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YASKAWA MP2300S User Manual Download Page 151

5.2  User Programs

5.2.2  Motion Programs

5-19

5

Outline of Motion Control Systems

( 5 ) How to Operate a Work Register

The way to operate a work register of a motion program registered in the M-EXECUTOR program execution definition 
differs from that of a motion program referenced by a MSEE command from a ladder program.
The way to operate it in each case is shown as follows:

[ a ] A motion program registered in the M-EXECUTOR program execution definition

When a motion program is registered in M-EXECUTOR program execution definition, select one from the following 
two execution processings.

• A way to immediately control a motion program from external equipment
• A way to control a motion program via a sequence or ladder program

Now, this section explains each execution processing in the subsequent pages.

Summary of Contents for MP2300S

Page 1: ...ST ALM MTX TRX RUN ERR BAT IP SW 1 SW 2 ON ON CNFG INT SUP MON STOP BATTERY M I II E INT E TEST NO NO RDY Overview Specifications and Functions Mounting and Wiring Outline of Motion Control Systems Et...

Page 2: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Page 3: ...information on motion parameters and motion commands refer to Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual Manual no SIEPC88070033 Indication of Reverse Signals In this manu...

Page 4: ...Series SERVOPACKs III Series SGM H SGDS User s Manual SIEP S800000 00 Describes the models specifications wiring trial operation adjustment function application methods maintenance and inspection of t...

Page 5: ...tions that if not heeded could possibly result in loss of life serious inju ry or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury or propert...

Page 6: ...chine or even cause acci dents resulting in injury or death There is a risk of electrical shock Do not remove the front cover cables connector or options while power is being supplied There is a risk...

Page 7: ...als are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated woode...

Page 8: ...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 9: ...or injury Do not change wiring while power is being supplied There is a risk of electrical shock or injury When replacing the MP2300S restart operation only after transferring the programs and paramet...

Page 10: ...2 Product Specifications 2 3 2 1 3 Function Lists 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2...

Page 11: ...5 1 3 Startup Sequence Operation Details 5 4 5 1 4 LED Indicator Details 5 5 5 2 User Programs 5 6 5 2 1 Types and Execution Timing of User Program 5 6 5 2 2 Motion Programs 5 7 5 2 3 Sequence Program...

Page 12: ...s State 7 15 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 16 7 3 4 How to Use Scan Counter 7 17 7 3 5 How to Determine Input Error 7 18 7 3 6 Management to Resume Slave CPU Synchronization...

Page 13: ...d Parameter List A 20 E 2 Setting Parameter List A 22 E 3 Monitoring Parameter List A 27 Appendix F How to Set up Communication Process A 31 F 1 Preparation A 31 F 2 Procedure A 31 Appendix G MSG SND...

Page 14: ...MEMO...

Page 15: ...3 1 2 1 Basic Module Appearance 1 3 1 2 2 MP2300S Modules 1 4 1 3 System Configuration 1 5 1 3 1 Example 1 5 1 3 2 Example of Distributed Synchronizing System 1 6 1 4 MECHATROLINK compatible Devices 1...

Page 16: ...ing optional modules of MP2000 series are available An optional module allows the use of various open networks such as CC Link DeviceNet and PROFIBUS Connecting an SVB 01 module to the optional slot a...

Page 17: ...l fittings for attachment Also the values in the figure do not include the length of metal fittings Battery cover MECHATROLINK connector 1 line 2 ports DIP switch 6 points 4 points Metal fittings for...

Page 18: ...puts source mode output 1 pulse input I O Module LIO 04 JAPMC IO2303 32 inputs 32 outputs sink mode output I O Module LIO 05 JAPMC IO2304 32 inputs 32 outputs source mode output Output Module DO 01 JA...

Page 19: ...her company s module Output Input RS 232C Ethernet DeviceNet PROFIBUS RS422 485 215 communications Servo amplifier AnyWire A net A link Optional module I O module AFMP 02 AFMP 02 C CC Link Max 21 stat...

Page 20: ...rnal latch signals to the SERVOPACKs For connection refer to the SERVOPACK s man ual 1 3 2 Example of Distributed Synchronizing System If some MP2300S are connected as slaves and other MP2000 series M...

Page 21: ...channels Yes Yes JEPMC PL2910 Pulse Output Module Pulse output 2 channels Yes Yes JEPMC AN2900 A D Module Analog inputs 10 to 10 V 4 channels Yes Yes JEPMC AN2910 D A Module Analog outputs 10 to 10 V...

Page 22: ...EPMC W6060 Loose wires on one end Used between LIO 04 05 and external I O device DO 01 CN 1 CN 2 External output cable JEPMC W6060 Loose wires on one end Used between DO 01 and external I O device AI...

Page 23: ...BA01 ER3VC exclusive use connector BA000517 Power Supply Connector Accessory 721 203 026 Cable side RLY OUT Connector Accessory 734 YE102 Cable side DIN Rail Mounting Parts Accessory JEPMC OP300 1 pai...

Page 24: ...MEMO...

Page 25: ...on Lists 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2 2 4 218IFA Module Ethernet 2 12 2 2 5 Buil...

Page 26: ...2 000 m above sea level or lower Mechanical Operating Conditions Vibration Resistance Conforming to JIS B 3502 10 to 57 Hz with single amplitude of 0 075 mm 57 to 150 Hz with fixed acceleration of 9...

Page 27: ...ber of Virtual Axis Controlling Axes 16 axes MECHATROLINK Communication System MECHATROLINK I MECHATROLINK II 32 byte or MECHATROLINK II 17 byte Communication Cycle M II 0 5 ms 1 ms 1 5 ms or 2 ms Max...

Page 28: ...ocal 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 int...

Page 29: ...es during motion com mand execution Yes Only with MECHATROLINK II in 32 byte mode Reference Unit mm inch deg or pulse Reference Unit Minimum Setting 1 0 1 0 01 0 001 0 0001 0 00001 Maximum Programmabl...

Page 30: ...ion Lists 2 6 Applicable SERVOPACKs MECHATROLINK I SERVOPACKs SGD N SGDB AN SGDH E NS100 SGDS 1 SGDV 1 MECHATROLINK II SERVOPACKs SGDH E NS115 SGDS 1 SGDV 1 Encoders Incremental Encoder Yaskawa Absolu...

Page 31: ...pact module that combines power supply CPU and 218IFA in one module The Basic Module has both motion control and sequence control functions With a slot option slot configuration Optional Modules can b...

Page 32: ...8 7 MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 Indicator Color Status RDY Green Lit during normal operation RUN Green Lit during...

Page 33: ...User program running S1 5 SUP ON System load OFF If set to ON starts in a mode that can change the version OFF Normal operation S1 4 INIT ON Memory clear OFF Set to ON to clear the memory If this swit...

Page 34: ...is initialized by soft ware No Switch Name State Operation Mode Default Description S2 4 ON Reserved OFF Reserved for future use OFF S2 3 ON Reserved OFF Reserved for future use OFF S2 2 E INIT ON Tr...

Page 35: ...ng or the secondary output of the external 24 V power supply is turned ON Rated Voltage 5 0 V Rated Current 2 0 A Output Current Range 0 0 to 2 0 A Constant Voltage Precision 2 max including input vol...

Page 36: ...for MELSEC protocol Support for MODBUS TCP protocol Support for non procedure communication An I O message communication function enables you the data exchange in the form of I O image when communica...

Page 37: ...nverting IP address into MAC address Items MP2300S 218IFA Communication Interface Note1 10Base T 100Base TX Communication Protocol Note2 TCP UDP IP ARP ICMP Maximum Number of Communication Connections...

Page 38: ...efinition window Module Type A module name is shown Changing the name to UNDEFINED enables you to disable 218IFA functions Controller Number Not used Fixed at Circuit Number Module s line number valid...

Page 39: ...ctions 4 218IFA Module Detailed Screen a Displaying the 218IFA Module Detailed Window The 218IFA Module Detailed Window is displayed by selecting MP2300S in the Controller area of the Module Con figur...

Page 40: ...Detailed Window The 218IFA Module Detailed Window is composed of Transmission Parameter and Status Tabs and each tab is changed with a click 1 Parameter Setting Tab The Transmission Parameters Tab set...

Page 41: ...55 255 255 000 Gateway IP Address 0 0 0 0 to 255 255 255 254 Sets the 218IFA default gateway IP address However the follow ing addresses are excluded 127 xxx xxx xxx xxx xxx xxx 000 except 000 000 000...

Page 42: ...er cannot be 9998 or 10000 9999 Response Time 0 to 255 sec Specify the wait time until a remote response is returned after sending a command when carrying out a message communication using MSG SND fun...

Page 43: ...ode IP Address 0 0 0 0 to 255 255 255 254 Set the remote IP address for each connection However the fol lowing addresses are excluded 127 xxx xxx xxx xxx xxx xxx 000 except 000 000 000 000 xxx xxx xxx...

Page 44: ...pens the automatic receive setting screen To open the screen double click this button Note The automatic receive function is valid only for a connection when the connection number 1 Remote Station Nam...

Page 45: ...the connection parameters are not yet set and this screen is opened By clicking the Default Button default values are set for each data code type according to the selected communication protocol type...

Page 46: ...connec tion according to the input item CH NO for the MSG SND MSG RCV function and node connection number PARAM02 setting for the parameter list PARAM When automatic reception is running the function...

Page 47: ...each communication protocol type Note Enable Disable Setting Item Communication Protocol Type Extended MEMOBUS MEMOBUS MELSEC Non proce dure MODBUS TCP Readout of Input Relay Readout of Input Register...

Page 48: ...Ethernet communications remote stations are distin guished by their connection numbers I O message communications have a connection for each read write Local Port 256 to 65535 Specify the 218IFA port...

Page 49: ...ion screen OWxxxx 4 Note2 Data Size Varies according to protocol type Specify the data size word read from the remote equipment 4 Specify the data size word written in the remote equipment 4 Head Regi...

Page 50: ...yet set and this screen is opened Item Default MP Series Local IP Address Values set in transmission parameter setting items are shown Local Port Read 10005 Write 10006 Input Register IW xxxx Start I...

Page 51: ...able provides these default values Communication Protocol Type Default Data Code Type Local Input Output Register Setting Read Write Size Node Read Write Register Setting Extended MEMOBUS BIN IW to IW...

Page 52: ...0 000 000 Engineering Port Displays a port number set in the detailed definition of the Transmission Parame ter Tab 9999 Item Displayed Content Default Trans Status Displays the transmission status fo...

Page 53: ...nnect using the MSG SND func tion but the connection was rejected by the remote station and the command was reset When disconnecting the cable retried con necting for one minute default value with out...

Page 54: ...dule is an Optional SVB that can be mounted on the optional slot of the MP2300S c Features Up to 21 slave stations can be connected to a single Module the SERVOPACKs can be connected up to 16 axes MP2...

Page 55: ...make the settings in accordance with MECHATROLINK I specifications When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel zero point return deceleration limit swi...

Page 56: ...gh speed scan will be sent at consistent points in communica tion cycle processing and simplifies distribution processing for interpolation commands 2 Conditions Under Which Synchronization Is Possibl...

Page 57: ...CPU Synchronization may be lost when a change is made even if synchronization is possible for the high speed scan and communication cycle combination When a change is made save the settings to flash...

Page 58: ...ter Functions Communication Interface MECHATROLINK II 2 N synchronous MECHATROLINK I 1 N synchronous Baud Rate 10 Mbps 4 Mbps Transmission Cycle 0 5 ms 1 ms 1 5 ms or 2 ms 2 ms Number of Link Communic...

Page 59: ...te system infinite length position control and simple absolute system infinite length position control Software Limit Positive negative direction for each point Zero Point Return Method 13 types SERVO...

Page 60: ...ansmission Item MECHATROLINK I MECHATROLINK II Topology Bus Bus Transmission Media Twisted pair cable Twisted pair cable Transmission Distance 50 m max can be extended to 100 m by connecting repeaters...

Page 61: ...le Configuration a Module Configuration Window Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area The cell No 3 provides a detailed de...

Page 62: ...Start Register I O start register number of the I O Module to be connected to MECHA TROLINK Setting range 0000 to 7FFFh max 400h words per SVB Module Possible I O End Register I O last register numbe...

Page 63: ...Module Configuration Window select the SVB Module in the Controller field and double click the MECHA TROLINK cell in the Module Details field The MECHATROLINK Transmission Definition Window will open...

Page 64: ...tion address set by using the rotary switches For Master station fixed to 0 For slave stations set a number between 1 and the number of slave stations Transmission Speed Displays the transmission spee...

Page 65: ...e Master has not received a normal response from a slave Only for Master station Set a number between 0 and 7 Cannot set for Slaves Number of Slaves Displays the number of slave stations that can be c...

Page 66: ...e can only be set for Master The communication cycle for MECHATROLINK I is fixed to 2 ms Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode MECHATROLINK I Transmission Byte Communication C...

Page 67: ...PE Item Description 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 statio...

Page 68: ...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 display...

Page 69: ...meters a Opening the SVB Definition Window Open the SVB Definition Window by the following procedure 1 Select MP2300S in the Controller area then double click the slot number cell of the SVB Module in...

Page 70: ...tion Module User s manual manual no SIEPC88070033 for details Fig 2 1 Fixed Parameters Tab Fig 2 2 Setup Parameters Tab Fig 2 3 SERVOPACK Parameters Tab Refer to the relevant SERVOPACK user s manual f...

Page 71: ...nd monitoring parameters and can be accessed from application programs using I O registers The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle Note For informatio...

Page 72: ...ic cam or shaft operation can be achieved by using the SVR for the virtual master axis 2 Multi axis synchronous con trol Multi axis synchronous control can be achieved by controlling the SVR from a mo...

Page 73: ...f axes The number of axes 1 to 16 when Selection of Operation Modes fixed parameter 0 is set to Nor mal Operation Mode 0 The formula listed above do not apply when the number of axes is 0 Differences...

Page 74: ...ladder program Note You can incorporate a MSEE command into the ladder program as ever Controlling a motion program without using a ladder program You can map any register to the control signal of the...

Page 75: ...rogram 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 work The number of...

Page 76: ...mber Double click to open the M EXECUTOR detailed definition screen Module Type A module name appears Changing the name to UNDEFINED enables you to disable M EXCUTOR functions Controller Number Not us...

Page 77: ...er Item M EXECUTOR Output Register Item Iwxxxx 0 Definition No 1 Status Owxxxx 0 Definition No 1 Program number Iwxxxx 1 Spare Owxxxx 1 Control signal Iwxxxx 2 Spare Owxxxx 2 Override Iwxxxx 3 Spare O...

Page 78: ...executed 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 screen Pr...

Page 79: ...riodical startup run each time a high speed scan is performed Motion Program Motion program Turns ON the program operation start request of the control signal runs when the program operation start req...

Page 80: ...the M EXECUTOR control register Note For more information on the M EXECUTOR control register refer to 2 2 7 1 M EXECUTOR Module Function Overview Allocation Disable Enables disables the mapping regis...

Page 81: ...exchanged between the allocation register and M EXECUTOR control registers Any register bit can be mapped to the allocation contact interlock Caution An allocation contact interlock is used to interl...

Page 82: ...register mapping win dow Program execution registry number Selects a program execution registration No Program number Sets a program number Execution type Sets the program execution type Specification...

Page 83: ...efore the ladder process 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 i...

Page 84: ...agram shows the execution scheduling when set in the screen 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 Startup...

Page 85: ...u to automatically map slave devices connected to MECHATROLINK SERVOPACK parameters are manageable over the network Machine Controller MP2000 Series SVB SVB 01 Motion Mod ule User s Manual manual num...

Page 86: ...ler MP2000 Series Counter Module CNTR 01 User s Manual manual number SIEPC88070027 Communi cation Module 218IF 01 Module Equipped with serial interface RS 232C and Ethernet interface Allows you to con...

Page 87: ...026 000 Relay connector 734 YE102 Note Attachment Handle for power connector model 231 131 Handle for relay connector model 734 230 These handles are used when connecting a cable to the cable side co...

Page 88: ...2 4 External Appearance 2 4 2 Basic Module with Metal Fittings 2 64 2 4 2 Basic Module with Metal Fittings 2 5 2 x 5 holes Approx 8 when attached 88 76 42 111 5 108 3 5 6 6 4 5 4 5 121 130 5 Units mm...

Page 89: ...d 3 2 3 1 2 MP2300S Mount Direction 3 7 3 1 3 Space Required for Mounting MP2300S 3 8 3 1 4 Replacing and Adding Optional Modules 3 9 3 2 Basic Module Connections 3 12 3 2 1 Connectors 3 12 3 2 2 Powe...

Page 90: ...d Spacer Several types of DIN rails are available with 7 mm to 15 mm gap from the mounting base as shown in the following diagram If mounting a MP2300S using DIN rail with 10 mm gap install a spacer o...

Page 91: ...the rear of the MP2300S as shown in the fol lowing figure The following figure shows the front and back of a mounting clip Insert each clip so that its front faces outward 2 Pull the DIN rail mountin...

Page 92: ...4 Push the DIN rail mounting clips to lock them in place 5 Place end plates on both sides of the MP2300S to secure it to the DIN rail This completes the installation procedure 300 mm or less 300 mm or...

Page 93: ...e DIN fixing locks two at the center of the panel mounting clamp 2 Insert two convex portions at the top of the panel mounting clamp into holes of the MP2300S case 3 Push the clamp as indicated by an...

Page 94: ...d use four mounting screws to firmly secure the clamp 4 176 VJGTPGV 8 0 0V Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 M I II 0 6 01 01 6 56 MP2300S Mounting screw M4 plus Use the sc...

Page 95: ...Mounting and Wiring 3 1 2 MP2300S Mount Direction Be sure to mount the MP2300S using DIN rail or metal fittings 4 176 VJGTPGV 8 0 0V MP2300S Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 6...

Page 96: ...the following figure Mount condition Vertical direction 40 mm or more Horizontal direction 10 mm or more Note However ambient temperature should be 55 C or less 10 mm or more 10 mm or more 40 mm or mo...

Page 97: ...bles from the MP2300S Then remove the MP2300S from the panel or rack and place on a workbench or other area with sufficient space 2 Removing Optional Modules 1 Remove the battery cover Pull the notch...

Page 98: ...h in the Optional Module Hold the center of the battery cover as shown in the following diagram Push the battery cover down and out rotating from the round knob to disconnect the Module and mounting b...

Page 99: ...ly inserted place your hand on the front face of the Optional Mod ule and push hard until the Optional Module has been inserted into the mounting base connectors The front face of the Optional Module...

Page 100: ...s 3 2 1 Connectors The following diagram shows the connectors for the Basic Module 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 M I II 0 6 01 01 6 56 MECHATROLIN...

Page 101: ...the power 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 Co...

Page 102: ...the opening and then close the opening by releasing the lever or removing the screwdriver 3 2 3 MECHATROLINK Connectors MECHATROLINK connector is used to connect the MP2300S and the SERVOPACKs and di...

Page 103: ...W6002 40 40 m JEPMC W6002 50 50 m MECHATROLINK Cable MECHATROLINK Connector MECHATROLINK Connector with Ferrite Core JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 m JEPMC W6003 03 3 m JEPMC W6003 05 5 m JEPMC...

Page 104: ...SERVO PACKs Use the MECHATROLINK cable JEPMC W6002 or JEPMC W6003 with a ferrite core for connection between the MP2300S and I O units or SERVOPACKs 1 2 3 4 1 2 3 4 Shell Shell Pin number Signal Name...

Page 105: ...with a SVB 01 Module 3 Prepare the cables according to MECHATROLINK I specifications Connections that do not meet the specifications will prevent normal communication due to the influence of reflecte...

Page 106: ...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 YASKAWA SERVOPACK 200V SGDS 01A12A SW1 CHARGE C N 3 A B C N 1 N 2 C C N 4 L1 L2 L2C L1C B1 B2...

Page 107: ...Name Connector Name Number of Pins Connector Model Module Side Cable Side Manufacturer Ethernet Ethernet 8 RJ 45 CAT5 Socket RJ 45 CAT5 Plug Pulse Engineering Pin Number Signal Name Description 1 TXD...

Page 108: ...between HUBs 100 m or less 100 m or less Number of HUBs between Nodes Up to four Unlimited HUB MP2300S HUB 10Base T 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4...

Page 109: ...HUBs 5 m or less 100 m or less Number of HUBs between Nodes Up to two Unlimited HUB HUB MPE720 MP2300S 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 M I II 0 6 01...

Page 110: ...tion If necessary increase the number of communication retries 3 Attach a ferrite core Attach a ferrite core in the manner described below Ethernet Attach it to the communication port side and the ext...

Page 111: ...ions The following table shows the RLY OUT connector pin arrangement The following table provides the RLY OUT connector contact ratings 2 RLY OUT Connection Cable For the RLY OUT connection cable use...

Page 112: ...tails 3 24 3 RLY OUT Connection Example The following figure shows how to connect the RLY OUT connector RLY OUT 24VDC 0VDC 24 VDC Power supply MP2300S POWER RLY OUT output Operating normally ON Error...

Page 113: ...r t PG M PG M PG M PG M RA1 4 176 VJGTPGV 8 0 0V MP2300S 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 M I II 0 6 01 01 6 56 1 1 2 1 1 SA Surge absorber for switching surge 2 RAI CPU RUN outp...

Page 114: ...MEMO...

Page 115: ...em Startup Overview 4 2 4 2 Preparation step 1 4 3 4 2 1 Wiring 4 3 4 2 2 Self Configuration 4 5 4 2 3 Test Operation 4 6 4 3 Programming step 2 4 9 4 3 1 Programming Procedure 4 9 4 4 Executing Motio...

Page 116: ...a procedure where you can easily run and check a program without external signals The simple motion program which you create has three lines only moving and stopping 150 000 pulses from the cur rent p...

Page 117: ...ure below 1 System Layout Model Personal computer equipped with MPE720 SERVOPACK 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 YAS...

Page 118: ...OPACK station number SW1 is set to 1 and 2 In a 1 1 connection without HUB use a cross cable as a LAN cable Product Name Model Q ty MP2300S JEPMC MP2300S E 1 MECHATROLINK cable 0 5m JEPMC W6002 A5 2 T...

Page 119: ...INIT and CONFIG of DIP switch SW1 on the MP2300S main unit 4 Turn ON the 24 VDC power supply on the MP2300S main unit and confirm the LED display changes as follows 5 Self configuration is complete a...

Page 120: ...168 1 1 to connect to the controller For more information on the communications settings refer to Appendix F How to Set up Communication Process on page A 31 When the connection is complete the displa...

Page 121: ...on 4 7 4 System Start Up and Easy Programming 2 Axis Selection and Servo ON Set an axis number in the Axis Window and click the Enable Servo ON Button in the Test Run Window Turning the servo ON allow...

Page 122: ...e icon and set a speed reference value and check that the axis rotates normally while the Forward Button or Reverse Button is pressed The operation check of the first axis is complete Press the Axis B...

Page 123: ...ion program subwindow will appears When you double click Motion Program and there is not any group definition the group definition screen will be shown For this setting example you do not need to chan...

Page 124: ...ssist feature to insert INC and MOV Commands into the motion program The command input assist feature is made accesible by right clicking the mouse on the Motion Editor Window Call the command input a...

Page 125: ...System Start Up and Easy Programming 4 4 Executing Motion step 3 4 4 1 Registering Program Execution 1 Click the Execution Registration Icon The Program Execution Registry Screen Dialog Box will appe...

Page 126: ...d click the START Button The MPM001 s motion program is executed Caution This chapter explains the simple procedure where you can easily run and check a program without external signals In prac tice y...

Page 127: ...oder cable MECHATROLINK cable PP cable 4 176 VJGTPGV 8 0 0V MP2300S Option 5 9 6 56 4 6 64 470 44 6 2 59 59 10 0 06 572 5612 66 4 M I II 0 6 01 01 6 56 24 VDC power supply Terminator terminating resis...

Page 128: ...tion Start MB5000 Control signal Starts up a motion program Sets in M EXECUTOR Stop MB5002 Control signal Displays the running of a motion program Clear Alarm MB5005 Control signal Stops a motion prog...

Page 129: ...l to the relevant registers in the motion setting parameter of the embedded SVB Follow a procedure similar to creating a motion program from the motion program subwindow Click the Execution Registrati...

Page 130: ...01 executions For more information on how to set the M EXECUTOR Window refer to 2 2 7 M EXECUTOR Module Motion Program Executor on page 2 50 In the Allocation Control Register Window map the M registe...

Page 131: ...on communication setting with the touch panel refer to 6 2 1 Automatic Receive Example Using Touch Panel 4 FLASH Save When all settings are completed click the FLASH Save Icon to save the data to the...

Page 132: ...MEMO...

Page 133: ...Execution Timing of User Program 5 6 5 2 2 Motion Programs 5 7 5 2 3 Sequence Program 5 28 5 2 4 Ladder Drawings DWG 5 31 5 3 Registers 5 36 5 3 1 Types of Registers 5 36 5 3 2 Data Types 5 39 5 3 3...

Page 134: ...Operating Mode Default Setting Remarks S1 6 STOP ON User program stops OFF Set to ON to stop user program operation OFF User program operation S1 5 SUP ON System load OFF If set to ON starts up in the...

Page 135: ...ter one cycle 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 execu...

Page 136: ...es from ON STOP to OFF RUN the CPU starts the watchdog timer and then executes DWG A in the ladder program Refer to the startup processing drawing and 5 2 2 Motion Pro grams on page 5 7 First scan pro...

Page 137: ...P operation Lit Lit Not 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 w...

Page 138: ...llowing table shows the types and execution timing of MP2300S user program For more information on the user program refer to the next page and after User Program Execution Timing Motion Program High s...

Page 139: ...work error Bit E of the leading word in the MSEE work registers 1 Groups A group of axes with related operations can be treated as one group by motion programs and programs can be executed for each g...

Page 140: ...up Set it to 1 for the operation as one group Set it to the number of groups for the operation with multiple groups Group Name Define a group name Control Axis No Set the number of axes controlled in...

Page 141: ...er for the used axis The axis number can be checked in the detailed screen of the used motion module Logical Axis Name Define a name for the specified axis number The name defined here is used when pr...

Page 142: ...CUTOR program execution definition a motion program does not start up To start up the motion program after the motion program reg istration use a control signal to turn ON the request for the program...

Page 143: ...le but unlike ladder programs all motion programs cannot be executed in one scan For this reason motion programs are executed and controlled by special system s motion management function Caution When...

Page 144: ...rogram to call using a program number MPM A motion program registered in the M EXECUTOR program execution definition Select Direct for the Setting and set a program number MPM Fig 5 1 Calling a Motion...

Page 145: ...ignation is automatically mapped Fig 5 3 Calling a Motion Program Using an Indirect Designation 1 A motion program referenced by a MSEE command from a ladder program Specify any register M or D regist...

Page 146: ...ECUTOR control register constitution is as follows A motion program executed by a MSEE command from a ladder program Use a MSEE command of a ladder program to designate the work register M or D regist...

Page 147: ...error details of the motion program are stored in the error information screen and S registers Bit No Status 0 Program running 1 Program paused 2 Program stopped by stop request used by system 3 Reser...

Page 148: ...k is reported to the status 2 Override setting for interpolation OFF 100 fixed at an override for interpolation ON Depends on the designated override for interpolation Use signals conforming to the ab...

Page 149: ...nds setting unit 1 0 01 is set This interpolation override is enabled only when the motion program control signal bit E interpolation override set ting is ON Control signal Operation start request Sta...

Page 150: ...ladder The number configured in the number of program definitions of the M EXECUTOR detailed screen is set for the system work for M EXECUTOR 1 A work not occupied by M EXECUTOR can execute a motion p...

Page 151: ...a ladder program The way to operate it in each case is shown as follows a A motion program registered in the M EXECUTOR program execution definition When a motion program is registered in M EXECUTOR...

Page 152: ...gram becomes unexecutable When an allocation contact interlock is switched from ON to OFF while running a motion program the running motion pro gram stops and an axis in operation also stops Now the m...

Page 153: ...on program is shown as follows 1 Example using a sequence program Save the mapping register and the mapping interlock contact as a blank MPM001 END VEL a1 5000 b1 FMX T10000000 IAC T25 IDC T30 MOV a1...

Page 154: ...5 2 User Programs 5 2 2 Motion Programs 5 22 2 Example using a ladder program...

Page 155: ...Example using a sequence program Note An MSEE command cannot be incorporated into a sequence program Incorporate an MSEE command separately into a ladder H drawing OB80000 IB00000 axis 1 servo on MB0...

Page 156: ...5 2 User Programs 5 2 2 Motion Programs 5 24 2 Example using a ladder program...

Page 157: ...03380 to SW03437 b A motion program referenced by an MSEE command from a ladder program When a motion program is referenced by an MSEE command from a ladder program the way differs depending on the Bi...

Page 158: ...m number Executing program bit Executing program number No of main program currently executing Executing Program Bit Executing when corresponding bit is ON Reserved by the system Reserved by the syste...

Page 159: ...information Executing program number Executing block number Error code Logical axis 1 program current position Logical axis 2 program current position Logical axis 3 program current position Logical a...

Page 160: ...The following figure shows an execution example When the execution type is set to Sequence Program H scan or Sequence Program L scan the program is executed at the time the definition is saved When th...

Page 161: ...Program You can only designate a sequence program directly Indirect designation is unavailable Use the program number SPM when designating a sequence program to execute Fig 5 5 Calling a Sequence Prog...

Page 162: ...m When referencing a sub sequence program SSEE command execution and an error is detected Bit8 Program alarm is occur ring is turned ON If the error is cleared it is turned OFF Error details are as fo...

Page 163: ...or occurs Functions Functions are accessed and executed from parent child and grandchild drawings using the FSTART command a Drawing Types and Order of Priority Drawings are classified by their first...

Page 164: ...eed scan processing is executed in spare processing time of the high speed scan Set the time of the high speed scan to approximately double the total execution time for DWG H Operation error Power ON...

Page 165: ...s Child drawings are always called from parent drawings and grandchild drawings are always called from child drawings This is the hierarchical structure of drawings As shown in the following figure ea...

Page 166: ...d drawings by programming a DWG reference command SEE command in the parent and child drawings 2 Functions can be referenced from any drawing Functions can also be referenced from other functions 3 Wh...

Page 167: ...ely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manual for information on defining functions Machine Controller MP900 MP2000 Series User s...

Page 168: ...s turned OFF to ON data saved to flash memory is read and data not saved to flash memory is lost It is recommended therefore that data to be held regardless of whether or not the power is turned OFF t...

Page 169: ...ternal function registers ZB ZW ZL ZFnnnnn ZW0000 to ZW00063 Internal registers unique to each function Can be used for function internal process ing A External function registers AB AW AL AFhhhh AW00...

Page 170: ...nn 1 FUNC 000 function Program 1000 steps max Function individual registers DWG H drawing Program 1000 steps max DWG registers Constant data 16384 words max Individual data 16384 words max System regi...

Page 171: ...e values in paren theses are for use with logical operations F Real number 1 175E 38 to 3 402E 38 0 Used for numeric value operations A Address 0 to 32767 Used only when specifying pointers 0 1 2 3 4...

Page 172: ...is a register number added with i or j value For example MW00010i for i 3 is the same as MW00013 Also MW00001j for j 30 is the same as MW00031 The result is a register number with an added i or j valu...

Page 173: ...r j is added after the register number Symbol Designation 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...

Page 174: ...n Information Updated with Self Configuration for items that are automatically generated Detect the option module information Execute Self Configuration Allocate I and O registers Automatically write...

Page 175: ...iles are created Before performing the operation turn ON the power supply of equipment such as SERVOPACK Caution Note that this operation can clear the following data in MP2300S All definition files a...

Page 176: ...e is ON and the power is turned ON Flash memory data is read and overwritten when the INIT switch is OFF and the power is turned ON Therefore to protect RAM data always save data to the MP2300S flash...

Page 177: ...not updated This section explains each way to execute the self configuration a Self configuration for All the Modules By performing the following operation the self configuration for MP2300S basic and...

Page 178: ...ng message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each other Continue to perform step 6 When the message is not shown go to step 9 6 S...

Page 179: ...tline of Motion Control Systems 8 Click Start to read the module configuration definition from a controller 9 Click the Save FLASH Save Button to flash save the definition information 10 Check that th...

Page 180: ...n self configuration will be executed for the selected slot Before performing the operation turn ON the power supply of devices such as SERVOPACK 1 Double click System Module Configuration The Enginee...

Page 181: ...g the self configuration the following message is shown 5 If the following warning message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each...

Page 182: ...ual and only check Module Configuration 8 Click Start to read the module configuration definition from a controller 9 Click the Save FLASH Save Button to flash save the definition information 10 In th...

Page 183: ...r IW0000 OW0000 End I O register IW07FF OW07FF Input register IW0000 to IW07FF Output register OW0000 to OW07FF SVB MECHATROLINK Start I O register IW0800 OW0800 End I O register IW0BFF OW0BFF Input r...

Page 184: ...ve before executing the self configuration the parameter setting for MECHATROLINK transmission definition must be set to Slave in MPE720 Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode...

Page 185: ...n Command 0 No command OW 09 Motion Command Control Flag 0000h OW 0A Motion Subcommand 0 No command OL 0C Torque Thrust Reference Setting 0 00 OL 10 Speed Reference Setting 3000 10 n reference unit mi...

Page 186: ...cautions when User Definition File is Configured Changed System settings scan time settings and module configuration definitions must be saved in flash memory flash save When a system setting scan tim...

Page 187: ...or Changing Module Configuration Definition Files Observe the following precautions when setting or changing module configuration definition files Always check to make sure that the mounted Module is...

Page 188: ...es the maximum times required to execute the scans Note If the scan time is set too close to the maximum execution time for the scan the refresh time for the screen on the MPE720 will be very slow and...

Page 189: ...gh speed or low 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 M...

Page 190: ...MEMO...

Page 191: ...ladder program which uses a MSG RCV function 6 17 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 36 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG...

Page 192: ...he MP2300S master side uses an I O message communication function You do not need to create a ladder program The remote equipment slave side creates a ladder program using a MSG RCV function Refer to...

Page 193: ...e communication func tion and a ladder program with the MSG SND function 6 2 1 When the MP2300S Acts as Slave automatic receive function is used This section explains how to communicate with the MP230...

Page 194: ...572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF PORT 10B...

Page 195: ...IFA Tab in the Module Details Window of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address to 192 168 001 001 for example Set Subnet...

Page 196: ...e and click Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected to 192 168 001 002 for exam ple Set Port...

Page 197: ...on dialog of the parameter setting Caution Note that when a parameter with the same connection number is already set and you click Yes in the confirmation dialog of the parameter setting the setting w...

Page 198: ...more information on Slave Side I F Register Settings and Automatic input precessing delay time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 Now the automa...

Page 199: ...d If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition 2 Se...

Page 200: ...up with a connection number 01 in the connection parameter setting screen Set Local Port to the port number used in the MP2300 side 10001 for example Set Node IP Address to the IP address configured i...

Page 201: ...s follows Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6...

Page 202: ...ecify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1...

Page 203: ...DW00001 PARAM01 OUT Status DW00002 00001 PARAM02 IN Connection number 1 DW00003 PARAM03 IN Option Setting unnecessary DW00004 000BH PARAM04 IN Function code 0BH Writes to holding register DW00005 000...

Page 204: ...MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 14 Example of Using the Message Transmit Function in a Ladder Program Here is one example of the message transmit fu...

Page 205: ...6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 15 6 Ethernet Communications...

Page 206: ...P2300 side to transmit messages Messages are transmitted by turning ON the register DB000200 for example configured in Execute of the message transmit function starting communication with the MP2300S...

Page 207: ...lains how to communicate with an MP2300 message transmit function MSG SND using the MP2300S message receive function MSG RCV Fig 6 3 Message Flow with MP2300 when Message Receive Function MSG RCV Is U...

Page 208: ...0 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF...

Page 209: ...ask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters J How to set up transmission paramet...

Page 210: ...w How to set up in the Message Communication Easy Setting Window When automatic receive is used select 2 for the Connect No Set Port No of the MP2300S side 10002 for example Select Extended MEMOBUS fo...

Page 211: ...rly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter setting confirmation dialog Caution Note that when a parameter with the sam...

Page 212: ...follows Message receive function MSG RCV Required for receiving messages A message reception is carried out by inputting and executing this message receive function in a ladder program Fig 6 4 MPE720...

Page 213: ...ation device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 16 4 Pro Typ 00001 Communication protocol Specify the type of the communication pro...

Page 214: ...0 OUT Process result DW00001 PARAM01 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAM05 OUT Data address DW00006 PARAM...

Page 215: ...en the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 25 6 Ethernet Communications Example of Using the Message Receive Function in a Ladder Program Here is an example of the m...

Page 216: ...with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 26 The communication setting and the ladder program creation are now finished when the MP2300...

Page 217: ...s a MSG RCV function 6 27 6 Ethernet Communications 2 How to Set up the Remote Device MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start...

Page 218: ...set up transmission parameters Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window Set Subnet Mask 255 255 255 000 for e...

Page 219: ...r 10002 used in the MP2300 side for example Set the Node IP Address to the IP address 192 168 001 001 configured in the MP2300S side for exam ple Set the Node Port to the port number 10002 configured...

Page 220: ...Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6 5 MPE720...

Page 221: ...Typ 00006 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of t...

Page 222: ...PARAM01 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00100 PARAM05...

Page 223: ...n the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 33 6 Ethernet Communications Example of Using the Message Transmit Function in a Ladder Program Here is one example of the...

Page 224: ...6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 34...

Page 225: ...fault 2 Turn Execute ON for the message transmit function in the MP2300 side to transmit messages Messages are transmitted by turning on the register DB000200 configured in Execute of the message tran...

Page 226: ...ommunication with MP series When you communicate with multiple remote devices or when you need to read a coil state or input relay or change a coil state as well as read write a holding register use t...

Page 227: ...S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O...

Page 228: ...the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Ma...

Page 229: ...nd click the Default Button Caution When the communication protocol is Extended MEMOBUS the register type that can select both read and write is fixed at the Holding Register MW Select Connect Type TC...

Page 230: ...ssage is not necessarily transmitted to the remote equipment at each set data update time Set the register type and start address Read Reg of the remote device MP2300 read by the MP2300S MW00200 for e...

Page 231: ...6 41 6 Ethernet Communications 2 How to Set up the Remote Device MP2300 to Be Connected When the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Dou...

Page 232: ...your network administrator 3 Set connection parameters How to set up in the CP 218 Connection Parameter Window with connection numbers 05 06 Set Local Port the port number 10005 10006 used in the MP23...

Page 233: ...n addition in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters Communication buffer channel number and Connection number o...

Page 234: ...pe Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1...

Page 235: ...0 PARAM11 IN Holding register offset 0 word DW00012 00000 PARAM12 IN Writable address lower limit MW00000 DW00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 PARAM14 SYS Reserved by...

Page 236: ...Program Here is one example of using the message receive function through Ethernet 218IF In addition this ladder pro gram is for receiving read operation A ladder program for receiving write operatio...

Page 237: ...Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 47 6 Ethernet Communications DW00002 6 Ch No 6 Set Ch No 6 to receive write operations Set DW00002 6 to r...

Page 238: ...00 acts as a slave 3 How to Start Communication 1 The MP2300 side starts to receive the messages As the sample ladder program starts the message receive operation just after the system startup you are...

Page 239: ...te from each other This section explains how to communicate with the MP2300 message receive function MSG RCV using the MP2300S message transmit function MSG SND Fig 6 8 Message Flow with MP2300 when M...

Page 240: ...10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 DC24V DC 0V MP2300 YASKAWA TEST RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON OFF P...

Page 241: ...click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Su...

Page 242: ...col Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example S...

Page 243: ...at when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Me...

Page 244: ...llows Message transmit function MSG SND Required for transmitting messages A message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Fig 6 9...

Page 245: ...yp 00016 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 16 4 Pro Typ 00001 Communication protocol Specify the type of t...

Page 246: ...01 PARAM01 OUT Status DW00002 00003 PARAM02 IN Connection number 3 DW00003 PARAM03 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00400 PARAM...

Page 247: ...the MP2300S Acts as Master ladder program which uses MSG SND function 6 57 6 Ethernet Communications Example of Using the Message Transmit Function in a Ladder Program Here is one example of using the...

Page 248: ...6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 58...

Page 249: ...MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 59 6 Ethernet Communications The communication setting and the ladder program creation are now finished wh...

Page 250: ...SG SND function 6 60 2 How to Set up the Remote Equipment MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click...

Page 251: ...s check with your network administrator 3 Set connection parameters Procedure to set up in the CP 218 Connection Parameter Window for example with a connection number 03 Set Local Port the port number...

Page 252: ...in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters communication buffer channel number and connection number of the mes s...

Page 253: ...cation device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication pro...

Page 254: ...ion in the MP2300S side to transmit messages The sample ladder program is created to transmit a message every one second when five seconds elapsed after the low speed scan or high speed scan startup T...

Page 255: ...on with the touch panel is carried out using the automatic receive function but it can also use the message receive function MSG RCV For information on how to set up when the message receive function...

Page 256: ...dress 192 168 001 001 MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 MW00100 GMW00100 Slave Master MP2300S Local station Remote stati...

Page 257: ...ion 2 Set transmission parameters How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 fo...

Page 258: ...lt Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other devi...

Page 259: ...Check the setting value and click the Detail Button in the Automatically column 7 Check Enable in the Automatically Reception Setting Window and then click the OK Button Note For more information on...

Page 260: ...n accordance with the model in use Here we explain the setting when AGP 3600T is used 4 Set up connected equipment 5 Set up the way to connect 6 Select the Connected Equipment Setting from the System...

Page 261: ...s port number will be assigned in each case When you use Automatic Assignment set Unpassive open mode in the 218IFA screen of MPE720 For more information about Unpassive open mode refer to 2 2 4 b 218...

Page 262: ...same manner as the 218IFA screen of the MP2300S 218IFA screen reference The setting is finished for now Create a screen and transfer the project to an indicator as required Caution Set up a unique IP...

Page 263: ...n the screen 4 Set as follows in the detailed setting screen of Data Indicator and click OK Relationship between GP Pro EX address display and MP2300S register Table 6 21 Data Indicator Detailed Setti...

Page 264: ...ges When the automatic receive function is used the message receive operation starts automatically and you are not required to do anything 2 Start up the touch panel GP3000 series to display the main...

Page 265: ...tion using the automatic receive function For using the MP2300S as a master we explain communication using the I O message communication function 6 4 1 When the MP2300S Acts as Slave automatic receive...

Page 266: ...ith multiple remote devices Setting Example The following figure illustrates one example of writing the contents of the data register D00201 to D00300 of MELSEC Q series master into the MP2300S slave...

Page 267: ...s IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up t...

Page 268: ...ation Easy Setting Window How to set up in the Message Communication Easy Setting Window When automatic receive is used select 1 for the Connect No Set Port No of MP2300S side 10001 for example Select...

Page 269: ...ic receive function is enabled the communications will not function prop erly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter s...

Page 270: ...the OK Button Note For more information on Slave Side I F Register Setting and Automatic Receive Process Delay Time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on pa...

Page 271: ...tion 5 Set the open setting Table 6 22 Network Parameter Setting example Setting Item Setting Details Network Type Ethernet Start I O No Any Network No Any Group No Any Exchange Number Any Mode Online...

Page 272: ...nd to write the register content configured by parameters below to the MP2300S holding register M register Setting example When the BUFSND command is used to set the device start number for storing th...

Page 273: ...tion when Communication Protocol Type MELSEC is used in the communication with the MELSEC series Bit device register X Y read only M B Word device register D W R Note A bit device register reads or wr...

Page 274: ...lave A particular setup procedure is explained in the subsequent pages MP VJGTPGV 0 00 23 S 8 4 176 0V 5 9 6 56 4 6 64 470 44 6 2 59 59 10 10 0 06 572 10 5612 66 4 M I II 6 56 06 01 01 IW0000 IW0063 O...

Page 275: ...mpleted start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transmission parameters How to set up transmission parameters Set IP Address...

Page 276: ...I O message communication function is used 6 86 4 Set up a communication settings in the I O Message Communication Easy Setting Window How to set up in the I O Message Communication Easy Setting Windo...

Page 277: ...xample Set a storage area Output Reg for data written by MP2300S OW0064 for example Set Write Size of data written by the MP2300S 100 W for example Set an I O data update timing Data update timing for...

Page 278: ...ply is turned ON again 2 How to Set up the Remote Equipment MELSEC Q series to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSE...

Page 279: ...The MELSEC Q series starts to receive messages The message receive operation starts automatically so you are not required to do anything 2 The MP2300S side transmits messages When an I O message commu...

Page 280: ...MEMO...

Page 281: ...ction 7 3 7 2 3 How to Set up Slave CPU Synchronous Function 7 4 7 2 4 How to Execute Slave CPU Synchronous Function 7 7 7 3 Operation 7 9 7 3 1 Input Output Register 7 9 7 3 2 How to Determine Slave...

Page 282: ...synchronous function of MECHATROLINK II Here there is a communication delay in MECHATROLINK II as shown above until a command from a master side application program is transmitted to a slave Since th...

Page 283: ...le as a MECHATROLINK communication parameter H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle setting H scan setting is either an integer mul...

Page 284: ...unction The way to set up the slave CPU synchronous function is as follows 1 Master Side Setting The master side does not need to enable disable the slave CPU synchronous function Set the synchronous...

Page 285: ...e CPU Synchronous Function 7 5 7 Slave CPU Synchronous Function 2 Slave Side Setting 1 Select Slave synchronous function Enable as a MECHATROLINK communication parameter Double click to open a MECHATR...

Page 286: ...7 2 Requirements and Setting of Execution 7 2 3 How to Set up Slave CPU Synchronous Function 7 6 2 Set the synchronous scan to High as a MECHATROLINK link assignment Set the synchronous scan to High...

Page 287: ...Usage when transforming from the asynchronous to synchronous state using the slave CPU synchronous function a slave side scan cycle high low speed may delay up to one scan cycle affecting the slave si...

Page 288: ...ed in a slave side optional slot is moving the slave CPU synchronization can be executed by setting control bit SLVSC OFF For more information refer to 7 3 6 Management to Resume Slave CPU Synchroniza...

Page 289: ...Note that the use of this area is optional Slave Status Status of MECHATROLINK transmission unit of MP2300S The configuration is shown on the subsequent page Data Up to 6 words of data area for MECHAT...

Page 290: ...ization is in pro cess 1 Transient state SYNCRDY 0 Preparation for slave syn chronization not completed This bit is turned ON when an execution requirement of the slave CPU synchronization is met It i...

Page 291: ...MECHATROLINK transmission unit of a slave status MP2300S It is the same content as reported to the master Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for...

Page 292: ...nput output process is carried out without updat ing the scan counter value Control Bit Sets the behavior of the MECHATROLINK transmission unit of the control bit MP2300S The configuration is shown as...

Page 293: ...7 Low High 10h 11h IW 8 7 6 5 4 3 2 1 0 Scan counter Unused 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 IW 0 IW 1 IW 2 IW 3 IW 4 IW 5 IW 6 IW 7 Unused Slave status Scan counter Unused Data 1 OW 0 OW 1 OW 2 OW 3 O...

Page 294: ...OW 4 OW 5 OW 6 OW 7 OW 14 Data 7 Low High Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Low High Low High Low High Low High Low High Low High Data 13 Low High Data 7 Low High Data 1 Data 2 Data 3 Data 4 D...

Page 295: ...CPU synchronous state 2 How to Check with a Slave Side Application Use bit7 SYNC of the second word Slave Status IW 1 of an input register assigned to a local station If SYNC ON it is in a slave CPU s...

Page 296: ...nt This delay time is referred to as Slave CPU Synchronous Delay Time and is calculated as follows Setting Example Execute master side application Update output data SVB module processing Slave CPU sy...

Page 297: ...blem has occurred with the master 2 Checking a Slave Status Using a Master Side Application Master processing A master side application checks that a scan counter value is increased by one from the pr...

Page 298: ...input register assigned to the MP2300S is in the following state bit1 WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error is issued by a master...

Page 299: ...7 3 Operation 7 3 5 How to Determine Input Error 7 19 7 Slave CPU Synchronous Function Application Example Continued on the next page...

Page 300: ...7 3 Operation 7 3 5 How to Determine Input Error 7 20 Continued from the previous page...

Page 301: ...d to the MP2300S is in the following state bit1 WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error issued by a master or a slave operation erro...

Page 302: ...7 3 Operation 7 3 5 How to Determine Input Error 7 22 Application Example Continued on the next page...

Page 303: ...page 2 How to Recover from Input Error Recovery is automatic and no particular operation is needed However if input errors occur frequently check the following Are local station addresses duplicated D...

Page 304: ...time occurs When a servo connected to the SVB 01 is running its axis stops and an alarm occurs To avoid these impacts to avoid automatic recovery to the slave CPU synchronous state use the slave side...

Page 305: ...n when entering slave CPU asynchronous state automatic recovery is not carried out If SYNC is turned OFF while monitoring slave status SYNC changes the state to Preparation for slave CPU synchronous r...

Page 306: ...7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization 7 26 Application Example Continued on the next page...

Page 307: ...7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization 7 27 7 Slave CPU Synchronous Function Continued from the previous page...

Page 308: ...lave CPU syn chronous state disconnect and later reconnect the communication between a slave and its con nected SVB 01 When a slave device such as a servo or inverter is connected stop their operation...

Page 309: ...trol bit SLVSC OFF the master side will recover and communication will be resumed and then enters slave CPU synchronous state again A transmission error occurs If only a received data error occurs it...

Page 310: ...MEMO...

Page 311: ...spection Items 8 2 8 1 1 Daily Inspections 8 2 8 1 2 Regular Inspections 8 3 8 1 3 Replacing the Basic Module Battery 8 4 8 2 Troubleshooting 8 5 8 2 1 Basic Flow of Troubleshooting 8 5 8 2 2 MP2300S...

Page 312: ...ap between crimp terminals There must be an appropriate gap between the terminals Correct as necessary 3 LED Indicators RDY Check whether the indicator is lit The indicator must be lit It is abnormal...

Page 313: ...the panel 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 terminals 19 2 t...

Page 314: ...data accidently lost during battery replacement For information on saving methods refer to the MPE720 Programming Device Software for MP900 MP2000 Machine Controllers User s Manual Manual No SIEPC880...

Page 315: ...oting is illustrated below 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...

Page 316: ...er Display the motion program execution information SW03200 to SW04191 Note2 Check Error Code in Parallel 0 to 7 Information of the corresponding work number s program information Display the register...

Page 317: ...cuted nor mally This is the normal status Errors Not lit Not lit Not lit Lit Not lit A serious error has occurred Refer to 8 2 4 4 Correcting User Program Errors on page 8 12 No lit Not lit Lit Not li...

Page 318: ...Register Allocations on page 8 9 SW00050 System Error Status 8 2 4 b Accessing System Registers on page 8 10 SW00080 User Operation Error Status 8 2 4 c Correcting User Program Errors on page 8 15 SW0...

Page 319: ...Use the following procedure to display the register list 1 Select File Open Tool Register List from the MPE720 Engineering Manager Window to open the Register List Window 2 Select ViewMode HEX to cha...

Page 320: ...ew Quick Reference from the MPE720 Engineering Manager Window 2 Click the Register List Tab to switch to the register list 3 Input the register number of the first system register to be accessed for R...

Page 321: ...RR indicator blinking Hardware failure watchdog timer timeout Only ERR indicator lit Turn OFF the STOP switch on DIP siwtch SW6 and turn ON the power Online Stop Mode Only RDY indicator lit Check SW00...

Page 322: ...determine the drawing with the error Check the contents of SW00059 Function Referencing Drawing Step No to determine the step number with the operation error ALM indicator lit 5 Check to see whether a...

Page 323: ...tigating an output point refer to 8 2 4 c How to Forcibly Turn ON OFF Coil on page 8 15 9 Correct Programs Correct the program that causes error 10 Investigate the scan time If no problem is found in...

Page 324: ...uration definition screen of the MPE720 online mode open the M EXECUTOR module definition and check D of the sequence program definition to save the definition Caution When a drawing function or seque...

Page 325: ...nt may become unstable causing personal injury or damage to the equipment If carrying out an investigation be aware of the behavior of the equipment when it is disabled After the investigation make su...

Page 326: ...ss of a setting value the scan cannot be performed at every setting value SW00044 is added due to a high speed scan over SW00046 is added due to a low speed scan over Low speed scan setting value High...

Page 327: ...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 SW000...

Page 328: ...0H H Child drawing number Ladder program grandchild drawing yyH Hyy Grandchild drawing number Motion program sequence program F0xxH Hxx program number Calling Drawing Type SW00057 Type of drawing that...

Page 329: ...drawing FFFFH Child drawing 00H H Child drawing number Grandchild drawing yyH Hyy Grandchild drawing number Function 8000H Motion program sequence program F0xxH Hxx program number Function Calling Dra...

Page 330: ...peration 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 operati...

Page 331: ...Current Alarm SW00190 Cleared when power is turned ON Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarms SW00192 1 Alarm cleared 2 Current alarm and alarm...

Page 332: ...ed module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Reserved by the system Slot 2 Error Status SW00232 to SW00239 Depends on the mounted module...

Page 333: ...ot No 1 SW00225 Error Code I O error 2 Sub slot No 2 SW00226 Not used Not used SW00227 Not used Not used SW00228 Not used Not used SW00229 Not used Not used SW00230 Not used Not used SW00231 Not used...

Page 334: ...SW00806 I O Function Module ID 8070H SW00807 I O Function Module Status SW00808 SVB Function Module ID 9113H SW00809 SVB Function Module Status SW00810 SVR Function Module ID 9210H SW00811 SVR Functio...

Page 335: ...checked on the error information screen This section explains the error information screen and motion alarm codes 1 Error Information Screen The following two options are available for displaying the...

Page 336: ...otion program registered in the M EXECUTOR program execution definition the program name registered in M EXECUTOR is shown When an alarm occurs in a motion program referenced by an MSEE command from t...

Page 337: ...r occurred is shown Block number The number of the block where an error occurred is shown Double clicking the number will bring you to the corresponding program where the error occurred The block numb...

Page 338: ...l interpolation command Use PLN command to specify the axis 16h Horizontal axis not specified for circular arc plane Horizontal axis was not specified in the circu lar arc or helical interpolation com...

Page 339: ...view the program 85h Motion command response error A motion command response different from that instructed by the motion command is reported from a motion module Remove the alarm cause from the desti...

Page 340: ...e A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The selected external signal is out of the setting range W Setting Parameter Error 3 Zero Poi...

Page 341: ...tion Com munication Error Executed while the distribution has not been completed DEN OFF SERVOPACK parameter writing was not com pleted within the specified time A Servo Command Timeout Error Warning...

Page 342: ...not completed within the specified time A Servo Driver Command Timeout Error 23 Speed Reference VELO Commanded when having been connected to MECHATROLINK I An alarm is occurring Asynchronous communic...

Page 343: ...low 1 Refer to a Alarm IL 04 List 2 Refer to a Servo Driver Status IW 2C List 3 Refer to b Servo Driver Status IW 2C List Warning IL 02 Bit 1 Set Parameter Error Bit 2 Fixed Parameter Error Bit 0 Exce...

Page 344: ...ing 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 Filter Time Constant Change Error...

Page 345: ...heck the overtravel signal Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the overtravel status Commands...

Page 346: ...ted 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 external positioning or STEP operation was executed...

Page 347: ...t 0 was OFF Correction Correct the program to execute the SCC command after Discharging Completed status i e that IB 0C0 is ON is checked Detection Timing Enabled only when an absolute encoder is used...

Page 348: ...by the position management section when power is turned ON Processing when Alarm Occurs The absolute position information read from the absolute encoder when the SEN signal turned ON is ignored Error...

Page 349: ...not in the zero point ON The APOS absolute position is in the zero point range Bit 7 Locating Complete PSET OFF Pulse distribution is not completed or the APOS is not in the positioning completed wid...

Page 350: ...d 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 Encoder Backup...

Page 351: ...rcuit 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 Over...

Page 352: ...11 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 941 Parameter Change Requiring Power Recycling 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outside...

Page 353: ...ksum 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...

Page 354: ...e Position Error Alarm at Servo ON D02 Excessive Position Error Alarm for Speed Limit at Servo ON D10 Excessive Error between Motor Load and Position E00 COM Alarm 0 E01 COM Alarm 1 E02 COM Alarm 2 E0...

Page 355: ...SERVOPACKs A 14 D Initializing the Absolute Encoder A 15 D 1 S III SERVOPACK A 15 D 2 S II SERVOPACK A 16 D 3 S I SERVOPACK A 18 E Motion Parameter Details A 20 E 1 Fixed Parameter List A 20 E 2 Setti...

Page 356: ...ted Always ON SB000004 Always ON 1 Reserved Reserved for the system SB000005 to SB00000F Not used Name Register No Remarks 1 scan Flicker Relay SB000010 0 5 s Flicker Relay SB000011 1 0 s Flicker Rela...

Page 357: ...032 2 0 s Flicker Relay SB000033 0 5 s Sampling Relay SB000034 1 0 s Sampling Relay SB000035 2 0 s Sampling Relay SB000036 60 0 s Sampling Relay SB000037 1 0 s After Start of Scan Relay SB000038 2 0 s...

Page 358: ...ue SW00011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Value SW00014 Exe...

Page 359: ...oth memory areas B 1 Operations and Parameter Data Flow 1 Power ON 1 Parameter data saved in the SERVOPACK s EEPROM 1 is copied to SERVOPACK s RAM 2 2 Parameter data saved in the MP2300S s flash memor...

Page 360: ...tions Window on the MPE720 refer to 2 2 5 5 SVB Definition on page 2 45 for details on how to open the SERVO PACK Tab Page 1 The MPE720 writes and displays the parameters that are held in the SERVOPAC...

Page 361: ...rrently displayed on SERVOPACK Tab Page of the relevant axis to the followings HDD hard disk of the personal computer SDRAM of MP2300S RAM and EEPROM of the SERVOPACK 2 After having completed writing...

Page 362: ...ndow 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 The saving operation of SERVOPACK parameters can be...

Page 363: ...CK Tab in the SVB Definition Window on the MPE720 1 The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVO PACK Tab and displays MECHATROLINK RAM EEP ROM SRAM SDR...

Page 364: ...owing figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab in the SVB Definition Window The values in Current Value are copied to Input Data Before copying...

Page 365: ...arameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page SDRAM of the MP2300S RAM of the SERVOPACK 2 After having completed writing the MPE720...

Page 366: ...ter 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 remain different from the values in Current V...

Page 367: ...SERVOPACK parameter Precautions When Saving SERVOPACK Parameters Before executing a saving operation in the SERVOPACK Tab Page except during SERVOPACK replacement always select Edit Current Value Sett...

Page 368: ...e main menu and use the or Keys to select Fn005 5 Press the Key to switch to the Fn005 parameter initialization execution display If the display does not change and NO OP is displayed on the status di...

Page 369: ...perator Instructions Manual Manual No TOBP S80000001 Follow the setup procedure below using a Digital Operator 1 Press the Key to display the Utility Function Mode main menu Use the Key or Key to sele...

Page 370: ...ll appear 4 The rightmost digit will be incremented each time the UP Key is pressed Press the UP Key sev eral times until PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink...

Page 371: ...played If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and...

Page 372: ...a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300S 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con nector for 2 sec...

Page 373: ...rt the connector securely in its original position At the Encoder End Connector 1 Disconnect the connector on the encoder end 2 Use a short piece to short circuit together connector pins R and S on th...

Page 374: ...o F Reserved 2 Function Selection Flag 2 Bit 0 Communication Abnormality Detection Mask Yes Bit 1 WDT Abnormality Detection Mask Yes Bits 2 to F Reserved for system use 3 Reserved 4 Reference Unit Sel...

Page 375: ...lse rev Set the value after multiplication Yes Yes Number of Pulses per Linear Scale Pitch Linear Type 1 1 pulse scale pitch Yes Yes 38 Maximum Number of Absolute Encoder Turns Rotation 1 1 rotation S...

Page 376: ...ust Input Reverse External Limiting Torque Thrust Input 0 OFF 1 ON Yes Bit A Reserved Bit B Integration Reset 0 OFF 1 ON Yes Bits C to D Reserved Bit E Communication Reset 0 OFF 1 ON Yes Bit F Alarm C...

Page 377: ...o Point Return 4 INTERPOLATE Interpolation 5 ENDOF_ INTERPOLATE Last Interpolation Segment 6 LATCH Interpolation Mode with Latch Input 7 FEED Jog Mode 8 STEP Relative Position Mode Step Mode 9 ZSET Se...

Page 378: ...rding to OW 03 bits 12 to 15 Torque Unit Yes Yes OW 0E Speed Limit Setting at the Torque Thrust Reference 1 0 01 percentage of rated speed Yes OW 0F Reserved OL 10 Speed Reference Setting Unit is acco...

Page 379: ...0 to 3 Speed Unit Yes OW 3C Zero Point Return Method 0 DEC1 C DEC 1 and C Phase 1 ZERO Zero signal 2 DEC1 ZERO DEC 1 and zero signal 3 C C pulse Yes 4 to 10 Reserved 11 C Pulse 12 POT C Pulse 13 POT...

Page 380: ...the SERVOPACK parameter Yes OL 56 Servo Driver for Assistance User Constant Set Point Set the setting for the SERVOPACK parameter Yes OW 58 to OW 5B Reserved OW 5C Fixed Parameter Number Set the numbe...

Page 381: ...Yes Bit 9 Servo Driver Communication Warning Yes Bits A to 1F Reserved IL 04 Alarm Bit 0 Servo Driver Error Yes Bit 1 Positive Direction Overtravel Yes Bit 2 Negative Direction Overtravel Yes Bit 3 P...

Page 382: ...Bit 5 Zero Point Return Setting Completed Yes Yes Bit 6 During Machine Lock Yes Bit 7 Reserved Bit 8 ABS Rotary Pos Load Complete ABS System Infinite Length Position Control Information Load Complete...

Page 383: ...der Phase A Signal Input Bit 4 Encoder Phase B Signal Input Bit 5 Encoder Phase C Signal Input Bit 6 EXT1 Signal Input Bit 7 EXT2 Signal Input Bit 8 EXT3 Signal Input Bit 9 Brake State Output Bit A Re...

Page 384: ...Unit is according to OW 03 bits 12 to 15 Torque Unit Yes Yes IW 44 to IW 55 Reserved IL 56 Fixed Parameter Monitor Stores the data of the fixed parameter when FIXPRM RD has been specified in the Moti...

Page 385: ...C power supply 2 Wire MPE720 and MP2300S Product Name Model Q ty MP2300S JEPMC MP2300S E 1 Product Name Model Q ty MPE720 CPMC MPE770 Ver 6 04 or later 1 Ethernet Communication Cable Any Commercial pr...

Page 386: ...n the MP2300S main unit When the IP LED is lit you can confirm that the MP2300S side has successfully retrieved an IP address 5 Double click the icon on the personal computer desktop to start up MPE72...

Page 387: ...f the connected controller Select the communication port according to the table below When there are multiple LAN ports on the personal computer If there are multiple LAN ports on the personal compute...

Page 388: ...A 34 10 A controller search list will appear Select the found controller and click the Connection Button 11 MPE720 connects to the controller Personal computer IP address...

Page 389: ...er word basis Non procedure 2 In non procedural communication data is transmitted on a per byte basis Function Name MSG SND Function Transmits messages to a remote station on the circuit specified by...

Page 390: ...r program or the like needs to be used to switch it ON OFF 3 Dev Typ communication device type Specify the type code of the communication device refer to the table below 4 Pro Typ communication protoc...

Page 391: ...not start up multiple functions at the same time the channel numbers can duplicate each other The following table shows the scope of channel numbers When the communication device is Ethernet 218IFA be...

Page 392: ...table shows the registers available for each output item 1 Busy in process Specify a bit that reports a message is transmitting The Busy bit is ON while executing a message transmission or forced abo...

Page 393: ...or one scan or more after the process completion IN Execute executes a transmission IN Abort forcibly ends a transmission OUT Busy in process OUT Complete process completed OUT Error error occurred t...

Page 394: ...Description 00 OUT Process result Process result is output 01 OUT Status The status of the communication device is output 02 IN Connection number Specifies the remote destination 03 IN Option Sets a...

Page 395: ...218IF is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the line number allocated to the...

Page 396: ...ding register offset 83 H Data size error The transmit or receive data size is out of the setting range Check PARAM04 data size 84 H Error in setting circuit number The circuit number is out of the se...

Page 397: ...1 Requesting processing 0 The acceptance of the process request is complete Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmit error or connection error is complete 1 SEND_OK Norm...

Page 398: ...process result Code Hex Meaning When RESULT process result 4 FMT_NG parameter format error 00 No error 01 Connection number is out of range 02 Time error for monitoring to receive MEMOBUS response 03...

Page 399: ...Window for the MPE720 module con figuration definition Fig G 2 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Fig G 3 218IF Parameter Setting Screen for the MPE720 Modu...

Page 400: ...r are MB MW IB IW respectively Table G 1 Function Code List MEMOBUS Extended MEMOBUS Function Code Target Data Type Function Protocol Type Extended MEMOBUS MEMOBUS 00H Unused 01H B Reads coil state 02...

Page 401: ...up and written into the remote sta tion s data addresses 1 n The address table used when discontinuously reading writing registers is as follows Table G 2 Valid Range of Data Addresses MEMOBUS Extend...

Page 402: ...F Ethernet 218IFA 00H Unused Disable 01H B Reads coil state 1 1 to 2000 02H B Reads input relay state 1 1 to 2000 03H W Reads holding register content 2 1 to125 04H W Reads input register content 2 1...

Page 403: ...parameters for each function code Note Available Not available Table G 4 Offset Parameter List Parameter Content Description PARAM08 Coil offset Sets the coil s offset word address PARAM09 Input relay...

Page 404: ...is stored Note Before the first scan during power up make sure to set it to 0 by using a user program After that the register is used by the system so never change the value with the user program 12 R...

Page 405: ...r in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel for the same circuit For information on the register number refer to G 1 2 1 Input Item...

Page 406: ...mands are not supported When accessing AnCPU also use the ACPU com mon commands You cannot access the AnCPU extended file register Table G 6 Function Code List Function Code MELSEC ACPU Common Command...

Page 407: ...0271F B B0000 to B03FF Hexadecimal 01H 05H 0FH Coil 4352 to 5375 MB002720 to MB00335F F F0000 to F0255 Decimal 01H 05H 0FH Coil 5376 to 631 MB003360 to MB00351F TS TS000 to TS255 Decimal 02H Input rel...

Page 408: ...in units 1 to 256 units 05H 0FH 02H Writes to bit device in units 1 to 256 units 06H 0BH 10H 03H Writes to word device in units 1 to 256 units 08H 16H Loopback test 0EH 05H Specifies a device number...

Page 409: ...with the user program 12 Reserved by System 2 PARAM13 PARAM16 Used by system Never change this value with the user program etc Table G 10 Offset Parameter List Parameter Contents Description PARAM08...

Page 410: ...CP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the regi...

Page 411: ...re MW MB only 4 In the slave operation mode coil holding register input relay and input register are MB MW IB IW respectively Communication Device Valid Range Remarks Ethernet 218IF or 218IFA 0 to 247...

Page 412: ...k write request to the holding register doubles as the start M register number in the local station which is also used for specifying the start data address and as the data table in the remote station...

Page 413: ...y differ depending on the function code The following table gives the valid ranges of data sizes when using MODBUS TCP as a protocol 1 Specify the number of bits 2 Specify the number of words 3 Invali...

Page 414: ...t to 0 by using the user program After that the reg ister is used by system Do not change the value thereafter with the user program 12 Reserved by System 2 PARAM13 to PARAM16 Used by system Never cha...

Page 415: ...218IF Setting Example An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per wo...

Page 416: ...t is out of range Check PARAM06 data size 84 H Error in setting circuit number The circuit number is out of range Check Cir No circuit number of the MSG SND function 85 H Error in setting channel numb...

Page 417: ...ing processing 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communications transmit error or connection error is complete 1 SEND_OK Normal transmiss...

Page 418: ...ess setting is word address RESULT process result Code Hex Meaning When RESULT process result 4 FMT_NG parameter format error 00 No error 01 Connection number is out of range 02 Time error while monit...

Page 419: ...between Data Address Data Size and Offset for MSG SND Function on page A 66 2 The offset cannot be a negative value Example When specifying 1000 words of offset for the register address PARAM11 1000 8...

Page 420: ...set A Data address B Data size C Data M register MP2 00 series transmission master Remote device reception slave Data address B Data size C Data Start address of the read data storage area Coil input...

Page 421: ...mote device reception slave Data address B Data size C Data Start address of the write data source The data type of the remote device is not determined in non procedural protocol mode MSG SND function...

Page 422: ...code 1 reads coil state DW00005 08192 PARAM05 IN Data address 8192 bits 512 words DW00006 00100 PARAM06 IN Data size 100 DW00007 00001 PARAM07 IN Remote CPU number 1 DW00008 01000 PARAM08 IN Coil off...

Page 423: ...are carried out normally in the figure below the coil state in the device is stored in MW01512 and after of MP2300S Fig G 8 Reading Example of Coil State MW00000 MW01000 MW01512 Data M register Coil...

Page 424: ...rocedure 2 In non procedural communication data is received on a per byte basis Function Name MSG RCV Function Receives messages from the remote station on the circuit specified by the communication d...

Page 425: ...rt a ladder program or the like needs to be used to switch the bit ON OFF 3 Dev Typ communication device type Specify the type of communication device refer to the table below 4 Pro Typ communication...

Page 426: ...start up multiple functions at the same time the channel numbers can duplicate each other The following table indicates the range of valid channel numbers When the communication device is Ethernet 21...

Page 427: ...m 1 Busy in process Specify a bit to report message reception The Busy bit is turned ON while executing message reception or a forced abort process Keep Execute or Abort ON while Busy is ON 2 Complete...

Page 428: ...Error error occurred To continuously command the receive execution keep Execute ON after the process is completed One scan t IN Execute executes a reception IN Abort forcibly ends a reception OUT Bus...

Page 429: ...en MEMOBUS and non procedure are used as a transmission protocol the parameter list is as follows Note Parameter details are explained in the parameter details for each protocol type Refer to the foll...

Page 430: ...fset Sets the coil s offset word address 09 IN Input relay offset Sets the offset word address of an input relay 10 IN Input register offset Sets the offset word address of an input register 11 IN Hol...

Page 431: ...s used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the circuit number allocated to the targ...

Page 432: ...register offset PARAM11 holding register offset 83 H Data size error The received data size is out of range Check the source data size 84 H Error in setting circuit number The circuit number is out of...

Page 433: ...equesting processing 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmission or connection error is completed 1 SEND_OK Normal trans...

Page 434: ...Window for the MPE720 module con figuration definition Fig G 10 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Window RESULT process result Code Hex Meaning When RESUL...

Page 435: ...ig G 11 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition Window 5 Option PARAM03 A unique value is output for each communication device Not used for the MEMOBUS or Extende...

Page 436: ...the remote equipment is a controller manufactured by YASKAWA Electric Corporation other than MP2 00 series and is comprised of multiple CPU modules the remote CPU number is output Otherwise 0 is outp...

Page 437: ...ss PARAM09 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the of...

Page 438: ...er 0BH writes to holding register write 0EH discontinuously writes to holding register extended 0FH changes multiple coil states 10H writes to multiple holding registers Example When setting the addre...

Page 439: ...ance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on p...

Page 440: ...ords requested from the transmission side is output 9 Remote CPU Number PARAM07 Refer to G 2 4 9 Remote CPU Number PARAM07 on page A 82 Table G 24 Function Code List MELSEC Function Code MELSEC ACPU C...

Page 441: ...et Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a hold...

Page 442: ...r write 0EH discontinuously writes to holding register extended 0FH changes multiple coil states 10H writes to multiple holding registers 31H writes to fixed buffer 33H writes to the random access buf...

Page 443: ...type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the sa...

Page 444: ...ave operation mode coil holding register input relay and input register are MB MW IB IW respectively Communication device Output Details Ethernet 218IF 218IFA A remote unit ID is output when MODBUS TC...

Page 445: ...alue The offset parameter is prepared for each target data type The following table lists the offset parameters The valid offset parameter may differ according to the function code The following table...

Page 446: ...register 17H reads writes multiple holding registers Example When setting the address of the M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM12 1000 PARAM13 1999 The reception side...

Page 447: ...218IF Setting Example An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per wo...

Page 448: ...Check the source data size 84 H Error in setting circuit number The circuit number is out of range Check Cir No circuit number of the MSG RCV function 85 H Error in setting channel number The communi...

Page 449: ...ts 1 Requesting to process 0 The acceptance of process request is completed Code Abbreviation Meaning 0 CONN_NG In Ethernet communications transmit error or connection error is com pleted 1 SEND_OK No...

Page 450: ...refer to G 2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value In case of non procedure received continuous data is st...

Page 451: ...Maximum address of M register Example When setting the last address of the M register which permits writing to 1999 PARAM13 1999 The reception side will return an error against a write request to an a...

Page 452: ...0000 IW Data address B Offset A Data size C Data I register Remote device transmission master Data size C Data Data flow when reading Parameter list PARAM00 PARAM01 PARAM08 PARAM09 PARAM10 PARAM11 PAR...

Page 453: ...er list PARAM00 PARAM01 PARAM08 PARAM09 PARAM10 PARAM11 PARAM12 PARAM13 PARAM16 Offset A Write range MSG RCV function Communication protocol non procedure Parameter list PARAM00 PARAM01 PARAM08 PARAM0...

Page 454: ...DW00004 PARAM04 OUT Function Code DW00005 PARAM05 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAM08 IN Coil offset 0 word DW00009 00000 PARAM09...

Page 455: ...ied out normally in the figure below the data in the remote device is stored in MW03000 and after of MP2300S Fig G 12 Writing Example to Multiple Holding Registers MW00000 MW01000 MW03000 MW03100 Data...

Page 456: ...ut item Ch No communication buffer channel number of the MSG SND MSG RCV function and PARAM02 connection number in Param param eter list A connection is configuration information for communication bet...

Page 457: ...1 CNO 02 Port number 10010 Port number 10020 Port No 10030 Port No 10040 Port No 20020 Connection setting UDP Extended MEMOBUS BIN Connection setting TCP MELSEC ASCII Remote device 2 Ethernet Remote I...

Page 458: ...ion information updated with self configuration 5 51 details of program information used by work n 5 27 difference between Ethernet LP and Ethernet A 33 differences from SVB simulation mode 2 49 digit...

Page 459: ...8 34 motion parameter details A 20 motion program 5 7 motion program alarm codes 8 28 motion program alarms 8 25 motion program executor 2 50 mounting clamp 3 5 mounting to DIN rail 3 3 MP2300S appea...

Page 460: ...am 5 7 5 28 subscripts i j 5 40 SVB features 2 30 specifications 2 34 SVB definition window 2 45 SVR 2 47 SVR execution timing 2 49 symbol designation 5 41 synchronization between modules 2 32 system...

Page 461: ...ed manuals are given on the bottom of the back cover Date of Publication Rev No WEB Rev No Section Revised Contents November 2007 First edition MANUAL NO SIEP C880732 00A Published in Japan November 2...

Page 462: ...1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong...

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