrupt signal Ladder program Power ON Startup self diagnostics 1 Memory clear FLASH RAM Copy Watchdog timer start DWG A executed Ladder pro...

Page 152: ...N STOP to OFF RUN the CPU starts the watchdog timer and then executes DWG A in the ladder program Refer to the startup processing drawing and 5 2 2 Execution Control of Drawings on page 5 7 First scan...

Page 153: ...t lit Not lit Not lit User program executing normally Online operation mode Error Not lit Not lit Not lit Lit Not lit Major damage has occurred The ERR LED indicator is lit red when the CPU is down No...

Page 154: ...Parent drawings are automatically executed by the system program when the execution conditions outlined in the table below are met Child Drawings Child drawings are accessed using a SEE command from...

Page 155: ...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 Drawings 1 A 1 I 1 H 1 L Operation...

Page 156: ...randchild drawings are always called from child drawings This is the hierarchical structure of drawings As shown in the following figure each processing program is created from a hierarchy of parent c...

Page 157: ...unctions can be called from any drawing Functions can also be called from other functions When an operation error occurs the operation error processing drawing for that drawing will be started SEE A01...

Page 158: ...ation of the program number or indirect specifi cation by specifying the register number where the program number is stored Fig 5 1 Calling Motion Programs Using Direct Specification Fig 5 2 Calling M...

Page 159: ...er commands are executed in hierarchical order i e parent drawings child drawings then grandchild drawings each high speed scan cycle Motion programs are also called each scan cycle but unlike ladder...

Page 160: ...ers contains the motion program status bits for monitor ing execution status of the motion program The following table shows details of status bit Alarm details are saved in the S registers VEL a1 500...

Page 161: ...gure shows an example of a timing chart for motion program control signals Bit No Signal Name Signal Type 0 Program operation start request Differential or NO contact input 1 Program pause request NO...

Page 162: ...ride set ting is ON 4 System Work Number DA 3 The system work number n setting range 1 to 16 used when executing motion programs is set by the fourth word of the MSEE work registers DA 3 This system w...

Page 163: ...7 Bit0 MP 016 Bit15 to MP 001 Bit0 Motion program execution information Executing program number Executing program bit Executing program number No of main program currently executing Executing Program...

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

Page 165: ...03246 to SW03321 Program information used by work 1 b When Bit D of Motion Program Control Signal System Work Number Setting is OFF The system automatically determines the system work to be used This...

Page 166: ...ings parameter OB80000 and turns ON the Servo 2 to 10 The signals connected to the MP2300 external input signals are stored as the motion program control signals IW0000 external input signal DW00001 S...

Page 167: ...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 above ladder progr...

Page 168: ...programs and the function definitions can be changed programmed freely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manuals for information...

Page 169: ...by the system SW00000 to SW00049 are cleared to all zeros when the system starts Common to all drawings M Data registers MB MW ML MFnnnnn MAnnnnn MW00000 to MW65534 Registers shared by all drawings Us...

Page 170: ...015 Z Internal function registers ZB ZW ZL ZFnnnnn ZW0000 to ZW00063 Internal registers unique to each function Can be used for function internal processing A External function registers AB AW AL AFhh...

Page 171: ...L Fnnnnn 1 FUNC 000 function Program 1000 steps max Function individual registers DWG H drawing Program 1000 steps max DWG registers Constant data 16384 words max Individual data 16384 words max Syste...

Page 172: ...s L Double length integer 2147483648 to 2147483647 80000000H 7FFFFFFFH Used for numeric value operations The values in parentheses are for use with logical operations F Real number 1 175E 38 to 3 402E...

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

Page 174: ...are added to register numbers For example when i 3 MW00010i is the same as MW00013 And when j 30 MW00001j is the same as MW00031 MW00001 MW00002 MW00000 MW00001 MW00001 MW00002 MW00000 MW00001 ML00000...

Page 175: ...is added after the register number Symbol specification Bit register RESET1 A X Integer register STIME H X Double length integer registers POS REF X Real number registers IN DEF X Address registers PI...

Page 176: ...Procedure for Self configuration Using the DIP Switch and 5 4 3 Execution Procedure for Self configuration Using MPE720 for the procedure to execute the self configuration The information is automati...

Page 177: ...s with disconnected cables for which a communication error has occurred from which no response is received or with the same station number as another station Refer to 4 5 System Startup Using Self Con...

Page 178: ...gisters will be cleared In the following procedure it is assumed that the power supply to all III SERVOPACKs are already turned ON 1 Turn OFF the power supply Turn OFF the 24 VDC power supply to the M...

Page 179: ...flash memory before turning OFF the power when writing or editing programs For information on how to save data to flash memory refer to 4 2 3 1 Saving to Flash Memory on page 4 21 MPE720 Ver 6 or 4 3...

Page 180: ...elf configuration of Each Module to detect the configuration Executing Self Configure All Modules will overwrite the parameters that have been set 1 Start the Engineering Manager of MPE720 MPE720 Ver...

Page 181: ...odule configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN LED indicator will return to its original state 3 S...

Page 182: ...ed self configuration can be executed separately for the Module port that has been changed 1 Start the Engineering Manager of MPE720 MPE720 Ver 6 Start MPE720 and then open the target project file Sel...

Page 183: ...ator will blink and a message indicating that the module configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN...

Page 184: ...n the Module Configuration Window of the MPE720 JEPMC IO350 JAMSC 120DAI53330 JAMSC 120DAI73330 JAMSC 120DAO83330 JAMSC 120DRA83030 Servos with special specifications and that cannot be automatically...

Page 185: ...PACK Parameters When self configuration is executed SERVOPACK parameters are written to the SERVOPACK s EEPROM or RAM These settings however are not written to the set values for the SERVOPACK paramet...

Page 186: ...ettings scan time settings and module configuration definitions must be saved to flash memory Save Save to Flash Use the MPE720 to set or change these user definition files Be sure to save the results...

Page 187: ...the following precautions when setting or changing module configuration definition files Always check to make sure that the mounted Module is the one that is defined Be sure to save any new settings o...

Page 188: ...set values of the scan time i e setting the set values of the scan time to at least 1 25 times the maximum times required to execute the scans If the scan time is set too close to the maximum executi...

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

Page 190: ...3 3 LED Indicators 6 7 6 4 Troubleshooting System Errors 6 9 6 4 1 Outline of System Registers 6 9 6 4 2 Accessing System Registers 6 10 6 4 3 Troubleshooting When ERR is Lit 6 12 6 4 4 Troubleshooti...

Page 191: ...he gap between crimp terminals There must be an appropriate gap between the terminals Correct as necessary 3 LED Indicators RDY Check whether the indicator is lit The indicator must be lit It is abnor...

Page 192: ...bient temperature Ambient humidity 30 to 95 Atmosphere There must be no corrosive gases Power supply voltage check PS Module Measure the voltage between 24 VDC terminals 19 2 to 28 8 VDC Change the po...

Page 193: ...iles From Controller to MPE720 MPE720 Ver 6 Open the Project File and select Online Transfer Read from Controller This data is used to restore any data accidently lost during battery replacement 2 Che...

Page 194: ...Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module Switch settings e g DIP s...

Page 195: ...r refer to 5 2 4 4 System Work Number DA 3 START NO NO NO NO Is a motion program being used Check the alarm code to find the cause YES YES Is bit D of the control signal ON YES YES Is there any motion...

Page 196: ...ine the error status and meaning The locations in the program that need to be corrected can be determined by using the LED indicator status to determine the general nature of the error using the conte...

Page 197: ...tion 6 Illegal general command exception 7 Illegal slot command exception 8 General FPU inhibited exception 9 Slot FPU inhibited exception 10 TLB multibit exception 11 LTB error read exception 12 LTB...

Page 198: ...00030 System Status 6 4 5 1 System Status on page 6 14 SW00050 System Error Status 6 4 5 2 System Error Status on page 6 15 SW00080 User Operation Error Status 6 4 5 3 Ladder Program User Operation Er...

Page 199: ...yed on the bottom of the screen 2 Enter the leading register number of the system register SW to be accessed in the Register input field The contents of the system register will be displayed starting...

Page 200: ...ister lists can also be accessed with the Quick Reference 1 Select View Quick Reference from the main menu of MPE720 Engineering Manager Window The Quick Reference will be displayed at the bottom of t...

Page 201: ...6 8000H Check the drawing that may be the cause If no error is found in the drawing check the set scan time Check the scan time setting Increase the scan time Check SW00059 to learn the step number th...

Page 202: ...to find the drawing type in which the error count increased 2 Check the following register of the drawing type specified in a to learn the error code 3 DWG A DWG I DWG H DWG L SW00111 SW00127 SW00143...

Page 203: ...d 1 Write enabled SB000408 to SB00040D Reserved by the system SB00040E Operation Stop Request 0 RUN selection 1 STOP selection SB00040F Run Switch Status at Power ON 0 STOP 1 RUN CPU Error Status SW00...

Page 204: ...DWG L Ladder Program Type SW00055 0000H System 0001H DWG A 0002H DWG I 0003H DWG H 0005H DWG L 0008H Function 000FH Motion program Ladder Program Error Drawing Number SW00056 Ladder program parent dr...

Page 205: ...8 Year Generated SW00069 Month Generated SW00070 Day of Week Generated SW00071 Day of Month Generated SW00072 Hour Generated SW00073 Minutes Generated SW00074 Seconds Generated SW00075 Milliseconds Ge...

Page 206: ...ich an error occurred 0 when there is an error in the parent drawing Error Code SW00111 SW00127 SW00143 SW00175 Error A Register SW00112 SW00128 SW00144 SW00176 SW00113 SW00129 SW00145 SW00177 Modific...

Page 207: ...er operation division by zero error Yes Operation not executed The F register remains the same 0030H Real number operation invalid operation non numeric No Operation not executed 0031H Real number ope...

Page 208: ...es Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarms SW00192 1 Alarm cleared 2 The number of alarm occurrences and alarm history cleared Name Register No R...

Page 209: ...de Reserved by the system SW00216 to SW00223 Depends on the mounted module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Slot 2 Error Status SW0023...

Page 210: ...0IF 01 Module Error Status Slot 3 Error Status Details ST 15 SW00233 Error code Station error 1 Subslot No 1 SW00232 Bit No F 8 7 0 ST 2 ST 1 Not used Not used SW00234 ST 30 ST 17 ST 16 Not used SW002...

Page 211: ...sub slots 0004H SW00804 CPU Function ID C310H SW00805 CPU Function Module Status SW00806 I O Function Module ID 8070H SW00807 I O Function Module Status SW00808 SVB Function Module ID 9113H SW00809 S...

Page 212: ...SW03506 SW03509 SW03512 SW03515 SW03518 SW03521 6 SW3205 SW03554 to SW03611 SW03558 SW03561 SW03564 SW03567 SW03570 SW03573 SW03576 SW03579 7 SW3206 SW03612 to SW03669 SW03616 SW03619 SW03622 SW06325...

Page 213: ...ing acceleration parameter Indirect acceleration parameter exceeded the valid range Change the indirect register value 14h Circular arc length exceeded LONG_MAX Circular arc length exceeded the valid...

Page 214: ...stance designation exceeded the valid range Review the motion program 84h Duplicated motion command Multiple commands ware executed against a single axis Check whether another program gave a command t...

Page 215: ...turn setting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF Alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK...

Page 216: ...tion status A Servo Driver Synchronization Communications Error 8 Relative Positon Mode Step mode STEP Positioning movement exceeds the allowable value A Excessive Positioning Moving Amount In servo O...

Page 217: ...outside setting range W Set Parameter Error 21 Clear Alarm History ALMHIST_CLR The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error 22 Absolute...

Page 218: ...t Others Automatic Parameter Updating when Move Command Starts An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing w...

Page 219: ...Refer to 6 7 2 Motion Error Details and Corrections 2 Refer to 6 7 3 1 Servo Driver Status IW 2C List 3 Refer to 6 7 3 2 Servo Driver Alarm Code IW 2D Warning IL 02 Bit 1 Setting Parameter Error Bit 2...

Page 220: ...Bit 1D Not used Bit E Not used Bit 1E Motor Type Set Error Bit F Not used Bit 1F Connected Encoder Type Error Detection Timing SERVOPACK alarms are continuously monitored by the alarm management secti...

Page 221: ...of the machine was executed as follows A user program command exceeded the software limit The software limit was exceeded in manual operation Correction Check the program or manual operation Then aft...

Page 222: ...turn ON Error and Cause The speed movement output for one scan in case of interpolation commanded to MECHATROLINK servo exceeds the upper limit Correction Check the settings for speed reference interp...

Page 223: ...ommand Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Error and Cause A move command was set without executing the ZSET command IW 0C bit 5 is OFF Correction After cleari...

Page 224: ...s converted from pulses to reference units at power ON Correction Check the gear ratio number of encoder pulses for other motion fixed parameters Detection Timing Detected when communications with the...

Page 225: ...the zero point 1 The APOS absolute position is in the zero point range Bit 7 Locating Complete PSET 0 Pulse distribution is not completed or the APOS is not in the positioning completed width 1 Pulse...

Page 226: ...rcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Er...

Page 227: ...or 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 En...

Page 228: ...ad 911 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 941 Parameter Change Requiring Power Recycling 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outs...

Page 229: ...m Alarm 880 Fully closed Serial Encoder Data Alarm 8A0 Fully closed Serial Encoder Scale Error 8A1 Fully closed Serial Encoder Module Error 8A2 Fully closed Serial Encoder Sensor Error Incremental Val...

Page 230: ...K II Communication Error E61 MECHATROLINK II Transmission Cycle Error EA0 DRV Alarm 0 EA1 DRV Alarm 1 EA2 DRV Alarm 2 Name Register Number Code Meaning Servo Driver Alarm Code IW 2D 020 Parameter Chec...

Page 231: ...tem Alarm 4 CPUWDT Error C10 Overrun Protection Detection C20 Phase Detection Error 1 C21 Hall Sensor Error 1 C22 Phase Information Mismatch 1 C50 Magnetic Pole Detection Failure 1 C51 Overtravel Dete...

Page 232: ...Communications Error 1 2 EB4 Safety Function Drive Communications Error 2 2 EB5 Safety Function Drive Communications Error 3 2 EB6 Safety Function Drive Communications Data Error 3 2 EC7 Safety Optio...

Page 233: ...d Set Values Input Data in the SVB Definition Window A 5 B 1 Operations and Parameter Data Flow A 5 B 2 Precautions When Saving SERVOPACK Parameters A 12 C Initializing the Absolute Encoder A 13 C 1 I...

Page 234: ...ed scan 2 SB000005 ON for only one scan after the start of a high speed scan that is begun after a CPU Mod ule operation starts Low speed scan 2 SB000006 ON for only one scan after the start of a low...

Page 235: ...Flicker Relay SB000032 2 0 s Flicker Relay SB000033 0 5 s Sampling Relay SB000034 1 0 s Sampling Relay SB000035 2 0 s Sampling Relay SB000036 60 0 s Sampling Relay SB000037 1 0 s After Start of Scan R...

Page 236: ...can Current Value SW00011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Va...

Page 237: ...en the power is turned OFF 2 RAM SRAM SDRAM Lose data when the power is turned OFF Indicates data has been written same below 2 Normal Operation Control software of the SERVOPACK operates based on the...

Page 238: ...ld in the SERVOPACK s RAM for the relevant axis to the Current Value in the SERVOPACK Tab Page It also reads and displays the values that are held in the MP2300 s SDRAM values to the Input Data in the...

Page 239: ...t axis to the followings HDD hard disk of the personal computer SDRAM of MP2300 RAM and EEPROM of the SERVOPACK After having completed writing the parameters the MPE720 updates the values in Current V...

Page 240: ...Tab Page in the SVB Definition Window After having saved the data the values in Input Data of all the parameters become the same as the values in Current Value on the SERVOPACK Tab Page The saving op...

Page 241: ...displayed in Current Value to Input Data on the SERVOPACK Tab Page and displays The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab Page in...

Page 242: ...s pressed on the computer The parameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page SDRAM of the MP2300 RAM of the SERVOPACK After having c...

Page 243: ...on the SERVOPACK Tab Page After having pressed the ENTER Key the values of Speed Loop Gain Speed Loop Inte gral Time Constant and Position Loop Gain boxed in dotted line in Input Data remain different...

Page 244: ...ving changed set data of SERVOPACK parameter B 2 Precautions When Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK Tab Page in any cases including the SERVOPACK replace m...

Page 245: ...e following manuals for information on III series SERVOPACKs III Series SGM SGDS User s Manual Manual No SIEPS80000000 III Series SGM SGDS User s Manual for MECHATROLINK II Communications Manual No SI...

Page 246: ...Press the Key BB in the status display changes to Done 5 Press the Key The display returns to the Utility Function Mode main menu This completes setting up the absolute encoder Turn the power supply O...

Page 247: ...ing display will appear 4 The rightmost digit will be incremented each time the UP Key is pressed Press the UP Key sev eral times until PGCL5 is displayed If a mistake is made in the key operation nO_...

Page 248: ...PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step...

Page 249: ...e to initialize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con n...

Page 250: ...ce and insert the connector securely in its original position At the Encoder End Connector 1 Disconnect the connector on the encoder end 2 Use a short piece to short circuit together connector pins R...

Page 251: ...Enabled Yes Bit 2 Soft Limit Negative Direction Enable Disable 0 Disabled 1 Enabled Yes Bit 3 Overtravel Positive Direction Enable Disable 0 Disabled 1 Enabled Yes Bit 4 Overtravel Negative Direction...

Page 252: ...ion Set to 0 when a direct drive motor is being used Invalid for linear type Yes 40 to 41 Reserved for system use 42 Feedback Speed Movement Averaging Time Constant 1 1 ms Yes Yes cont d No Name Conte...

Page 253: ...Reference unit s2 1 ms Yes Yes Bits 8 to B Filter Type Selection 0 No filter 1 Exponential acceleration deceleration filter 2 Moving average filter Yes Yes Bits C to F Torque Unit Selection 0 Percent...

Page 254: ...PRM_WR Stored Parameter Write Yes Yes OW 09 Motion Command Control Flag Bit 0 Holds a Command 0 OFF 1 ON Yes Yes Bit 1 Interrupt a Command 0 OFF 1 ON Yes Yes Bit 2 Moving Direction JOG STEP 0 Forward...

Page 255: ...ting 1 1 reference unit Yes OL 2C Latch Zone Upper Limit Setting 1 1 reference unit Yes OW 2E Position Loop Gain 1 0 1 s Yes OW 2F Speed Loop Gain 1 1 Hz Yes OW 30 Speed Feedforward Amends 1 0 01 perc...

Page 256: ...reference unit Yes OL 48 Zero Point Position in Machine Coordinate Offset 1 1 reference unit Yes Yes OL 4A Work Coordinate System Offset 1 1 reference unit Yes Yes OL 4C Number of POSMAX Turns Presett...

Page 257: ...1 1 pulse For linear type do not set this register Yes OL 60 Encoder Position When Power is OFF Upper 2 words 1 1 pulse For linear type do not set this register Yes OL 62 Pulse Position When Power is...

Page 258: ...Time Constant Change Error Yes Bit C Reserved for system use Bit D Zero Point Unsetting Invalid for linear type Yes Bit E Reserved for system use Yes Bit F Reserved for system use Yes Bit 10 Servo Dri...

Page 259: ...n Load Completed ABSLDE Invalid for linear type Yes Bit 9 POSMAX Turn Preset Complete TPRSE Invalid for linear type Yes Yes Bits A to F Reserved for system use IW 0D Reserved for system use IL 0E Targ...

Page 260: ...put Bit 9 Brake State Output Bit A Stop signal HWBB Bit B Reserved for system use Bits C to F For SGDH NS115 SGDS and SGDV SERVOPACKs CN1 input signals IO12 to IO15 For other SERVOPACK models Reserved...

Page 261: ...ied in the Motion Subcommand Yes Yes IW 58 to IW 5C Reserved for system use IL 5E Encoder Position When the Power is OFF Lower 2 words 1 1 pulse Yes IL 60 Encoder Position When the Power is OFF Upper...

Page 262: ...e speed 6 33 excessively following error 6 33 F filter time constant change error 6 34 filter type change error 6 33 fixed parameter list A 19 function registers 5 22 functions 5 6 5 20 G grandchild d...

Page 263: ...4 40 scan execution status A 4 scan processing drawing 5 7 scan time setting and changing 5 40 Self Configuration 2 9 self configuration 4 28 5 4 5 28 method 4 12 self diagnosis online 5 4 self diagn...

Page 264: ...3 U user definition files 5 38 user name 4 31 user operation error status 6 16 user programs 5 6 V virtual motion module SVR 2 25 W wait for monitor data update 2 19 wild card I O 2 20 Z zero point n...

Page 265: ...on the Web June 2011 6 2 Front cover Revision Format 1 5 1 Revision Model number of cable side connector for RS422 485 communication cable 10114 3000VE 10114 3000PE 2 1 1 Revision Hardware specificati...

Page 266: ...00 JEPMC AN2910 2 4 2 10 2 Revision Battery model 7 2 2 7 2 3 Revision Table Deletion of size column addition of parameter No column 11 1 4 Addition Motion program alarms July 2003 1 Back cover Revisi...

Page 267: ...2 017 0099 Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www ya...

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